From ce20154e58490da4da3cab8d59b10c608ddc7469 Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Fri, 18 Sep 2020 11:58:42 -0700 Subject: [PATCH 01/14] update with latest ai2thor --- env/thor_env.py | 75 ++++++++++--------- .../task_game_state_full_knowledge.py | 7 +- requirements.txt | 8 +- 3 files changed, 48 insertions(+), 42 deletions(-) diff --git a/env/thor_env.py b/env/thor_env.py index 932fd5976..acb1c2c36 100644 --- a/env/thor_env.py +++ b/env/thor_env.py @@ -26,13 +26,13 @@ def __init__(self, x_display=constants.X_DISPLAY, quality='MediumCloseFitShadows', build_path=constants.BUILD_PATH): - super().__init__(quality=quality) - self.local_executable_path = build_path - self.start(x_display=x_display, - player_screen_height=player_screen_height, - player_screen_width=player_screen_width) self.task = None + super().__init__(quality=quality, + x_display=x_display, + height=player_screen_height, + width=player_screen_width) + # internal states self.cleaned_objects = set() self.cooled_objects = set() @@ -126,22 +126,25 @@ def step(self, action, smooth_nav=False): ''' overrides ai2thor.controller.Controller.step() for smooth navigation and goal_condition updates ''' - if smooth_nav: - if "MoveAhead" in action['action']: - self.smooth_move_ahead(action) - elif "Rotate" in action['action']: - self.smooth_rotate(action) - elif "Look" in action['action']: - self.smooth_look(action) + if 'action' in action: + if smooth_nav: + if "MoveAhead" in action['action']: + self.smooth_move_ahead(action) + elif "Rotate" in action['action']: + self.smooth_rotate(action) + elif "Look" in action['action']: + self.smooth_look(action) + else: + super().step(action) else: - super().step(action) + if "LookUp" in action['action']: + self.look_angle(-constants.AGENT_HORIZON_ADJ) + elif "LookDown" in action['action']: + self.look_angle(constants.AGENT_HORIZON_ADJ) + else: + super().step(action) else: - if "LookUp" in action['action']: - self.look_angle(-constants.AGENT_HORIZON_ADJ) - elif "LookDown" in action['action']: - self.look_angle(constants.AGENT_HORIZON_ADJ) - else: - super().step(action) + super().step(action) event = self.update_states(action) self.check_post_conditions(action) @@ -151,8 +154,9 @@ def check_post_conditions(self, action): ''' handle special action post-conditions ''' - if action['action'] == 'ToggleObjectOn': - self.check_clean(action['objectId']) + if 'action' in action: + if action['action'] == 'ToggleObjectOn': + self.check_clean(action['objectId']) def update_states(self, action): ''' @@ -162,20 +166,21 @@ def update_states(self, action): event = self.last_event if event.metadata['lastActionSuccess']: # clean - if action['action'] == 'ToggleObjectOn' and "Faucet" in action['objectId']: - sink_basin = get_obj_of_type_closest_to_obj('SinkBasin', action['objectId'], event.metadata) - cleaned_object_ids = sink_basin['receptacleObjectIds'] - self.cleaned_objects = self.cleaned_objects | set(cleaned_object_ids) if cleaned_object_ids is not None else set() - # heat - if action['action'] == 'ToggleObjectOn' and "Microwave" in action['objectId']: - microwave = get_objects_of_type('Microwave', event.metadata)[0] - heated_object_ids = microwave['receptacleObjectIds'] - self.heated_objects = self.heated_objects | set(heated_object_ids) if heated_object_ids is not None else set() - # cool - if action['action'] == 'CloseObject' and "Fridge" in action['objectId']: - fridge = get_objects_of_type('Fridge', event.metadata)[0] - cooled_object_ids = fridge['receptacleObjectIds'] - self.cooled_objects = self.cooled_objects | set(cooled_object_ids) if cooled_object_ids is not None else set() + if 'action' in action: + if action['action'] == 'ToggleObjectOn' and "Faucet" in action['objectId']: + sink_basin = get_obj_of_type_closest_to_obj('SinkBasin', action['objectId'], event.metadata) + cleaned_object_ids = sink_basin['receptacleObjectIds'] + self.cleaned_objects = self.cleaned_objects | set(cleaned_object_ids) if cleaned_object_ids is not None else set() + # heat + if action['action'] == 'ToggleObjectOn' and "Microwave" in action['objectId']: + microwave = get_objects_of_type('Microwave', event.metadata)[0] + heated_object_ids = microwave['receptacleObjectIds'] + self.heated_objects = self.heated_objects | set(heated_object_ids) if heated_object_ids is not None else set() + # cool + if action['action'] == 'CloseObject' and "Fridge" in action['objectId']: + fridge = get_objects_of_type('Fridge', event.metadata)[0] + cooled_object_ids = fridge['receptacleObjectIds'] + self.cooled_objects = self.cooled_objects | set(cooled_object_ids) if cooled_object_ids is not None else set() return event diff --git a/gen/game_states/task_game_state_full_knowledge.py b/gen/game_states/task_game_state_full_knowledge.py index 6551d8eb9..54d7aab7d 100644 --- a/gen/game_states/task_game_state_full_knowledge.py +++ b/gen/game_states/task_game_state_full_knowledge.py @@ -436,8 +436,9 @@ def step(self, action_or_ind): if not parent['openable'] or parent['isOpen']: parent_receptacle = parent['objectId'] - self.in_receptacle_ids[parent_receptacle].add(obj_id) - self.object_to_point[obj_id] = self.receptacle_to_point[parent_receptacle] - self.point_to_object[tuple(self.receptacle_to_point[parent_receptacle].tolist())] = obj_id + if parent_receptacle in self.in_receptacle_ids: + self.in_receptacle_ids[parent_receptacle].add(obj_id) + self.object_to_point[obj_id] = self.receptacle_to_point[parent_receptacle] + self.point_to_object[tuple(self.receptacle_to_point[parent_receptacle].tolist())] = obj_id self.need_plan_update = True diff --git a/requirements.txt b/requirements.txt index 70f68660f..28c9e4b9f 100644 --- a/requirements.txt +++ b/requirements.txt @@ -7,7 +7,7 @@ tqdm vocab revtok Pillow -torch==1.1.0 -torchvision==0.3.0 -tensorboardX==1.8 -ai2thor==2.1.0 +torch +torchvision +tensorboardX +ai2thor From 86655715dd90b137f67af2e6555ba22cdde7dede Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Tue, 22 Sep 2020 16:19:57 -0700 Subject: [PATCH 02/14] fix bug for image generation code --- gen/utils/replay_json.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gen/utils/replay_json.py b/gen/utils/replay_json.py index cecec7c67..96949414c 100644 --- a/gen/utils/replay_json.py +++ b/gen/utils/replay_json.py @@ -17,7 +17,7 @@ def replay_json(env, json_file): # initialize event = env.step(dict(traj_data['scene']['init_action'])) - print("Task: %s" % (traj_data['template']['task_desc'])) + # print("Task: %s" % (traj_data['template']['task_desc'])) steps_taken = 0 for ll_action in traj_data['plan']['low_actions']: @@ -25,8 +25,8 @@ def replay_json(env, json_file): ll_action['high_idx'], ll_action['api_action'], ll_action['discrete_action'] # print templated low-level instructions & discrete action - print("HL Templ: %s, LL Cmd: %s" % (traj_data['template']['high_descs'][hl_action_idx], - traj_discrete_action['action'])) + # print("HL Templ: %s, LL Cmd: %s" % (traj_data['template']['high_descs'][hl_action_idx], + # traj_discrete_action['action'])) # Use the va_interact that modelers will have to use at inference time. action_name, action_args = traj_discrete_action['action'], traj_discrete_action['args'] From 665fdc837b747fb688f09cfd4c890733f2ded76e Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Tue, 22 Sep 2020 16:20:38 -0700 Subject: [PATCH 03/14] add more --- gen/scripts/generate_trajectories.py | 9 ++++++--- gen/utils/game_util.py | 4 ++-- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/gen/scripts/generate_trajectories.py b/gen/scripts/generate_trajectories.py index 531441b9e..6dea461bf 100644 --- a/gen/scripts/generate_trajectories.py +++ b/gen/scripts/generate_trajectories.py @@ -1,7 +1,7 @@ import os import sys -sys.path.append(os.path.join(os.environ['ALFRED_ROOT'])) -sys.path.append(os.path.join(os.environ['ALFRED_ROOT'], 'gen')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred_new')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred_new', 'gen')) import time import multiprocessing as mp @@ -423,6 +423,7 @@ def main(args): print_successes(succ_traj) return + print(succ_traj.groupby('goal').count()) # pre-populate failed trajectories. fail_traj = load_fails_from_disk(args.save_path) print("Loaded %d known failed tuples" % len(fail_traj)) @@ -459,6 +460,7 @@ def main(args): # main generation loop # keeps trying out new task tuples as trajectories either fail or suceed while True: + # for _ in range(10): sampled_task = next(task_sampler) print(sampled_task) # DEBUG @@ -493,6 +495,7 @@ def main(args): # plan & execute try: + # if True: # Agent reset to new scene. constraint_objs = {'repeat': [(constants.OBJ_PARENTS[pickup_obj], # Generate multiple parent objs. np.random.randint(2 if gtype == "pick_two_obj_and_place" else 1, @@ -559,7 +562,7 @@ def main(args): dump_data_dict() save_video() - + # else: except Exception as e: import traceback traceback.print_exc() diff --git a/gen/utils/game_util.py b/gen/utils/game_util.py index 1ae1576a3..476ef5122 100644 --- a/gen/utils/game_util.py +++ b/gen/utils/game_util.py @@ -334,12 +334,12 @@ def get_object_bounds_batch(boxes, scene_bounds): return obj_bounds -def get_task_str(task_type_ind, object_ind, receptacle_ind=None, toggle_ind=None, mrecep_ind=None): +def get_task_str(object_ind, receptacle_ind=None, toggle_ind=None, mrecep_ind=None): goal_str = constants.pddl_goal_type if constants.data_dict['pddl_params']['object_sliced']: goal_str += "_slice" template = random.choice(glib.gdict[goal_str]['templates']) - obj = constants.OBJECTS[object_ind].lower() + obj = constants.OBJECTS[object_ind].lower() if object_ind is not None else "" recep = constants.OBJECTS[receptacle_ind].lower() if receptacle_ind is not None else "" tog = constants.OBJECTS[toggle_ind].lower() if toggle_ind is not None else "" mrecep = constants.OBJECTS[mrecep_ind].lower() if mrecep_ind is not None else "" From c92cd0185f378e5895126697d09a585c9057a155 Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Tue, 22 Sep 2020 16:22:40 -0700 Subject: [PATCH 04/14] upload all changes --- env/thor_env.py | 20 +++++++++++++------- gen/constants.py | 7 ++++--- gen/game_states/game_state_base.py | 19 ++++++++++--------- gen/game_states/task_game_state.py | 2 +- 4 files changed, 28 insertions(+), 20 deletions(-) diff --git a/env/thor_env.py b/env/thor_env.py index acb1c2c36..c1cbaa3e6 100644 --- a/env/thor_env.py +++ b/env/thor_env.py @@ -103,16 +103,22 @@ def restore_scene(self, object_poses, object_toggles, dirty_and_empty): visibility_distance=constants.VISIBILITY_DISTANCE, makeAgentsVisible=False, )) + if len(object_toggles) > 0: - super().step((dict(action='SetObjectToggles', objectToggles=object_toggles))) + # TODO: problem here: the API has change on these two attributes. + for o in object_toggles: + super().step((dict(action='SetObjectStates', SetObjectStates=o))) if dirty_and_empty: - super().step(dict(action='SetStateOfAllObjects', - StateChange="CanBeDirty", - forceAction=True)) - super().step(dict(action='SetStateOfAllObjects', - StateChange="CanBeFilled", - forceAction=False)) + # TODO: problem here: the API also change on these two attributes. + + for o in object_poses: + super().step(dict(action='SetObjectStates', + SetObjectStates={'objectType': o['objectName'].split('_')[0], 'stateChange': 'dirtyable', 'isDirty': True})) + + super().step(dict(action='SetObjectStates', + SetObjectStates={'objectType': o['objectName'].split('_')[0], 'stateChange': 'canFillWithLiquid', 'isFilledWithLiquid': False})) + super().step((dict(action='SetObjectPoses', objectPoses=object_poses))) def set_task(self, traj, args, reward_type='sparse', max_episode_length=2000): diff --git a/gen/constants.py b/gen/constants.py index 2667f0dd1..d4a3f86ee 100644 --- a/gen/constants.py +++ b/gen/constants.py @@ -32,14 +32,15 @@ ######################################################################################################################## # Goals -GOALS = ["pick_and_place_simple", - "pick_two_obj_and_place", +GOALS = [ + "pick_and_place_simple", + "pick_two_obj_and_place", "look_at_obj_in_light", "pick_clean_then_place_in_recep", "pick_heat_then_place_in_recep", "pick_cool_then_place_in_recep", "pick_and_place_with_movable_recep"] - + ] GOALS_VALID = {"pick_and_place_simple": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"}, "pick_two_obj_and_place": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"}, "look_at_obj_in_light": {"LivingRoom", "Bedroom"}, diff --git a/gen/game_states/game_state_base.py b/gen/game_states/game_state_base.py index 39c0e8d54..d97dbacb9 100644 --- a/gen/game_states/game_state_base.py +++ b/gen/game_states/game_state_base.py @@ -147,18 +147,19 @@ def reset(self, scene_num=None, use_gt=True, seed=None, max_num_repeats=constant # if 'clean' action, make everything dirty and empty out fillable things if constants.pddl_goal_type == "pick_clean_then_place_in_recep": - self.env.step(dict(action='SetStateOfAllObjects', - StateChange="CanBeDirty", - forceAction=True)) + # need to create a dictionary that contains all the object's type and state change. + + for o in objs['repeat']: + self.env.step(dict(action='SetObjectStates', + SetObjectStates={'objectType': o[0], 'stateChange': 'dirtyable', 'isDirty': True})) + + self.env.step(dict(action='SetObjectStates', + SetObjectStates={'objectType': o[0], 'stateChange': 'canFillWithLiquid', 'isFilledWithLiquid': False})) - self.env.step(dict(action='SetStateOfAllObjects', - StateChange="CanBeFilled", - forceAction=False)) if objs is not None and ('seton' in objs and len(objs['seton']) > 0): - self.env.step(dict(action='SetObjectToggles', - objectToggles=[{'objectType': o, 'isOn': v} - for o, v in objs['seton']])) + for o, v in objs['seton']: + self.env.step(dict(action='SetObjectStates', SetObjectStates={'objectType': o, 'stateChange': 'toggleable', 'isToggled': v})) self.gt_graph = graph_obj.Graph(use_gt=True, construct_graph=True, scene_id=self.scene_num) diff --git a/gen/game_states/task_game_state.py b/gen/game_states/task_game_state.py index 627f9e73e..b0623057d 100644 --- a/gen/game_states/task_game_state.py +++ b/gen/game_states/task_game_state.py @@ -281,7 +281,7 @@ def setup_problem(self, seed=None, info=None, scene=None, objs=None): if constants.pddl_goal_type == "look_at_obj_in_light": # choose a toggleable object self.parent_target = None - + if constants.FORCED_SAMPLING or objs is None: rand_chosen_toggle_object = random.choice(toggle_objects) else: From 1dc856cd9a4276d7be23de01d735ddea3906e91b Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Wed, 23 Sep 2020 14:10:30 -0700 Subject: [PATCH 05/14] fix restore env --- env/thor_env.py | 5 +++-- gen/constants.py | 4 ++-- gen/scripts/generate_trajectories.py | 6 +++--- gen/scripts/replay_checks.py | 6 ++++-- 4 files changed, 12 insertions(+), 9 deletions(-) diff --git a/env/thor_env.py b/env/thor_env.py index c1cbaa3e6..01a1e843e 100644 --- a/env/thor_env.py +++ b/env/thor_env.py @@ -107,8 +107,9 @@ def restore_scene(self, object_poses, object_toggles, dirty_and_empty): if len(object_toggles) > 0: # TODO: problem here: the API has change on these two attributes. for o in object_toggles: - super().step((dict(action='SetObjectStates', SetObjectStates=o))) - + super().step((dict(action='SetObjectStates', + SetObjectStates=o))) + if dirty_and_empty: # TODO: problem here: the API also change on these two attributes. diff --git a/gen/constants.py b/gen/constants.py index d4a3f86ee..3db3f0618 100644 --- a/gen/constants.py +++ b/gen/constants.py @@ -35,12 +35,12 @@ GOALS = [ "pick_and_place_simple", "pick_two_obj_and_place", - "look_at_obj_in_light", + "look_at_obj_in_light", "pick_clean_then_place_in_recep", "pick_heat_then_place_in_recep", "pick_cool_then_place_in_recep", "pick_and_place_with_movable_recep"] - ] + # ] GOALS_VALID = {"pick_and_place_simple": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"}, "pick_two_obj_and_place": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"}, "look_at_obj_in_light": {"LivingRoom", "Bedroom"}, diff --git a/gen/scripts/generate_trajectories.py b/gen/scripts/generate_trajectories.py index 6dea461bf..0aa02b4a4 100644 --- a/gen/scripts/generate_trajectories.py +++ b/gen/scripts/generate_trajectories.py @@ -459,8 +459,8 @@ def main(args): # main generation loop # keeps trying out new task tuples as trajectories either fail or suceed - while True: - # for _ in range(10): + # while True: + for _ in range(20): sampled_task = next(task_sampler) print(sampled_task) # DEBUG @@ -539,7 +539,7 @@ def main(args): 'rotation': obj['rotation']} for obj in env.last_event.metadata['objects'] if obj['pickupable']] dirty_and_empty = gtype == 'pick_clean_then_place_in_recep' - object_toggles = [{'objectType': o, 'isOn': v} + object_toggles = [{'objectType': o, 'stateChange': 'toggleable', 'isToggled': v} for o, v in constraint_objs['seton']] constants.data_dict['scene']['object_poses'] = object_poses constants.data_dict['scene']['dirty_and_empty'] = dirty_and_empty diff --git a/gen/scripts/replay_checks.py b/gen/scripts/replay_checks.py index 9d71845cc..bbeea08eb 100644 --- a/gen/scripts/replay_checks.py +++ b/gen/scripts/replay_checks.py @@ -1,7 +1,9 @@ import os import sys -sys.path.append(os.path.join(os.environ['ALFRED_ROOT'])) -sys.path.append(os.path.join(os.environ['ALFRED_ROOT'], 'gen')) +# sys.path.append(os.path.join(os.environ['ALFRED_ROOT'])) +# sys.path.append(os.path.join(os.environ['ALFRED_ROOT'], 'gen')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred_new')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred_new', 'gen')) import argparse import json From 84270930bf815447ba2e0652222806175c9bf5da Mon Sep 17 00:00:00 2001 From: jiasenlu Date: Thu, 8 Oct 2020 02:30:23 -0700 Subject: [PATCH 06/14] update layout with latest thor --- env/thor_env.py | 4 +- gen/game_states/game_state_base.py | 29 ++++ gen/layouts/FloorPlan1-layout.npy | Bin 2192 -> 2080 bytes gen/layouts/FloorPlan1-objects.json | 78 ++++----- gen/layouts/FloorPlan1-openable.json | 96 +++++------ gen/layouts/FloorPlan10-layout.npy | Bin 3376 -> 3408 bytes gen/layouts/FloorPlan10-objects.json | 72 ++++---- gen/layouts/FloorPlan10-openable.json | 56 +++---- gen/layouts/FloorPlan11-layout.npy | Bin 1200 -> 1168 bytes gen/layouts/FloorPlan11-objects.json | 63 +++---- gen/layouts/FloorPlan11-openable.json | 78 ++++----- gen/layouts/FloorPlan12-layout.npy | Bin 1392 -> 1392 bytes gen/layouts/FloorPlan12-objects.json | 57 +++---- gen/layouts/FloorPlan12-openable.json | 124 ++++++++------ gen/layouts/FloorPlan13-layout.npy | Bin 2944 -> 2976 bytes gen/layouts/FloorPlan13-objects.json | 63 +++---- gen/layouts/FloorPlan13-openable.json | 106 +++++------- gen/layouts/FloorPlan14-layout.npy | Bin 2016 -> 1984 bytes gen/layouts/FloorPlan14-objects.json | 59 +++---- gen/layouts/FloorPlan14-openable.json | 18 +- gen/layouts/FloorPlan15-layout.npy | Bin 1664 -> 1584 bytes gen/layouts/FloorPlan15-objects.json | 64 ++++---- gen/layouts/FloorPlan15-openable.json | 90 ++++++---- gen/layouts/FloorPlan16-layout.npy | Bin 3296 -> 3312 bytes gen/layouts/FloorPlan16-objects.json | 69 ++++---- gen/layouts/FloorPlan16-openable.json | 182 +++++++++------------ gen/layouts/FloorPlan17-layout.npy | Bin 1248 -> 1168 bytes gen/layouts/FloorPlan17-objects.json | 70 ++++---- gen/layouts/FloorPlan17-openable.json | 106 ++++++++---- gen/layouts/FloorPlan18-layout.npy | Bin 3680 -> 3568 bytes gen/layouts/FloorPlan18-objects.json | 71 ++++---- gen/layouts/FloorPlan18-openable.json | 104 ++++++------ gen/layouts/FloorPlan19-layout.npy | Bin 1248 -> 1280 bytes gen/layouts/FloorPlan19-objects.json | 59 +++---- gen/layouts/FloorPlan19-openable.json | 110 +++++++++---- gen/layouts/FloorPlan2-layout.npy | Bin 1968 -> 1968 bytes gen/layouts/FloorPlan2-objects.json | 63 +++---- gen/layouts/FloorPlan2-openable.json | 106 +++++++----- gen/layouts/FloorPlan20-layout.npy | Bin 1408 -> 1376 bytes gen/layouts/FloorPlan20-objects.json | 67 ++++---- gen/layouts/FloorPlan20-openable.json | 98 ++++++----- gen/layouts/FloorPlan201-layout.npy | Bin 3152 -> 3232 bytes gen/layouts/FloorPlan201-objects.json | 54 +++--- gen/layouts/FloorPlan201-openable.json | 82 ++++++---- gen/layouts/FloorPlan202-layout.npy | Bin 2416 -> 2528 bytes gen/layouts/FloorPlan202-objects.json | 38 +++-- gen/layouts/FloorPlan202-openable.json | 30 ++-- gen/layouts/FloorPlan203-layout.npy | Bin 8096 -> 8480 bytes gen/layouts/FloorPlan203-objects.json | 47 +++--- gen/layouts/FloorPlan203-openable.json | 72 ++++---- gen/layouts/FloorPlan204-layout.npy | Bin 3552 -> 3072 bytes gen/layouts/FloorPlan204-objects.json | 45 ++--- gen/layouts/FloorPlan204-openable.json | 106 +++++++----- gen/layouts/FloorPlan205-layout.npy | Bin 4096 -> 4128 bytes gen/layouts/FloorPlan205-objects.json | 39 ++--- gen/layouts/FloorPlan205-openable.json | 78 +++++---- gen/layouts/FloorPlan206-layout.npy | Bin 1968 -> 1952 bytes gen/layouts/FloorPlan206-objects.json | 35 ++-- gen/layouts/FloorPlan206-openable.json | 116 +++++++------ gen/layouts/FloorPlan207-layout.npy | Bin 2448 -> 2352 bytes gen/layouts/FloorPlan207-objects.json | 36 ++-- gen/layouts/FloorPlan207-openable.json | 92 ++++++----- gen/layouts/FloorPlan208-layout.npy | Bin 3536 -> 3440 bytes gen/layouts/FloorPlan208-objects.json | 35 ++-- gen/layouts/FloorPlan208-openable.json | 86 +++++----- gen/layouts/FloorPlan209-layout.npy | Bin 4992 -> 4912 bytes gen/layouts/FloorPlan209-objects.json | 44 ++--- gen/layouts/FloorPlan209-openable.json | 48 ++++-- gen/layouts/FloorPlan21-layout.npy | Bin 1808 -> 1584 bytes gen/layouts/FloorPlan21-objects.json | 68 ++++---- gen/layouts/FloorPlan21-openable.json | 76 ++++++--- gen/layouts/FloorPlan210-layout.npy | Bin 4416 -> 4160 bytes gen/layouts/FloorPlan210-objects.json | 42 ++--- gen/layouts/FloorPlan210-openable.json | 106 ++++++------ gen/layouts/FloorPlan211-layout.npy | Bin 2128 -> 2240 bytes gen/layouts/FloorPlan211-objects.json | 41 ++--- gen/layouts/FloorPlan211-openable.json | 72 ++++---- gen/layouts/FloorPlan212-layout.npy | Bin 1792 -> 1856 bytes gen/layouts/FloorPlan212-objects.json | 43 ++--- gen/layouts/FloorPlan212-openable.json | 62 +++---- gen/layouts/FloorPlan213-layout.npy | Bin 4800 -> 4784 bytes gen/layouts/FloorPlan213-objects.json | 39 ++--- gen/layouts/FloorPlan213-openable.json | 132 ++++++++------- gen/layouts/FloorPlan214-layout.npy | Bin 3104 -> 3024 bytes gen/layouts/FloorPlan214-objects.json | 42 ++--- gen/layouts/FloorPlan214-openable.json | 42 +++-- gen/layouts/FloorPlan215-layout.npy | Bin 6160 -> 6208 bytes gen/layouts/FloorPlan215-objects.json | 42 ++--- gen/layouts/FloorPlan215-openable.json | 80 +++++---- gen/layouts/FloorPlan216-layout.npy | Bin 2528 -> 2448 bytes gen/layouts/FloorPlan216-objects.json | 39 ++--- gen/layouts/FloorPlan216-openable.json | 56 +++---- gen/layouts/FloorPlan217-layout.npy | Bin 2576 -> 2240 bytes gen/layouts/FloorPlan217-objects.json | 41 ++--- gen/layouts/FloorPlan217-openable.json | 80 ++++----- gen/layouts/FloorPlan218-layout.npy | Bin 6848 -> 6752 bytes gen/layouts/FloorPlan218-objects.json | 43 ++--- gen/layouts/FloorPlan218-openable.json | 64 ++++---- gen/layouts/FloorPlan219-layout.npy | Bin 3536 -> 3552 bytes gen/layouts/FloorPlan219-objects.json | 44 ++--- gen/layouts/FloorPlan219-openable.json | 134 +++++++-------- gen/layouts/FloorPlan22-layout.npy | Bin 2304 -> 2256 bytes gen/layouts/FloorPlan22-objects.json | 61 +++---- gen/layouts/FloorPlan22-openable.json | 112 +++++++------ gen/layouts/FloorPlan220-layout.npy | Bin 3920 -> 3712 bytes gen/layouts/FloorPlan220-objects.json | 40 ++--- gen/layouts/FloorPlan220-openable.json | 74 ++++----- gen/layouts/FloorPlan221-layout.npy | Bin 2016 -> 1920 bytes gen/layouts/FloorPlan221-objects.json | 39 +++-- gen/layouts/FloorPlan221-openable.json | 26 +-- gen/layouts/FloorPlan222-layout.npy | Bin 1824 -> 1648 bytes gen/layouts/FloorPlan222-objects.json | 37 +++-- gen/layouts/FloorPlan222-openable.json | 76 ++++----- gen/layouts/FloorPlan223-layout.npy | Bin 3632 -> 3408 bytes gen/layouts/FloorPlan223-objects.json | 36 ++-- gen/layouts/FloorPlan223-openable.json | 62 ++++--- gen/layouts/FloorPlan224-layout.npy | Bin 4496 -> 4704 bytes gen/layouts/FloorPlan224-objects.json | 45 ++--- gen/layouts/FloorPlan224-openable.json | 172 ++++++++++--------- gen/layouts/FloorPlan225-layout.npy | Bin 2592 -> 2576 bytes gen/layouts/FloorPlan225-objects.json | 44 ++--- gen/layouts/FloorPlan225-openable.json | 74 +++++---- gen/layouts/FloorPlan226-layout.npy | Bin 1392 -> 1424 bytes gen/layouts/FloorPlan226-objects.json | 33 ++-- gen/layouts/FloorPlan226-openable.json | 52 +++--- gen/layouts/FloorPlan227-layout.npy | Bin 3312 -> 3232 bytes gen/layouts/FloorPlan227-objects.json | 39 ++--- gen/layouts/FloorPlan227-openable.json | 112 ++++++------- gen/layouts/FloorPlan228-layout.npy | Bin 2688 -> 2576 bytes gen/layouts/FloorPlan228-objects.json | 39 ++--- gen/layouts/FloorPlan228-openable.json | 60 ++++--- gen/layouts/FloorPlan229-layout.npy | Bin 3456 -> 3184 bytes gen/layouts/FloorPlan229-objects.json | 46 +++--- gen/layouts/FloorPlan229-openable.json | 64 ++++---- gen/layouts/FloorPlan23-layout.npy | Bin 1664 -> 1648 bytes gen/layouts/FloorPlan23-objects.json | 68 ++++---- gen/layouts/FloorPlan23-openable.json | 54 ++++-- gen/layouts/FloorPlan230-layout.npy | Bin 5872 -> 6448 bytes gen/layouts/FloorPlan230-objects.json | 44 ++--- gen/layouts/FloorPlan230-openable.json | 48 +++--- gen/layouts/FloorPlan24-layout.npy | Bin 1104 -> 1120 bytes gen/layouts/FloorPlan24-objects.json | 63 +++---- gen/layouts/FloorPlan24-openable.json | 132 +++++++-------- gen/layouts/FloorPlan25-layout.npy | Bin 560 -> 528 bytes gen/layouts/FloorPlan25-objects.json | 61 +++---- gen/layouts/FloorPlan25-openable.json | 76 ++++----- gen/layouts/FloorPlan26-layout.npy | Bin 1344 -> 1328 bytes gen/layouts/FloorPlan26-objects.json | 57 +++---- gen/layouts/FloorPlan26-openable.json | 62 +++---- gen/layouts/FloorPlan27-layout.npy | Bin 816 -> 832 bytes gen/layouts/FloorPlan27-objects.json | 63 +++---- gen/layouts/FloorPlan27-openable.json | 84 ++++++---- gen/layouts/FloorPlan28-layout.npy | Bin 1744 -> 1712 bytes gen/layouts/FloorPlan28-objects.json | 62 +++---- gen/layouts/FloorPlan28-openable.json | 90 ++++++---- gen/layouts/FloorPlan29-layout.npy | Bin 1168 -> 1136 bytes gen/layouts/FloorPlan29-objects.json | 55 ++++--- gen/layouts/FloorPlan29-openable.json | 42 ++--- gen/layouts/FloorPlan3-objects.json | 68 ++++---- gen/layouts/FloorPlan3-openable.json | 92 +++++------ gen/layouts/FloorPlan30-layout.npy | Bin 1072 -> 992 bytes gen/layouts/FloorPlan30-objects.json | 67 ++++---- gen/layouts/FloorPlan30-openable.json | 152 ++++++++--------- gen/layouts/FloorPlan301-layout.npy | Bin 1520 -> 1440 bytes gen/layouts/FloorPlan301-objects.json | 46 +++--- gen/layouts/FloorPlan301-openable.json | 136 ++++++++++----- gen/layouts/FloorPlan302-objects.json | 43 ++--- gen/layouts/FloorPlan302-openable.json | 54 +++--- gen/layouts/FloorPlan303-layout.npy | Bin 1424 -> 1280 bytes gen/layouts/FloorPlan303-objects.json | 49 +++--- gen/layouts/FloorPlan303-openable.json | 92 ++++++----- gen/layouts/FloorPlan304-layout.npy | Bin 1872 -> 1824 bytes gen/layouts/FloorPlan304-objects.json | 40 ++--- gen/layouts/FloorPlan304-openable.json | 32 +++- gen/layouts/FloorPlan305-layout.npy | Bin 1488 -> 1472 bytes gen/layouts/FloorPlan305-objects.json | 42 ++--- gen/layouts/FloorPlan305-openable.json | 44 +++-- gen/layouts/FloorPlan306-layout.npy | Bin 1616 -> 1632 bytes gen/layouts/FloorPlan306-objects.json | 40 ++--- gen/layouts/FloorPlan306-openable.json | 58 ++++--- gen/layouts/FloorPlan307-layout.npy | Bin 1552 -> 1536 bytes gen/layouts/FloorPlan307-objects.json | 49 +++--- gen/layouts/FloorPlan307-openable.json | 108 +++++++++--- gen/layouts/FloorPlan308-layout.npy | Bin 1696 -> 1712 bytes gen/layouts/FloorPlan308-objects.json | 42 ++--- gen/layouts/FloorPlan308-openable.json | 96 +++++++---- gen/layouts/FloorPlan309-layout.npy | Bin 5920 -> 5744 bytes gen/layouts/FloorPlan309-objects.json | 48 +++--- gen/layouts/FloorPlan309-openable.json | 58 ++++--- gen/layouts/FloorPlan310-layout.npy | Bin 1200 -> 1152 bytes gen/layouts/FloorPlan310-objects.json | 43 ++--- gen/layouts/FloorPlan310-openable.json | 56 +++---- gen/layouts/FloorPlan311-layout.npy | Bin 3728 -> 3616 bytes gen/layouts/FloorPlan311-objects.json | 47 +++--- gen/layouts/FloorPlan311-openable.json | 54 +++--- gen/layouts/FloorPlan312-layout.npy | Bin 1616 -> 1568 bytes gen/layouts/FloorPlan312-objects.json | 37 +++-- gen/layouts/FloorPlan312-openable.json | 76 ++++----- gen/layouts/FloorPlan313-layout.npy | Bin 912 -> 912 bytes gen/layouts/FloorPlan313-objects.json | 46 +++--- gen/layouts/FloorPlan313-openable.json | 72 ++++---- gen/layouts/FloorPlan314-layout.npy | Bin 1408 -> 1200 bytes gen/layouts/FloorPlan314-objects.json | 35 ++-- gen/layouts/FloorPlan314-openable.json | 44 ++--- gen/layouts/FloorPlan315-objects.json | 40 ++--- gen/layouts/FloorPlan315-openable.json | 108 ++++++------ gen/layouts/FloorPlan316-objects.json | 42 ++--- gen/layouts/FloorPlan316-openable.json | 40 +++-- gen/layouts/FloorPlan317-layout.npy | Bin 2160 -> 2112 bytes gen/layouts/FloorPlan317-objects.json | 42 ++--- gen/layouts/FloorPlan317-openable.json | 112 +++++++------ gen/layouts/FloorPlan318-layout.npy | Bin 1536 -> 1584 bytes gen/layouts/FloorPlan318-objects.json | 42 ++--- gen/layouts/FloorPlan318-openable.json | 140 ++++++++++------ gen/layouts/FloorPlan319-layout.npy | Bin 1536 -> 1568 bytes gen/layouts/FloorPlan319-objects.json | 36 ++-- gen/layouts/FloorPlan319-openable.json | 126 +++++++------- gen/layouts/FloorPlan320-layout.npy | Bin 1088 -> 1104 bytes gen/layouts/FloorPlan320-objects.json | 41 +++-- gen/layouts/FloorPlan320-openable.json | 40 ++--- gen/layouts/FloorPlan321-layout.npy | Bin 1440 -> 1600 bytes gen/layouts/FloorPlan321-objects.json | 39 ++--- gen/layouts/FloorPlan321-openable.json | 42 ++--- gen/layouts/FloorPlan322-layout.npy | Bin 1696 -> 1808 bytes gen/layouts/FloorPlan322-objects.json | 44 ++--- gen/layouts/FloorPlan322-openable.json | 100 +++++++---- gen/layouts/FloorPlan323-layout.npy | Bin 3152 -> 3120 bytes gen/layouts/FloorPlan323-objects.json | 42 ++--- gen/layouts/FloorPlan323-openable.json | 104 +++++------- gen/layouts/FloorPlan324-layout.npy | Bin 1616 -> 1632 bytes gen/layouts/FloorPlan324-objects.json | 39 +++-- gen/layouts/FloorPlan324-openable.json | 112 +++++++------ gen/layouts/FloorPlan325-layout.npy | Bin 3104 -> 3072 bytes gen/layouts/FloorPlan325-objects.json | 40 ++--- gen/layouts/FloorPlan325-openable.json | 158 ++++++++---------- gen/layouts/FloorPlan326-layout.npy | Bin 1744 -> 1760 bytes gen/layouts/FloorPlan326-objects.json | 50 +++--- gen/layouts/FloorPlan326-openable.json | 86 +++++----- gen/layouts/FloorPlan327-layout.npy | Bin 1360 -> 1392 bytes gen/layouts/FloorPlan327-objects.json | 39 ++--- gen/layouts/FloorPlan327-openable.json | 76 +++++---- gen/layouts/FloorPlan328-layout.npy | Bin 1120 -> 1104 bytes gen/layouts/FloorPlan328-objects.json | 44 ++--- gen/layouts/FloorPlan328-openable.json | 40 ++--- gen/layouts/FloorPlan329-objects.json | 40 ++--- gen/layouts/FloorPlan329-openable.json | 46 ++++-- gen/layouts/FloorPlan330-layout.npy | Bin 2304 -> 2208 bytes gen/layouts/FloorPlan330-objects.json | 46 +++--- gen/layouts/FloorPlan330-openable.json | 128 +++++++-------- gen/layouts/FloorPlan4-objects.json | 63 +++---- gen/layouts/FloorPlan4-openable.json | 52 +++--- gen/layouts/FloorPlan401-layout.npy | Bin 1696 -> 1760 bytes gen/layouts/FloorPlan401-objects.json | 41 ++--- gen/layouts/FloorPlan401-openable.json | 44 ++--- gen/layouts/FloorPlan402-layout.npy | Bin 1632 -> 1584 bytes gen/layouts/FloorPlan402-objects.json | 45 ++--- gen/layouts/FloorPlan402-openable.json | 58 +++---- gen/layouts/FloorPlan403-layout.npy | Bin 1152 -> 1152 bytes gen/layouts/FloorPlan403-objects.json | 44 ++--- gen/layouts/FloorPlan403-openable.json | 34 ++-- gen/layouts/FloorPlan404-layout.npy | Bin 928 -> 1008 bytes gen/layouts/FloorPlan404-objects.json | 36 ++-- gen/layouts/FloorPlan404-openable.json | 16 +- gen/layouts/FloorPlan405-layout.npy | Bin 560 -> 576 bytes gen/layouts/FloorPlan405-objects.json | 33 ++-- gen/layouts/FloorPlan405-openable.json | 32 ++-- gen/layouts/FloorPlan406-layout.npy | Bin 1696 -> 1664 bytes gen/layouts/FloorPlan406-objects.json | 35 ++-- gen/layouts/FloorPlan406-openable.json | 28 ++-- gen/layouts/FloorPlan407-layout.npy | Bin 656 -> 672 bytes gen/layouts/FloorPlan407-objects.json | 40 ++--- gen/layouts/FloorPlan407-openable.json | 40 ++--- gen/layouts/FloorPlan408-layout.npy | Bin 720 -> 736 bytes gen/layouts/FloorPlan408-objects.json | 35 ++-- gen/layouts/FloorPlan408-openable.json | 40 ++--- gen/layouts/FloorPlan409-objects.json | 32 ++-- gen/layouts/FloorPlan409-openable.json | 34 ++-- gen/layouts/FloorPlan410-objects.json | 37 +++-- gen/layouts/FloorPlan410-openable.json | 62 ++++--- gen/layouts/FloorPlan411-layout.npy | Bin 1200 -> 1136 bytes gen/layouts/FloorPlan411-objects.json | 38 +++-- gen/layouts/FloorPlan411-openable.json | 36 ++-- gen/layouts/FloorPlan412-layout.npy | Bin 912 -> 816 bytes gen/layouts/FloorPlan412-objects.json | 37 +++-- gen/layouts/FloorPlan412-openable.json | 28 ++-- gen/layouts/FloorPlan413-layout.npy | Bin 1232 -> 1136 bytes gen/layouts/FloorPlan413-objects.json | 41 ++--- gen/layouts/FloorPlan413-openable.json | 60 ++++--- gen/layouts/FloorPlan414-layout.npy | Bin 928 -> 896 bytes gen/layouts/FloorPlan414-objects.json | 41 ++--- gen/layouts/FloorPlan414-openable.json | 44 ++--- gen/layouts/FloorPlan415-layout.npy | Bin 1040 -> 976 bytes gen/layouts/FloorPlan415-objects.json | 39 ++--- gen/layouts/FloorPlan415-openable.json | 42 ++--- gen/layouts/FloorPlan416-layout.npy | Bin 1248 -> 1136 bytes gen/layouts/FloorPlan416-objects.json | 34 ++-- gen/layouts/FloorPlan416-openable.json | 22 +-- gen/layouts/FloorPlan417-layout.npy | Bin 1056 -> 1088 bytes gen/layouts/FloorPlan417-objects.json | 37 +++-- gen/layouts/FloorPlan417-openable.json | 34 ++-- gen/layouts/FloorPlan418-layout.npy | Bin 896 -> 848 bytes gen/layouts/FloorPlan418-objects.json | 36 ++-- gen/layouts/FloorPlan418-openable.json | 28 ++-- gen/layouts/FloorPlan419-layout.npy | Bin 624 -> 528 bytes gen/layouts/FloorPlan419-objects.json | 36 ++-- gen/layouts/FloorPlan419-openable.json | 28 +++- gen/layouts/FloorPlan420-layout.npy | Bin 576 -> 560 bytes gen/layouts/FloorPlan420-objects.json | 39 ++--- gen/layouts/FloorPlan420-openable.json | 22 +-- gen/layouts/FloorPlan421-layout.npy | Bin 624 -> 608 bytes gen/layouts/FloorPlan421-objects.json | 35 ++-- gen/layouts/FloorPlan421-openable.json | 36 ++-- gen/layouts/FloorPlan422-layout.npy | Bin 768 -> 656 bytes gen/layouts/FloorPlan422-objects.json | 44 ++--- gen/layouts/FloorPlan422-openable.json | 48 ++++-- gen/layouts/FloorPlan423-layout.npy | Bin 1024 -> 1040 bytes gen/layouts/FloorPlan423-objects.json | 41 ++--- gen/layouts/FloorPlan423-openable.json | 52 +++--- gen/layouts/FloorPlan424-objects.json | 34 ++-- gen/layouts/FloorPlan424-openable.json | 36 ++-- gen/layouts/FloorPlan425-objects.json | 39 ++--- gen/layouts/FloorPlan425-openable.json | 36 +++- gen/layouts/FloorPlan426-layout.npy | Bin 928 -> 912 bytes gen/layouts/FloorPlan426-objects.json | 40 ++--- gen/layouts/FloorPlan426-openable.json | 44 +++-- gen/layouts/FloorPlan427-layout.npy | Bin 944 -> 976 bytes gen/layouts/FloorPlan427-objects.json | 42 ++--- gen/layouts/FloorPlan427-openable.json | 54 +++--- gen/layouts/FloorPlan428-layout.npy | Bin 1008 -> 864 bytes gen/layouts/FloorPlan428-objects.json | 35 ++-- gen/layouts/FloorPlan428-openable.json | 44 ++--- gen/layouts/FloorPlan429-layout.npy | Bin 1136 -> 1184 bytes gen/layouts/FloorPlan429-objects.json | 37 +++-- gen/layouts/FloorPlan429-openable.json | 24 ++- gen/layouts/FloorPlan430-layout.npy | Bin 1824 -> 1760 bytes gen/layouts/FloorPlan430-objects.json | 50 +++--- gen/layouts/FloorPlan430-openable.json | 42 ++--- gen/layouts/FloorPlan5-layout.npy | Bin 1712 -> 1696 bytes gen/layouts/FloorPlan5-objects.json | 70 ++++---- gen/layouts/FloorPlan5-openable.json | 146 +++++++---------- gen/layouts/FloorPlan6-layout.npy | Bin 2272 -> 2128 bytes gen/layouts/FloorPlan6-objects.json | 61 +++---- gen/layouts/FloorPlan6-openable.json | 86 +++++----- gen/layouts/FloorPlan7-layout.npy | Bin 4416 -> 4304 bytes gen/layouts/FloorPlan7-objects.json | 73 +++++---- gen/layouts/FloorPlan7-openable.json | 120 +++++++------- gen/layouts/FloorPlan8-layout.npy | Bin 2880 -> 2864 bytes gen/layouts/FloorPlan8-objects.json | 71 ++++---- gen/layouts/FloorPlan8-openable.json | 140 ++++++++-------- gen/layouts/FloorPlan9-layout.npy | Bin 1344 -> 1312 bytes gen/layouts/FloorPlan9-objects.json | 61 +++---- gen/layouts/FloorPlan9-openable.json | 176 ++++++++++---------- gen/layouts/precompute_layout_locations.py | 19 ++- gen/scripts/generate_trajectories.py | 13 +- gen/scripts/replay_checks.py | 7 +- 355 files changed, 7812 insertions(+), 6774 deletions(-) diff --git a/env/thor_env.py b/env/thor_env.py index 01a1e843e..1864fb0a5 100644 --- a/env/thor_env.py +++ b/env/thor_env.py @@ -11,7 +11,7 @@ DEFAULT_RENDER_SETTINGS = {'renderImage': True, - 'renderDepthImage': False, + 'renderDepthImage': True, 'renderClassImage': False, 'renderObjectImage': False, } @@ -104,6 +104,8 @@ def restore_scene(self, object_poses, object_toggles, dirty_and_empty): makeAgentsVisible=False, )) + + if len(object_toggles) > 0: # TODO: problem here: the API has change on these two attributes. for o in object_toggles: diff --git a/gen/game_states/game_state_base.py b/gen/game_states/game_state_base.py index d97dbacb9..e03d0de6c 100644 --- a/gen/game_states/game_state_base.py +++ b/gen/game_states/game_state_base.py @@ -12,6 +12,7 @@ from utils.py_util import SetWithGet from utils.image_util import compress_mask +MAX_DEPTH = 5 class GameStateBase(object): static_action_space = [ @@ -407,6 +408,10 @@ def step(self, action_or_ind, process_frame=True): self.event = self.env.step(new_action) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, self.event.frame[:, :, ::-1]) + depth_image = self.event.depth_frame + depth_image = depth_image * (255 / MAX_DEPTH) + depth_image = depth_image.astype(np.uint8) + cv2.imwrite(constants.save_depth_path + '/%09d.png' % im_ind, depth_image) game_util.store_image_name('%09d.png' % im_ind) # eww... seriously need to clean this up im_ind += 1 if np.abs(action['horizon'] - self.env.last_event.metadata['agent']['cameraHorizon']) > 0.001: @@ -418,6 +423,10 @@ def step(self, action_or_ind, process_frame=True): self.event = self.env.step(new_action) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, self.event.frame[:, :, ::-1]) + depth_image = self.event.depth_frame + depth_image = depth_image * (255 / MAX_DEPTH) + depth_image = depth_image.astype(np.uint8) + cv2.imwrite(constants.save_depth_path + '/%09d.png' % im_ind, depth_image) game_util.store_image_name('%09d.png' % im_ind) im_ind += 1 if np.abs(action['rotation'] - rotation['y']) > 0.001: @@ -428,6 +437,10 @@ def step(self, action_or_ind, process_frame=True): self.event = self.env.step(new_action) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, self.event.frame[:, :, ::-1]) + depth_image = self.event.depth_frame + depth_image = depth_image * (255 / MAX_DEPTH) + depth_image = depth_image.astype(np.uint8) + cv2.imwrite(constants.save_depth_path + '/%09d.png' % im_ind, depth_image) game_util.store_image_name('%09d.png' % im_ind) im_ind += 1 @@ -440,6 +453,10 @@ def step(self, action_or_ind, process_frame=True): for event in events: im_ind = len(glob.glob(constants.save_path + '/*.png')) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1]) + depth_image = event.depth_frame + depth_image = depth_image * (255 / MAX_DEPTH) + depth_image = depth_image.astype(np.uint8) + cv2.imwrite(constants.save_depth_path + '/%09d.png' % im_ind, depth_image) game_util.store_image_name('%09d.png' % im_ind) elif 'Rotate' in action['action']: @@ -449,6 +466,10 @@ def step(self, action_or_ind, process_frame=True): for event in events: im_ind = len(glob.glob(constants.save_path + '/*.png')) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1]) + depth_image = event.depth_frame + depth_image = depth_image * (255 / MAX_DEPTH) + depth_image = depth_image.astype(np.uint8) + cv2.imwrite(constants.save_depth_path + '/%09d.png' % im_ind, depth_image) game_util.store_image_name('%09d.png' % im_ind) elif 'Look' in action['action']: @@ -458,6 +479,10 @@ def step(self, action_or_ind, process_frame=True): for event in events: im_ind = len(glob.glob(constants.save_path + '/*.png')) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1]) + depth_image = event.depth_frame + depth_image = depth_image * (255 / MAX_DEPTH) + depth_image = depth_image.astype(np.uint8) + cv2.imwrite(constants.save_depth_path + '/%09d.png' % im_ind, depth_image) game_util.store_image_name('%09d.png' % im_ind) elif 'OpenObject' in action['action']: @@ -891,6 +916,10 @@ def save_image(self, count): for i in range(count): im_ind = len(glob.glob(constants.save_path + '/*.png')) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, self.env.last_event.frame[:, :, ::-1]) + depth_image = self.env.last_event.depth_frame + depth_image = depth_image * (255 / MAX_DEPTH) + depth_image = depth_image.astype(np.uint8) + cv2.imwrite(constants.save_depth_path + '/%09d.png' % im_ind, depth_image) game_util.store_image_name('%09d.png' % im_ind) self.env.noop() diff --git a/gen/layouts/FloorPlan1-layout.npy b/gen/layouts/FloorPlan1-layout.npy index dd9b203ec9adbebf851b7270d91abeedb1c9ab6d..ecf032eda90488eb9902359d2087c052811958b0 100644 GIT binary patch delta 49 zcmV-10M7rA5ugx|KLIkaK!yX8)&oG3CInEEh6E6krUYPHXwo%#D-f8QC|>u|zO3F&&sJz$&)6j2lbRLQT diff --git a/gen/layouts/FloorPlan10-objects.json b/gen/layouts/FloorPlan10-objects.json index 2ce8bb35f..9bb206cf1 100644 --- a/gen/layouts/FloorPlan10-objects.json +++ b/gen/layouts/FloorPlan10-objects.json @@ -1,47 +1,49 @@ [ - "Shelf", - "Statue", - "CounterTop", - "SoapBottle", - "Plate", - "Sink", - "Fork", - "HousePlant", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", - "CreditCard", + "CellPhone", "PepperShaker", - "Glassbottle", - "Potato", - "Lettuce", "Bowl", - "Toaster", - "Egg", - "Pan", - "Apple", - "SinkBasin", + "GarbageCan", + "ShelvingUnit", "Chair", - "Fridge", "Window", - "Mug", - "Drawer", - "Bread", - "Cup", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", - "GarbageCan", - "DishSponge", + "HousePlant", + "Spoon", "LightSwitch", + "Pan", + "Shelf", + "Bottle", + "Plate", + "StoveKnob", "StoveBurner", - "Faucet", - "Vase", + "Pot", "PaperTowelRoll", "Tomato", + "Spatula", + "Fridge", + "Vase", + "Cup", + "SaltShaker", + "Statue", + "Lettuce", + "Microwave", + "Egg", + "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Knife", + "Fork", "ButterKnife", - "Cabinet", - "CellPhone", - "Spoon" + "Potato", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan10-openable.json b/gen/layouts/FloorPlan10-openable.json index 0f850bf73..79b20557a 100644 --- a/gen/layouts/FloorPlan10-openable.json +++ b/gen/layouts/FloorPlan10-openable.json @@ -1,21 +1,21 @@ { "Cabinet|+00.65|+00.48|+00.24": [ - -0.25, + 0.0, 0.75, - 90, + 180, 30 ], "Cabinet|+00.65|+00.48|-01.72": [ 0.0, - -2.0, - 90, + -1.5, + 180, 30 ], "Cabinet|+00.95|+02.16|-02.38": [ 0.25, -2.0, 90, - -30 + 0 ], "CounterTop|+00.93|+00.95|-00.21": [ 0.25, @@ -25,8 +25,8 @@ ], "CounterTop|+00.93|+00.95|-02.05": [ 0.25, - -2.0, - 90, + -1.5, + 180, 30 ], "CounterTop|-01.24|+00.97|-00.64": [ @@ -37,61 +37,55 @@ ], "Drawer|+00.64|+00.27|-00.65": [ 0.0, - -1.5, + -1.25, 0, 30 ], "Drawer|+00.64|+00.55|-00.65": [ 0.0, - -1.5, - 0, + -0.25, + 180, 30 ], "Drawer|+00.64|+00.76|-00.65": [ 0.0, - -1.0, - 90, + -0.25, + 180, 30 ], "Fridge|+00.97|+00.00|+01.25": [ 0.0, 1.25, 90, - 0 + 30 ], - "GarbageCan|-00.95|+00.00|+00.58": [ - 0.0, - 1.0, + "GarbageCan|-00.95|-00.04|+00.58": [ + -0.25, + 1.5, 270, 30 ], "Microwave|+01.04|+01.68|-01.30": [ 0.25, - -1.25, + -1.0, 90, 0 ], - "Shelf|-01.69|+00.16|+02.72": [ - -1.5, - 1.5, - 0, - 30 - ], - "Shelf|-01.69|+00.54|+02.72": [ - -2.25, - 1.5, - 0, + "Shelf|-01.64|+00.55|+02.72": [ + -1.0, + 2.0, + 270, 30 ], - "Shelf|-01.69|+00.87|+02.72": [ + "Shelf|-01.64|+00.88|+02.72": [ -2.25, - 1.75, - 0, + 2.25, + 90, 30 ], "Sink|-00.70|+00.93|-00.65|SinkBasin": [ 0.0, - -0.75, + -1.25, 270, 30 ] diff --git a/gen/layouts/FloorPlan11-layout.npy b/gen/layouts/FloorPlan11-layout.npy index be82fc1e5838430e449b69935c383fcf1ca804b3..83ad075e18259678d68a39df2ff760ff8c1877de 100644 GIT binary patch delta 33 pcmdnMIe~M69i!<+dv=zI=L9C-W8|2e$09NDp1|aHj2uiC>;b-N3vvJe delta 30 lcmbQhxq)+n9i#b1dv+GaFB8v;PxfQc05a~2Pp)GT0sx)o3UB}b diff --git a/gen/layouts/FloorPlan11-objects.json b/gen/layouts/FloorPlan11-objects.json index c4914dc9a..038aac6a9 100644 --- a/gen/layouts/FloorPlan11-objects.json +++ b/gen/layouts/FloorPlan11-objects.json @@ -1,42 +1,43 @@ [ - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Stool", + "Toaster", + "Bowl", "CoffeeMachine", - "Knife", - "Spatula", "PepperShaker", + "GarbageCan", + "Window", + "Spoon", + "LightSwitch", + "Pan", + "StoveKnob", "Potato", - "Bowl", + "Pot", + "PaperTowelRoll", + "Tomato", + "Spatula", + "Fridge", + "Kettle", + "DiningTable", + "Cup", + "SaltShaker", + "Microwave", "Lettuce", - "Toaster", "Egg", - "Pan", - "Apple", + "Faucet", "SinkBasin", - "Chair", - "Fridge", - "Window", - "Mug", + "Sink", + "CounterTop", + "SoapBottle", "Drawer", - "Bread", - "Cup", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", - "GarbageCan", "DishSponge", - "LightSwitch", - "DiningTable", - "StoveBurner", - "Kettle", - "Faucet", + "Bread", + "Knife", + "Fork", "ButterKnife", - "Tomato", - "PaperTowelRoll", - "Cabinet", - "Spoon" + "StoveBurner", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan11-openable.json b/gen/layouts/FloorPlan11-openable.json index 0e7c4ba53..739db4dd6 100644 --- a/gen/layouts/FloorPlan11-openable.json +++ b/gen/layouts/FloorPlan11-openable.json @@ -1,31 +1,25 @@ { "Cabinet|+00.06|+00.40|-01.35": [ - 0.25, + -0.75, -0.5, - 180, + 90, 30 ], "Cabinet|+00.10|+00.40|-01.35": [ - 0.75, + -0.25, -0.5, - 180, + 90, 30 ], "Cabinet|+00.73|+00.40|+00.15": [ 1.0, - -0.75, - 0, - 30 - ], - "Cabinet|+01.08|+00.40|-01.35": [ - 1.25, -0.5, - 180, + 270, 30 ], "Cabinet|+01.67|+00.40|+00.15": [ 1.5, - -1.0, + -0.5, 0, 30 ], @@ -36,27 +30,21 @@ 0 ], "Cabinet|-00.18|+00.40|+00.15": [ + 0.5, -0.5, - -0.75, - 0, + 270, 30 ], "Cabinet|-00.19|+01.69|-01.65": [ - -0.5, + -0.75, -1.0, 180, 0 ], "Cabinet|-00.40|+00.40|-01.35": [ - -1.0, - -0.5, - 180, - 30 - ], - "Cabinet|-00.82|+00.40|-01.35": [ - -1.5, + 0.0, -0.5, - 180, + 270, 30 ], "CounterTop|+00.28|+00.95|+00.46": [ @@ -72,63 +60,69 @@ 30 ], "CounterTop|-00.68|+00.95|-01.65": [ - 1.5, + -0.75, -1.0, 180, 30 ], - "DiningTable|-02.20|+00.99|+00.45": [ - -2.25, + "DiningTable|-02.26|00.00|+00.43": [ + -1.75, -0.25, 0, 30 ], "Drawer|+00.02|+00.79|+00.30": [ - -0.25, -0.5, + -0.75, 0, - 30 + 0 ], "Drawer|+00.50|+00.79|+00.30": [ - 0.25, - -0.5, + 0.75, + -0.75, 0, - 30 + 0 ], "Drawer|-00.15|+00.79|-01.50": [ - 0.5, - -1.0, + 0.25, + -0.75, 270, 30 ], "Drawer|-00.59|+00.79|-01.50": [ - -1.25, -1.0, + -0.75, 90, 30 ], "Drawer|-01.10|+00.79|-01.50": [ - 0.0, + -1.5, -0.75, - 270, + 90, 30 ], "Fridge|-02.14|+00.00|-01.69": [ - -2.25, + -2.0, -0.75, 180, - 0 + 30 ], - "Microwave|-01.04|+00.90|-01.72": [ + "GarbageCan|-00.37|-00.03|+00.54": [ -1.0, + 0.25, + 90, + 30 + ], + "Microwave|-01.04|+00.90|-01.72": [ + -1.25, -1.0, 180, - 30 + 0 ], "Sink|+00.71|+00.82|-01.77|SinkBasin": [ - 0.25, + 0.0, -1.0, - 180, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan12-layout.npy b/gen/layouts/FloorPlan12-layout.npy index 577a1720d1f39616d9835d9ed7fa6b8e8c5fbbc0..4bf976abca05e91725d7f14a2c76eadd78305411 100644 GIT binary patch delta 134 zcmeys^?_@{Gsel^7!OSLV-lD=kBMXQJ|>CDaX|JuAp07S=3~|nVt|4V_7KJe`^g&2 ydXv+b1128>Vl|ckt_%C2Y8)mvu()x;xJ;Axvy{VmY?JL-4FwzD*zC@1$pHXX^KLI$gKsEuhwgK=4leP$;0R)pr3C{rpvj+x3@S!MzNf_4(A delta 95 zcmbQh`G9kREt9#yM0iT^w%*D-QTwqxwre2vk8ak3e+@X27)(~%p& tCV|QKm^dcaFfysW%9Fy-cYfOFz6q94An7oX|N&uqq1=N5G`vIE9AL0N2 delta 71 zcmZqRdcZlsj?rMEz5B#v0h8Gn7i>Pp_<(V89FxH0b4(nQ*D-qlX@SXh%p8;dF48MD%b{S096#~wn%NErWu{pJj22^IkS7zr2v delta 61 kcmdnMzkz>48T004%v>x63}EnKKZNFTfY2|{_z&QG0Dg`N6#xJL diff --git a/gen/layouts/FloorPlan2-objects.json b/gen/layouts/FloorPlan2-objects.json index 3d5a154fc..5aaf4b50d 100644 --- a/gen/layouts/FloorPlan2-objects.json +++ b/gen/layouts/FloorPlan2-objects.json @@ -1,42 +1,43 @@ [ - "Ladle", - "CounterTop", - "SoapBottle", - "Plate", - "Sink", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", + "CellPhone", "PepperShaker", - "Potato", - "Lettuce", "Bowl", - "Toaster", - "Egg", - "Pan", + "GarbageCan", "Chair", - "Apple", - "SinkBasin", - "Fridge", "Window", - "Mug", - "Drawer", - "Cup", - "Bread", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", - "GarbageCan", - "DishSponge", + "Spoon", "LightSwitch", - "StoveBurner", + "Pan", + "Ladle", + "StoveKnob", + "Potato", + "Pot", + "Tomato", + "Spatula", + "Fridge", "Kettle", + "Cup", + "SaltShaker", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "CellPhone", - "Spoon" + "StoveBurner", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan2-openable.json b/gen/layouts/FloorPlan2-openable.json index f59ae3d06..746d96928 100644 --- a/gen/layouts/FloorPlan2-openable.json +++ b/gen/layouts/FloorPlan2-openable.json @@ -1,27 +1,21 @@ { - "Cabinet|+00.41|+00.48|+00.45": [ - 1.25, - 1.0, - 270, - 30 - ], "Cabinet|+00.50|+00.48|-01.15": [ 0.75, - -0.25, - 180, + -0.5, + 270, 30 ], "Cabinet|+01.39|+00.48|-01.15": [ 0.75, - -0.25, - 180, + -0.5, + 90, 30 ], "Cabinet|+01.71|+02.02|-01.45": [ 1.0, -0.75, 180, - -30 + 0 ], "Cabinet|+01.79|+02.02|-00.82": [ 1.0, @@ -31,91 +25,115 @@ ], "Cabinet|-00.50|+00.48|-01.15": [ -0.75, - -0.25, - 180, + -0.5, + 90, 30 ], "Cabinet|-00.63|+02.02|-01.45": [ -0.75, -0.75, 180, - -30 + 0 ], "Cabinet|-01.39|+00.48|-01.15": [ -0.75, - -0.25, - 180, + -0.5, + 270, 30 ], "Cabinet|-01.70|+02.02|-01.45": [ -0.75, -0.75, 270, - -30 + 0 ], "CounterTop|+00.00|+00.95|-01.51": [ - -0.75, - -0.75, - 180, + 1.25, + 0.75, + 90, 30 ], "CounterTop|-00.02|+00.96|+00.51": [ - 0.75, + -0.75, 0.5, - 270, + 90, 30 ], "Drawer|+00.81|+00.48|-01.16": [ - 1.25, - 0.0, + 0.25, + -0.75, 180, 30 ], "Drawer|+01.50|+00.14|+00.60": [ 0.75, - 1.75, + 1.25, 180, 30 ], "Drawer|+01.50|+00.20|+01.22": [ - 0.5, + 0.0, 1.75, 90, + 0 + ], + "Drawer|+01.50|+00.20|-00.02": [ + 0.5, + -0.75, + 0, + 30 + ], + "Drawer|+01.50|+00.31|+00.60": [ + 0.75, + 1.25, + 180, + 30 + ], + "Drawer|+01.50|+00.43|-00.02": [ + 0.75, + 0.5, + 180, 30 ], "Drawer|+01.50|+00.52|+01.22": [ 0.75, + 1.75, + 180, + 30 + ], + "Drawer|+01.50|+00.54|+00.60": [ 0.75, - 90, + 0.0, + 0, 30 ], "Drawer|+01.50|+00.60|-00.02": [ - 1.0, 0.75, + 0.5, 180, 30 ], "Drawer|+01.50|+00.63|+00.61": [ 0.75, - 1.0, - 90, + 1.25, + 180, 30 ], "Drawer|+01.50|+00.63|-00.02": [ - 0.75, - 0.25, + 0.5, + -0.75, 90, - 30 + 0 ], "Drawer|+01.50|+00.78|+01.22": [ 0.75, - 1.5, - 90, + 0.5, + 0, 30 ], "Drawer|-00.70|+00.48|-01.16": [ + -0.25, -0.75, - -0.5, 180, 30 ], @@ -123,18 +141,24 @@ -0.75, 0.0, 270, - 0 + 30 + ], + "GarbageCan|-01.80|+00.01|+01.33": [ + -1.25, + 2.0, + 270, + 30 ], "Microwave|+01.93|+00.90|-00.77": [ 1.0, - -0.75, + -0.25, 90, - 30 + 0 ], "Sink|+00.00|+00.89|-01.44|SinkBasin": [ - 0.0, + 0.5, -0.75, - 180, + 270, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan20-layout.npy b/gen/layouts/FloorPlan20-layout.npy index a76a9b7e0f9dee4217901e5ec647c90dfc64c8c6..26942a1b589283ce0bc97da341bac22354ead260 100644 GIT binary patch delta 49 ycmZqRe!w-smdV^=qy2QI$={e9CWkQ}5PGqn0StcFL+A(lCvRXD+bqYD#0UV7RSwqx delta 46 zcmaFB)xbT$mdV0kqy2QI$@3UFCbKaKOg_itF?k)3Ee2%sF`t-R$IP+$A9E5T09D@( AY5)KL diff --git a/gen/layouts/FloorPlan20-objects.json b/gen/layouts/FloorPlan20-objects.json index 39dc59026..da15dedff 100644 --- a/gen/layouts/FloorPlan20-objects.json +++ b/gen/layouts/FloorPlan20-objects.json @@ -1,43 +1,46 @@ [ - "Shelf", - "Ladle", - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Stool", + "Bowl", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", "PepperShaker", - "Potato", - "Bowl", - "Lettuce", + "ShelvingUnit", + "GarbageCan", + "Window", "WineBottle", - "Toaster", - "Egg", + "Spoon", + "LightSwitch", "Pan", - "Apple", - "SinkBasin", - "Chair", + "Ladle", + "Shelf", + "StoveKnob", + "StoveBurner", + "Pot", + "Tomato", + "Spatula", "Fridge", - "Window", - "Mug", - "Drawer", - "Bread", + "Vase", + "DiningTable", "Cup", - "Pot", - "StoveKnob", - "Microwave", "SaltShaker", - "GarbageCan", - "DishSponge", - "LightSwitch", - "DiningTable", - "StoveBurner", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "Potato", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan20-openable.json b/gen/layouts/FloorPlan20-openable.json index d8e553ee1..a9a7c7ee1 100644 --- a/gen/layouts/FloorPlan20-openable.json +++ b/gen/layouts/FloorPlan20-openable.json @@ -1,26 +1,20 @@ { "Cabinet|+00.20|+02.02|-02.00": [ - 0.25, - -1.25, - 180, - -30 - ], - "Cabinet|+01.18|+02.02|-02.00": [ - 1.0, + 0.0, -1.25, 180, - -30 + 0 ], "Cabinet|+01.38|+00.47|-01.69": [ 0.75, - -0.75, - 180, + -1.0, + 90, 30 ], "Cabinet|+01.39|+00.47|-01.06": [ - 0.5, - -1.25, - 90, + 0.75, + -0.75, + 180, 30 ], "Cabinet|+01.72|+02.02|-02.00": [ @@ -31,49 +25,55 @@ ], "Cabinet|+01.75|+02.02|-01.03": [ 1.0, - -1.0, + -0.75, 90, - -30 + 0 ], "Cabinet|+01.75|+02.02|-01.40": [ 1.0, -1.25, 90, - -30 + 0 ], - "Cabinet|-00.82|+00.47|-01.69": [ - -0.25, - -0.75, + "Cabinet|-00.46|+02.27|-02.00": [ + 0.25, + -1.25, 180, - 30 + 0 ], - "Cabinet|-00.84|+00.47|-01.67": [ - 0.0, + "Cabinet|-00.82|+00.47|-01.69": [ + -0.25, -1.0, 270, 30 ], - "Cabinet|-01.10|+02.02|-02.00": [ - -0.5, + "Cabinet|-00.84|+00.47|-01.67": [ + 0.0, -1.0, 180, - -30 + 30 ], "Cabinet|-01.15|+02.02|-01.98": [ -0.25, -1.25, 270, - -30 + 0 + ], + "Cabinet|-01.15|+02.27|-00.83": [ + -0.25, + -0.75, + 270, + 0 ], "CounterTop|+00.23|+00.95|-02.00": [ - 0.75, + 1.0, -1.25, 180, 30 ], - "DiningTable|+00.42|+00.01|+00.68": [ - -1.0, - 0.75, + "DiningTable|+00.17|+00.01|+00.68": [ + -0.5, + 0.25, 90, 30 ], @@ -81,36 +81,48 @@ -0.5, -0.75, 270, - 0 + 30 + ], + "GarbageCan|+01.86|-00.03|+00.14": [ + 1.25, + 0.5, + 90, + 30 ], "Microwave|-01.23|+00.90|-01.68": [ - -0.25, - -1.25, + -0.5, + -1.0, 270, + 0 + ], + "Shelf|+00.17|+00.16|+00.68": [ + -0.75, + 0.25, + 90, 30 ], - "Shelf|+01.55|+00.16|+02.48": [ - 1.0, + "Shelf|+00.17|+00.53|+00.68": [ 1.5, - 0, - 30 + 0.5, + 270, + 0 ], - "Shelf|+01.55|+00.54|+02.48": [ - 1.25, - 1.25, + "Shelf|+01.61|+00.55|+02.48": [ + 1.0, + 2.0, 0, 30 ], - "Shelf|+01.55|+00.87|+02.48": [ + "Shelf|+01.61|+00.88|+02.48": [ 1.5, 2.0, 0, 30 ], "Sink|-00.11|+00.89|-02.01|SinkBasin": [ - -0.25, + 0.5, -1.25, - 180, + 270, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan201-layout.npy b/gen/layouts/FloorPlan201-layout.npy index f600a47ae37e0febe52ad83745677ddf467c7321..dd52a66f452b4e54d86eb3ff57581e2dec6dc09d 100644 GIT binary patch delta 141 zcmca0u|RTy9h0TWM29v(t^*8UaKRozb4=VWKk-?? rHn?J@$?+`ej4YGOS^D8(ER+9(#5Rkw?q{0(jQs%9i~W;laNGa@rVJnI delta 68 zcmaDL{6T1f9g~UiLTykLAg4+&ESMcyLPM*g5Ve&M-hRJID z1(TNnv6=vo7T7R3O>hGf3s8^HJ;u#!A`6%|Zxc^o+^i;9#a0h-gTw&{E$slI#nJd; zXnavLz6cs$7>zH4#utR~>m3-tKmaBH<@2HOdC>S=XnYPdJ{uaJ1&z-H<=4Y}%z&og r4>VR_@;}h{U(oolScR#7fhPX|jeh~cS7v}|V1NP`|AIY4K-vKSUTRj> delta 150 zcmZ4Bw7`CXEwhQG#YTr^%#*({7i=zL31FK1jZI*)7`p=FWH*k4$=f(CFg@76xr39B z5k$}6k^|E_xb4974<4}i*|{W7L>@4oIJ4l;C7LzyJm>Cf{dtpL~yzgY(6H zn20!&{^T$wfyre|3S4|pbrPhe`}gmE8CmS^5R`5UtWT;#=Md6w;qpRq8)MSg6) z&uY#%S&hA5@-lXX$=85%7>B^*HjakLVw??=mvK&*?8Y@=@-r@j$!gpNlhe2zCT|1M O-+DjMg_(nlczJvGyT~=c?F~1aR|qPT~3e(>Npk$s1=jl+50(RPG*~Yp1mDt)MO8ic_8Wrgv#Kw1My}+ hs1uxiARY%7SkMAOWpKS?yfE3Fd#3=zT$q!^8~`KCVvGO) diff --git a/gen/layouts/FloorPlan204-objects.json b/gen/layouts/FloorPlan204-objects.json index e8875ff2b..b18bedbca 100644 --- a/gen/layouts/FloorPlan204-objects.json +++ b/gen/layouts/FloorPlan204-objects.json @@ -1,30 +1,31 @@ [ - "Shelf", - "Statue", - "KeyChain", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", - "Painting", + "Sofa", + "WateringCan", + "Desk", + "CellPhone", "Chair", - "Television", - "Laptop", - "Box", - "Window", - "Drawer", - "Lamp", - "Safe", - "CoffeeTable", - "TVStand", "GarbageCan", - "WateringCan", + "Window", + "RemoteControl", + "HousePlant", + "DeskLamp", "LightSwitch", + "Painting", + "Shelf", + "TVStand", + "CoffeeTable", + "Box", + "Vase", + "Safe", "DiningTable", - "Sofa", + "Laptop", + "Statue", + "Television", + "KeyChain", + "Drawer", + "Pillow", "ArmChair", - "RemoteControl", - "Vase", - "Desk", - "CellPhone" + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan204-openable.json b/gen/layouts/FloorPlan204-openable.json index 3061877ae..01584a44f 100644 --- a/gen/layouts/FloorPlan204-openable.json +++ b/gen/layouts/FloorPlan204-openable.json @@ -1,110 +1,134 @@ { - "ArmChair|-02.63|00.00|+02.42": [ - -2.75, - 3.5, + "ArmChair|-02.63|+00.01|+02.42": [ + -2.0, + 3.25, 180, 30 ], "CoffeeTable|-01.97|+00.00|+04.19": [ - -2.0, - 3.0, + -1.75, + 3.25, 0, 30 ], - "Desk|-00.25|+00.00|+01.41": [ + "Desk|-00.35|+00.00|+01.37": [ -0.5, - 2.5, + 2.0, 180, 30 ], - "DiningTable|-01.78|+00.01|-02.04": [ - -1.75, + "DiningTable|-01.78|+00.00|-02.04": [ -1.0, + -1.25, 180, 30 ], - "Drawer|+00.41|+00.17|+01.24": [ - -0.5, - 0.5, + "Drawer|+00.41|+00.17|+01.22": [ + -0.25, + 0.25, 90, 30 ], - "Drawer|+00.41|+00.37|+01.24": [ - -0.5, - 0.5, + "Drawer|+00.41|+00.38|+01.22": [ + -0.25, + 0.25, 90, 30 ], - "Drawer|+00.41|+00.58|+01.24": [ - 0.0, + "Drawer|+00.41|+00.58|+01.22": [ + -0.25, 0.25, - 0, + 90, 30 ], - "Drawer|00.00|+00.17|+01.24": [ - -0.75, + "Drawer|00.00|+00.17|+01.22": [ + -1.0, 0.5, 90, 30 ], - "Drawer|00.00|+00.37|+01.24": [ - -0.75, + "Drawer|00.00|+00.38|+01.22": [ + -1.0, + 0.5, + 0, + 30 + ], + "Drawer|00.00|+00.58|+01.22": [ + -1.25, 0.5, 90, + 0 + ], + "GarbageCan|+00.36|+00.00|+02.16": [ + 0.0, + 2.5, + 90, 30 ], - "Drawer|00.00|+00.58|+01.24": [ - -0.75, + "Safe|+00.18|+00.00|-00.07": [ + -0.25, 0.5, + 180, + 30 + ], + "Shelf|-01.10|+00.20|+01.32": [ + -1.75, + 0.0, 90, 30 ], - "GarbageCan|+00.42|+00.00|+02.04": [ + "Shelf|-01.10|+00.40|+01.32": [ + -1.75, 0.0, - 2.75, - 180, + 90, 30 ], - "Safe|+00.20|+00.00|-00.10": [ - -0.75, - 0.5, + "Shelf|-01.10|+00.61|+01.32": [ + -1.5, + 0.25, 90, 30 ], "Shelf|-04.25|+01.31|+00.77": [ - -3.5, - 1.0, + -3.75, + 0.75, 270, 0 ], "Shelf|-04.25|+01.69|+00.77": [ + -2.75, + 1.0, + 270, + 30 + ], + "Shelf|-04.25|+02.16|+00.77": [ -2.75, 1.0, 270, 0 ], "Shelf|-04.26|+00.83|+00.77": [ - -3.5, + -3.75, 0.75, 270, 30 ], - "Sofa|-02.16|+00.00|+06.12": [ + "Sofa|-02.16|+00.01|+06.12": [ -2.25, - 5.0, + 5.25, 0, 30 ], - "Sofa|-03.81|+00.00|+04.15": [ - -2.75, + "Sofa|-03.78|+00.01|+04.15": [ + -3.0, 4.0, 270, 30 ], - "TVStand|-00.20|-00.01|+05.90": [ - 0.25, - 4.5, - 0, + "TVStand|-00.12|+00.00|+05.88": [ + -1.0, + 5.25, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan205-layout.npy b/gen/layouts/FloorPlan205-layout.npy index f3f1784cfb5e93c971a5e075f67bd076f796c5e4..0419a436ec8b25667f06c6f6d15288b0a6f41797 100644 GIT binary patch delta 47 zcmV+~0MP${AfO*JgqQf`F7n{`?|Fd)c+0Ot50+Z!A%O@}644BNuWw6(J)`MFhjfnp3=pt!emUc0HKqxSFE%e{@@EnH0+o1R50U?2KlugQ3;^Bu B5K;gD diff --git a/gen/layouts/FloorPlan206-objects.json b/gen/layouts/FloorPlan206-objects.json index 428773106..26ccbe9ef 100644 --- a/gen/layouts/FloorPlan206-objects.json +++ b/gen/layouts/FloorPlan206-objects.json @@ -1,23 +1,26 @@ [ - "Shelf", - "Statue", - "KeyChain", - "HousePlant", - "Pillow", + "Floor", + "Cabinet", "FloorLamp", - "CreditCard", + "Sofa", "Bowl", - "Painting", - "Television", - "Laptop", - "Box", - "Window", - "CoffeeTable", - "TVStand", + "ShelvingUnit", "GarbageCan", + "HousePlant", + "RemoteControl", + "Window", "LightSwitch", - "Sofa", + "Painting", + "Shelf", + "TVStand", + "CoffeeTable", + "Box", + "Vase", + "Laptop", + "Statue", + "Television", + "KeyChain", + "Pillow", "ArmChair", - "RemoteControl", - "Vase" + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan206-openable.json b/gen/layouts/FloorPlan206-openable.json index 819a34148..149f0ba7b 100644 --- a/gen/layouts/FloorPlan206-openable.json +++ b/gen/layouts/FloorPlan206-openable.json @@ -1,115 +1,133 @@ { - "ArmChair|+02.29|+00.01|-02.02": [ - 1.25, + "ArmChair|+02.34|+00.00|-02.04": [ + 1.5, -2.0, 90, 30 ], + "Cabinet|-01.83|+00.73|-02.36": [ + -0.75, + -1.75, + 270, + 30 + ], "CoffeeTable|+00.02|00.00|-01.11": [ + 0.25, + -1.75, + 0, + 30 + ], + "GarbageCan|+00.74|00.00|-02.52": [ 1.25, - -1.5, + -2.0, 270, 30 ], - "Shelf|+00.36|+00.17|-02.24": [ + "Shelf|+00.34|+00.27|-02.38": [ 1.0, -1.25, - 180, + 270, 30 ], - "Shelf|+00.36|+00.41|-02.24": [ + "Shelf|+00.34|+00.47|-02.38": [ 1.0, -1.25, - 180, + 270, 30 ], - "Shelf|+00.36|+00.56|-02.28": [ + "Shelf|+00.34|+00.64|-02.38": [ 1.0, -1.0, 180, + 0 + ], + "Shelf|-00.03|+00.44|-02.38": [ + 0.5, + -1.75, + 180, 30 ], - "Shelf|-00.01|+00.17|-02.39": [ - 1.0, - -1.5, - 270, + "Shelf|-00.39|+00.30|-02.38": [ + -1.0, + -1.25, + 90, 30 ], - "Shelf|-00.38|+00.17|-02.23": [ + "Shelf|-00.39|+00.60|-02.38": [ + -1.0, + -1.0, + 180, + 0 + ], + "Shelf|-01.73|+00.28|-01.63": [ -1.0, -1.25, + 270, + 30 + ], + "Shelf|-01.73|+00.30|-00.48": [ + -0.5, + 0.25, 180, 30 ], - "Shelf|-00.38|+00.47|-02.25": [ + "Shelf|-01.73|+00.45|-01.06": [ -0.75, - -1.5, + -0.5, 180, 30 ], - "Shelf|-01.63|+00.16|-01.62": [ + "Shelf|-01.73|+00.48|-01.63": [ -0.25, -1.75, 270, - 30 - ], - "Shelf|-01.64|+00.41|-01.62": [ - -0.75, - -1.75, - 270, - 30 + 0 ], - "Shelf|-01.64|+00.47|-00.46": [ + "Shelf|-01.73|+00.60|-00.48": [ -0.75, 0.0, - 270, + 180, 30 ], - "Shelf|-01.64|+00.56|-01.62": [ + "Shelf|-01.73|+00.65|-01.63": [ -0.5, -1.75, 270, - 30 - ], - "Shelf|-01.66|+00.16|-00.46": [ - -0.5, - 0.0, - 270, - 30 + 0 ], - "Shelf|-01.74|+00.16|-01.05": [ - -0.75, + "Shelf|-01.83|+01.45|-02.36": [ -0.75, + -1.75, 270, - 30 + -30 ], - "Shelf|-01.83|+01.32|-02.41": [ - -1.0, - -2.0, + "Shelf|-01.83|+01.74|-02.36": [ + -0.5, + -1.75, 270, - 0 + 30 ], - "Shelf|-01.83|+01.61|-02.41": [ + "Shelf|-01.83|+02.04|-02.36": [ -0.75, -1.75, 270, 0 ], - "Sofa|+00.13|+00.00|+01.19": [ + "Sofa|+00.12|+00.01|+01.03": [ + 0.75, 0.25, - -0.5, 0, 30 ], - "TVStand|+00.00|+00.00|-02.39": [ - 1.25, - -2.25, - 270, + "TVStand|-00.03|00.00|-02.39": [ + 0.0, + -1.75, + 180, 30 ], - "TVStand|-01.74|+00.00|-01.06": [ + "TVStand|-01.73|00.00|-01.06": [ + -1.25, -1.0, - -0.75, 270, 30 ] diff --git a/gen/layouts/FloorPlan207-layout.npy b/gen/layouts/FloorPlan207-layout.npy index deb99fa06c496ae1ac03a21af9669cb73f8086c7..a0929c7eba7ca9916298aef2062af25a96cebc6a 100644 GIT binary patch delta 57 zcmbOryg_J!9h0%;L}LQ2 Lmd)?kCNcp47ETdq delta 89 zcmdlWG(mWR9g~UaLm;^TG jG0k9_Y{$wm`5KeNW--*$lBqq;e w<=8xrql0nsIyR2Uc3d5kuW>Dy+{T?S`5SiuP=~-|plYD58H^7mi}UUT08^|YbpQYW delta 124 zcmew$bwPT99h0H)Mu#?5rVI9ycd*`@+{ei=c^bFCCd&cYVmtzy{n$AeC(mO6 z3bJx+uH)!noV<^f1E^sV*EG&Q`x(IC!Q_6f<#67M$@<*slh3h&%;A_kk2_=XJs^7> Nkj=-lV)8MbRRAi9DWL!W diff --git a/gen/layouts/FloorPlan208-objects.json b/gen/layouts/FloorPlan208-objects.json index b65b986f2..5565b5ac5 100644 --- a/gen/layouts/FloorPlan208-objects.json +++ b/gen/layouts/FloorPlan208-objects.json @@ -1,25 +1,26 @@ [ - "Shelf", - "SideTable", - "Statue", - "KeyChain", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", - "Painting", + "Sofa", "Chair", - "Television", - "Laptop", - "Box", - "Drawer", - "Ottoman", - "TVStand", "GarbageCan", + "HousePlant", + "RemoteControl", + "Ottoman", "LightSwitch", + "Shelf", + "Painting", + "TVStand", + "Box", + "Vase", "DiningTable", - "Sofa", + "Laptop", + "Statue", + "Television", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", "ArmChair", - "RemoteControl", - "Vase" + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan208-openable.json b/gen/layouts/FloorPlan208-openable.json index 63054ca4d..f10c4f8b0 100644 --- a/gen/layouts/FloorPlan208-openable.json +++ b/gen/layouts/FloorPlan208-openable.json @@ -1,80 +1,80 @@ { "ArmChair|-00.56|+00.00|+01.95": [ - -1.75, - 1.75, - 90, + 0.25, + 1.5, + 270, 30 ], "DiningTable|-03.10|+00.00|-03.61": [ - -4.0, - -3.75, - 90, + -2.25, + -3.5, + 270, 30 ], - "Drawer|+01.75|+00.78|+01.09": [ - 1.0, - 1.0, + "Drawer|+01.76|+00.77|+01.09": [ + 0.75, + 1.5, 90, - 30 + 0 ], - "GarbageCan|-01.34|+00.00|-04.83": [ - -2.25, - -4.25, + "GarbageCan|-01.34|+00.02|-04.83": [ + -2.0, + -4.5, 90, 30 ], - "Ottoman|-00.58|+00.00|+01.05": [ - 0.0, - -0.25, - 0, + "Ottoman|-00.58|+00.01|+01.05": [ + -1.25, + 1.75, + 180, 30 ], "Shelf|-00.61|+00.88|-02.83": [ -0.5, -2.0, 180, - 30 + 0 ], "Shelf|-00.61|+01.32|-02.83": [ - -0.5, + -0.75, -2.0, 180, 30 ], - "Shelf|-02.08|+00.17|+01.14": [ + "Shelf|-02.24|+00.27|+00.40": [ -1.0, - 0.5, - 270, + -0.25, + 0, 30 ], - "Shelf|-02.09|+00.17|+00.40": [ + "Shelf|-02.24|+00.30|+01.13": [ -1.0, - 0.0, - 270, + 0.5, + 0, 30 ], - "Shelf|-02.09|+00.41|+00.40": [ + "Shelf|-02.24|+00.44|+00.76": [ -1.25, - 0.75, - 270, + 1.25, + 180, 30 ], - "Shelf|-02.10|+00.47|+01.14": [ - -1.25, - 0.75, + "Shelf|-02.24|+00.47|+00.40": [ + -0.75, + 0.5, 270, - 30 + 0 ], - "Shelf|-02.13|+00.56|+00.40": [ + "Shelf|-02.24|+00.60|+01.13": [ -1.25, 0.75, - 270, + 0, 30 ], - "Shelf|-02.24|+00.17|+00.77": [ - -1.0, - 0.5, - 270, + "Shelf|-02.24|+00.64|+00.40": [ + -1.25, + 0.0, + 0, 30 ], "SideTable|+01.83|+00.00|+01.09": [ @@ -83,15 +83,15 @@ 90, 30 ], - "Sofa|+00.78|+00.00|-00.51": [ + "Sofa|+00.88|+00.01|-00.59": [ + -0.25, -0.5, - -0.75, 90, 30 ], - "TVStand|-02.24|+00.00|+00.76": [ - -1.25, - 0.75, + "TVStand|-02.24|00.00|+00.76": [ + -1.5, + 1.0, 270, 30 ] diff --git a/gen/layouts/FloorPlan209-layout.npy b/gen/layouts/FloorPlan209-layout.npy index 43f1239f17b2d0181ea365d4ebad259ea46d91e9..0b7c6e9375c17761ea0df128407116252af62c0f 100644 GIT binary patch delta 165 zcmZor-=H?Zmf6VCa-u_Fc5~)VjH*LXJ!=HJe?(;kx^u_JiGX2J~jyuQy<8* zW9I-d?b*dA$8oHf9LLTvS&q|#QyQw7ZE`$k`s6&I=snIAlk0%=Jgya!`+#&D_m0W) tfV3XZkICzRv>oq{$@|zjHv92OFit)PWYqC{FmApk(7?pVFxg$$5&%R5EZqPA delta 169 zcmdm>)}TJYmf6_AWTHdc#%C9p8TmGEXNhM7QsQj-jFa`)I3|a&3v7;K=U|*{2jrx& z3rw!#STWfT$Swo2^*B8yw{a#+jsx=Bfc$ryD<}^0cAJ31;^MLGQAU5xh$?JgZYd}l*_#_x7?*nq40Xcg79w1kw3-mKhW)s!|0BeIZ Ag8%>k diff --git a/gen/layouts/FloorPlan209-objects.json b/gen/layouts/FloorPlan209-objects.json index a1b1a6c72..6cb883d33 100644 --- a/gen/layouts/FloorPlan209-objects.json +++ b/gen/layouts/FloorPlan209-objects.json @@ -1,29 +1,31 @@ [ - "SideTable", - "Statue", - "Newspaper", - "Book", - "KeyChain", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", + "Sofa", + "WateringCan", + "GarbageCan", + "HousePlant", + "RemoteControl", + "Window", + "LightSwitch", "Painting", + "Shelf", + "CoffeeTable", + "Box", + "Vase", + "Watch", "Pen", - "Television", + "Mirror", + "Newspaper", "Laptop", - "Watch", - "Box", - "Window", + "Dresser", + "Statue", + "Television", + "KeyChain", "Drawer", - "CoffeeTable", - "GarbageCan", - "WateringCan", - "LightSwitch", - "Mirror", - "Sofa", + "SideTable", + "Pillow", "ArmChair", - "RemoteControl", - "Vase", - "Dresser" + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan209-openable.json b/gen/layouts/FloorPlan209-openable.json index 416437e37..706c4f959 100644 --- a/gen/layouts/FloorPlan209-openable.json +++ b/gen/layouts/FloorPlan209-openable.json @@ -1,60 +1,72 @@ { - "ArmChair|-04.39|+00.00|-03.55": [ - -3.25, - -3.75, - 270, + "ArmChair|-04.33|+00.00|-03.53": [ + -4.0, + -4.25, + 0, 30 ], "CoffeeTable|-02.47|+00.00|-02.49": [ - -1.25, + -1.75, -2.5, 270, 30 ], "Drawer|-02.98|+00.17|-05.01": [ - -1.75, + -2.25, -4.5, 270, 30 ], - "Drawer|-02.98|+00.48|-05.01": [ - -4.0, + "Drawer|-02.98|+00.48|-05.03": [ + -3.75, -4.5, 90, 30 ], + "Drawer|-04.02|+00.17|-05.01": [ + -3.25, + -4.5, + 270, + 30 + ], "Drawer|-04.02|+00.48|-05.01": [ - -3.0, + -3.25, -4.5, 270, 30 ], "Dresser|-03.51|+00.00|-05.10": [ -3.25, - -4.25, + -4.5, 180, 30 ], - "GarbageCan|-00.97|+00.00|-05.06": [ + "GarbageCan|-00.97|-00.03|-05.06": [ -1.5, -4.75, 90, 30 ], - "SideTable|-02.02|-00.01|-05.08": [ + "Shelf|-02.48|+00.12|-02.49": [ + -3.5, -2.5, - -4.25, + 90, + 30 + ], + "SideTable|-02.02|+00.00|-05.08": [ + -1.25, + -4.5, 180, 30 ], - "SideTable|-05.43|-00.01|-05.12": [ - -5.75, - -4.25, + "SideTable|-05.43|+00.00|-05.12": [ + -6.0, + -4.5, 180, 30 ], - "Sofa|-04.36|+00.00|-02.09": [ - -3.25, + "Sofa|-04.36|+00.01|-02.09": [ + -3.5, -2.0, 270, 30 diff --git a/gen/layouts/FloorPlan21-layout.npy b/gen/layouts/FloorPlan21-layout.npy index a102cb534bba327fb201ff7ac2bcb37f9b4dc79b..762df682bbf580e2ff5a25f678c95c1078234285 100644 GIT binary patch delta 66 zcmbQhw}EGZEt93;L@c~F*FHoUB`zJBG zal&{%CfhT+Pd>*ivAK_V1tZf1`^gH-a+B+rIVStDW`MW`%wm)Gu@-Sa>;cKM$W30y b!r^qm9wG#@3dX+xwFkzBsA6D%@ewote)}+r diff --git a/gen/layouts/FloorPlan21-objects.json b/gen/layouts/FloorPlan21-objects.json index 28c9eab55..e02d90b13 100644 --- a/gen/layouts/FloorPlan21-objects.json +++ b/gen/layouts/FloorPlan21-objects.json @@ -1,43 +1,47 @@ [ - "SideTable", - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", - "PepperShaker", - "Potato", - "Lettuce", "Bowl", - "Toaster", - "Egg", - "Pan", - "Apple", - "SinkBasin", + "PepperShaker", "Chair", - "Blinds", - "Fridge", - "Window", - "Mug", - "Drawer", - "Cup", - "Bread", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", "GarbageCan", - "DishSponge", + "Window", + "Spoon", "LightSwitch", + "Pan", + "Shelf", + "StoveKnob", + "Blinds", + "Potato", + "Pot", + "Tomato", + "Spatula", + "Fridge", "Mirror", "DiningTable", - "StoveBurner", + "Cup", + "SaltShaker", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "SideTable", + "DishSponge", + "AluminumFoil", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "GarbageBag", + "StoveBurner", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan21-openable.json b/gen/layouts/FloorPlan21-openable.json index b64e46292..d6b8a5522 100644 --- a/gen/layouts/FloorPlan21-openable.json +++ b/gen/layouts/FloorPlan21-openable.json @@ -1,57 +1,57 @@ { "Cabinet|+00.51|+00.35|+00.16": [ - -0.5, - 0.25, - 90, + -0.25, + -0.75, + 0, 30 ], "Cabinet|+00.51|+00.35|-00.43": [ - -0.5, -0.25, - 90, + -1.25, + 0, 30 ], "Cabinet|+00.72|+01.82|+00.67": [ - 0.25, - 0.25, + 0.0, + 0.0, 90, 0 ], "Cabinet|+00.72|+01.82|-00.40": [ - 0.25, 0.0, + -0.5, 90, 0 ], "CounterTop|+00.79|+00.92|-00.11": [ 0.25, - 0.0, + -0.75, 90, 30 ], - "DiningTable|-00.52|+00.01|+00.95": [ + "DiningTable|-00.35|-00.03|+00.86": [ + -1.0, 0.0, - 0.25, 0, 30 ], - "DiningTable|-01.73|-00.03|-00.96": [ - -1.0, + "DiningTable|-01.91|-00.03|-03.51": [ -1.25, + -3.0, 270, 30 ], - "DiningTable|-02.17|-00.03|-03.37": [ - -1.75, - -2.75, - 180, + "DiningTable|-01.93|-00.04|-01.40": [ + -1.25, + -1.0, + 270, 30 ], "Drawer|+00.71|+00.77|-00.13": [ - -0.25, + -0.5, -0.25, 90, - 30 + 0 ], "Fridge|+00.68|-00.03|-01.96": [ -0.25, @@ -59,22 +59,46 @@ 90, 30 ], - "Microwave|-02.01|+00.69|-03.69": [ + "Microwave|-01.99|+00.69|-03.65": [ -1.75, -2.75, 180, - 30 + 0 ], - "SideTable|+00.77|+00.70|+00.45": [ + "Shelf|+00.77|+00.23|+00.45": [ + -0.5, -0.25, - 0.25, - 90, + 0, + 30 + ], + "Shelf|+00.77|+00.46|+00.45": [ + 0.0, + 0.0, + 0, + 30 + ], + "Shelf|-00.35|+00.12|+00.86": [ + -1.0, + 0.0, + 0, + 30 + ], + "Shelf|-00.35|+00.50|+00.86": [ + -0.5, + -0.5, + 0, + 0 + ], + "SideTable|+00.77|-00.03|+00.45": [ + 0.0, + 0.0, + 0, 30 ], "Sink|+00.75|+00.88|-00.68|SinkBasin": [ 0.25, - -0.5, - 90, + -1.0, + 0, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan210-layout.npy b/gen/layouts/FloorPlan210-layout.npy index f8c32a7df9f44f95550e6b711fc279a6065158c5..754ebb4a940204b89eeaeaa13bdabf71ba0dd4f0 100644 GIT binary patch delta 36 ucmV+<0Nek-BETS!J_0o|kwDgyCIR51rUC<#wgq4T=(7g~p9!<}4@v<6hYgDW delta 254 zcmX@0a6oB-9g~^GM2Blk5B5*yV0>54bASO1KG;KOE;K#|8lMe~&w|EhLgO=_@&D{+ z00XFf!VEu91sJ~U-~57+kC~Bg@^hB_&1tL?I2~bb;B$cJWjg?&VSJbyV0@SxV0?zn I&-o%50XtF+7{b5+gctK!-9g~siL$B`5CLgW<91IESxX)Gl0RD$@ke50fpNS AivR!s delta 25 hcmX@W*T6Typ3!8Z!!yRoa%>!%+jA!2bjU|C`a~hjHY}jnd Xd4N%fK?SP(hdo$%gUaUTTsPSPfoT<) delta 78 zcmdm>dO&r8J)_Y^hcL#?+ZY3wH-BR(VB8$W=FiC0py4;%mh diff --git a/gen/layouts/FloorPlan214-objects.json b/gen/layouts/FloorPlan214-objects.json index 6aabf263f..1b2896776 100644 --- a/gen/layouts/FloorPlan214-objects.json +++ b/gen/layouts/FloorPlan214-objects.json @@ -1,27 +1,29 @@ [ + "Floor", + "FloorLamp", + "Sofa", + "WateringCan", + "Bowl", + "GarbageCan", + "RemoteControl", + "Window", + "HousePlant", + "DeskLamp", + "LightSwitch", "Shelf", - "SideTable", - "Statue", + "Painting", + "Plate", + "Curtains", + "CoffeeTable", + "Box", + "Vase", "Newspaper", + "Laptop", + "Statue", + "Television", "KeyChain", - "Plate", - "HousePlant", + "SideTable", "Pillow", - "FloorLamp", - "CreditCard", - "Painting", - "Television", - "Laptop", - "Box", - "Window", - "Lamp", - "CoffeeTable", - "GarbageCan", - "WateringCan", - "LightSwitch", - "Sofa", "ArmChair", - "RemoteControl", - "Curtains", - "Vase" + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan214-openable.json b/gen/layouts/FloorPlan214-openable.json index 0dc2279e7..9f0099f63 100644 --- a/gen/layouts/FloorPlan214-openable.json +++ b/gen/layouts/FloorPlan214-openable.json @@ -1,43 +1,55 @@ { - "ArmChair|-04.45|+00.00|+06.45": [ - -3.25, - 6.25, - 270, + "ArmChair|-04.45|+00.02|+06.45": [ + -4.0, + 5.5, + 0, 30 ], "CoffeeTable|-02.65|+00.02|+04.06": [ - -1.5, - 4.25, - 270, + -3.5, + 4.0, + 90, 30 ], - "GarbageCan|-00.52|+00.02|+02.82": [ - -1.25, + "GarbageCan|-00.53|-00.01|+02.82": [ + -1.0, 2.5, 90, 30 ], + "Shelf|-00.39|+01.45|+05.95": [ + -1.25, + 5.75, + 90, + -30 + ], "Shelf|-00.40|+00.27|+05.96": [ - -1.5, - 6.0, + -1.25, + 6.25, + 90, + 30 + ], + "Shelf|-00.59|+00.36|+00.84": [ + -1.25, + 1.75, 90, 30 ], "SideTable|-00.59|+00.02|+00.84": [ -1.0, - 2.0, + 1.5, 180, 30 ], "Sofa|-02.49|+00.03|+00.73": [ -2.75, - 2.0, + 1.5, 180, 30 ], "Sofa|-04.36|+00.03|+02.93": [ - -3.0, - 2.5, + -3.5, + 3.25, 270, 30 ] diff --git a/gen/layouts/FloorPlan215-layout.npy b/gen/layouts/FloorPlan215-layout.npy index e25dfddbb142714ae400fb4989d81e2f643af446..edac74bb616106e7f8e08b284137ea65466625ee 100644 GIT binary patch delta 106 zcmbPWaKK=K9g~H@LQ& n1y)X&Lcz)Fd6&a^LX-XZ5Io_{@A;;4Fg}=EE^a^hn79`J>NFey delta 67 zcmX?LFu`Dg9h15FL7L!Wi>G2R7} X%lH;-R^y+*G5MId0i(d==i-q7-Aona diff --git a/gen/layouts/FloorPlan215-objects.json b/gen/layouts/FloorPlan215-objects.json index 8ddc48f54..4e31ad3ad 100644 --- a/gen/layouts/FloorPlan215-objects.json +++ b/gen/layouts/FloorPlan215-objects.json @@ -1,28 +1,30 @@ [ - "Shelf", - "SideTable", - "Statue", - "Newspaper", - "KeyChain", - "HousePlant", - "DeskLamp", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", + "Sofa", + "WateringCan", "Bowl", - "Painting", + "ShelvingUnit", "Chair", - "Television", - "Laptop", - "Watch", - "Box", - "Window", - "CoffeeTable", "GarbageCan", - "WateringCan", + "RemoteControl", + "HousePlant", + "Window", + "DeskLamp", "LightSwitch", + "Painting", + "Shelf", + "CoffeeTable", + "Box", + "Vase", + "Watch", "Mirror", - "Sofa", - "RemoteControl", - "Vase" + "Newspaper", + "Laptop", + "Statue", + "Television", + "KeyChain", + "SideTable", + "Pillow", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan215-openable.json b/gen/layouts/FloorPlan215-openable.json index dc4fc0780..d9868d4ff 100644 --- a/gen/layouts/FloorPlan215-openable.json +++ b/gen/layouts/FloorPlan215-openable.json @@ -1,78 +1,90 @@ { "CoffeeTable|-02.49|+00.02|+04.04": [ - -3.5, + -3.25, 4.0, 90, 30 ], - "CoffeeTable|-05.56|+00.02|+06.84": [ - -4.25, + "CoffeeTable|-05.56|+00.02|+06.83": [ + -4.75, 6.5, 270, 30 ], - "Shelf|-02.87|+00.14|+07.18": [ - -2.75, - 6.0, + "Shelf|-00.59|+00.25|+02.00": [ + -1.5, + 1.0, 0, 30 ], - "Shelf|-02.87|+00.44|+07.18": [ + "Shelf|-00.59|+00.25|+05.98": [ + -1.5, + 5.0, + 0, + 30 + ], + "Shelf|-02.85|+00.47|+07.17": [ + -3.0, + 6.5, + 0, + 30 + ], + "Shelf|-02.85|+00.90|+07.17": [ -2.75, 6.25, 0, - 30 + 0 ], - "Shelf|-02.87|+00.87|+07.18": [ + "Shelf|-02.86|+00.16|+07.17": [ -2.75, 6.5, 0, 30 ], - "Shelf|-02.87|+01.27|+07.18": [ - -4.0, - 7.0, - 90, - 30 + "Shelf|-02.87|+01.29|+07.17": [ + -3.0, + 6.5, + 0, + 0 ], - "Shelf|-05.96|+00.14|+04.35": [ - -4.75, - 4.25, + "Shelf|-05.95|+00.16|+04.34": [ + -5.25, + 4.5, 270, 30 ], - "Shelf|-05.96|+00.44|+04.35": [ - -5.0, + "Shelf|-05.95|+00.47|+04.34": [ + -5.25, 4.25, 270, 30 ], - "Shelf|-05.96|+00.87|+04.35": [ - -5.25, - 4.0, + "Shelf|-05.95|+00.90|+04.34": [ + -5.0, + 4.25, 270, - 30 + 0 ], - "Shelf|-05.96|+01.27|+04.35": [ + "Shelf|-05.95|+01.29|+04.35": [ -5.25, - 5.0, + 4.75, 270, - 30 + 0 ], - "SideTable|-00.59|00.00|+02.00": [ - -1.5, - 2.0, + "SideTable|-00.59|+00.01|+02.00": [ + -1.25, + 1.75, 90, 30 ], - "SideTable|-00.59|00.00|+05.98": [ - -1.5, - 6.0, + "SideTable|-00.59|+00.01|+05.98": [ + -1.25, + 6.25, 90, 30 ], - "Sofa|-00.77|-00.01|+03.92": [ - -1.75, + "Sofa|-00.77|+00.02|+03.92": [ + -1.5, 3.75, 90, 30 diff --git a/gen/layouts/FloorPlan216-layout.npy b/gen/layouts/FloorPlan216-layout.npy index a70cfdd08bd54b6c281d6182cb9be0a4b7ccca28..54dd39cbdcc48250fc503736a886286a1250226b 100644 GIT binary patch delta 47 zcmaDLJVAJZ9g~UaM2Be;pBZdcV{~BLT*d?>jxifBZf0XuVBBoR7Qn>#V{gI6-8B9h0f?Lme}M7@aPYs_Pi#2G_+hd+<9Q(Yov~i>!+wZP z1_uZYGl^+(K2tg;jK?zhJQ9y>vOY6Hj$?8^5|3;0d*Iby zi*x^H;y5r_g6H36HC_S6&2D@GjEpRs-TC#ICbtPHY~Cgqz_?jVxPfu=G7$&H$=^f` PHk*kRFmB!^&czG>5&a*= delta 131 zcmaE0a=>(g9g~s4Mh7uwPPPLKVDM+MKl5@f7ATLwVe<#(Hm1dGY>bBIiX7Cir$zU<$u!7Ine^ke^K3qCo<&1w7!OpGrkmka7M3U8h+7|+P~V)JvMeh`%| Y;?KxT^2N=NMg*}93LgO=RydKXa_+dXp_6t|^7z3C#w=o-VDY6}400TY;2+eW;Lc{n>lb7>a3P8j}p>hHa E0APU&@c;k- diff --git a/gen/layouts/FloorPlan219-objects.json b/gen/layouts/FloorPlan219-objects.json index 494ebbb80..d01380b3b 100644 --- a/gen/layouts/FloorPlan219-objects.json +++ b/gen/layouts/FloorPlan219-objects.json @@ -1,29 +1,31 @@ [ - "Shelf", - "SideTable", - "Statue", - "Newspaper", - "KeyChain", - "HousePlant", - "Pillow", + "Floor", + "Cabinet", "FloorLamp", - "CreditCard", + "Sofa", + "ShelvingUnit", + "CellPhone", + "GarbageCan", + "HousePlant", + "RemoteControl", + "DeskLamp", + "LightSwitch", + "Shelf", "Painting", - "Television", - "Laptop", - "Watch", "Box", - "Drawer", - "Lamp", + "Vase", + "Watch", "Safe", - "GarbageCan", - "LightSwitch", - "Sofa", - "ArmChair", - "RemoteControl", + "Newspaper", + "Laptop", "TissueBox", - "Vase", "Dresser", - "Cabinet", - "CellPhone" + "Statue", + "Television", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "ArmChair", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan219-openable.json b/gen/layouts/FloorPlan219-openable.json index 7e2ef67ea..bd981fd25 100644 --- a/gen/layouts/FloorPlan219-openable.json +++ b/gen/layouts/FloorPlan219-openable.json @@ -1,141 +1,141 @@ { - "ArmChair|-01.84|-00.01|+04.51": [ - -1.75, - 3.5, + "ArmChair|-02.03|+00.00|+04.42": [ + -2.0, + 3.75, 0, 30 ], - "Cabinet|-02.70|+00.56|+04.20": [ - -3.25, + "Cabinet|-02.88|+00.56|+04.21": [ + -3.75, 3.5, - 0, + 90, 30 ], - "Cabinet|-03.85|+00.56|+04.20": [ - -3.25, - 3.5, + "Cabinet|-04.03|+00.56|+04.21": [ + -3.5, + 3.75, 0, 30 ], - "Cabinet|-03.87|+00.56|+04.20": [ - -4.5, + "Cabinet|-04.05|+00.56|+04.21": [ + -3.75, 3.5, - 0, + 270, 30 ], - "Cabinet|-05.02|+00.56|+04.20": [ - -4.5, + "Cabinet|-05.20|+00.56|+04.21": [ + -5.5, 3.5, - 0, + 90, 30 ], - "Drawer|-02.99|+01.01|+04.30": [ - -3.0, + "Drawer|-03.17|+01.01|+04.31": [ + -3.5, 3.75, - 0, + 90, 30 ], - "Drawer|-03.57|+01.01|+04.30": [ - -3.5, + "Drawer|-03.75|+01.01|+04.31": [ + -3.25, 3.75, - 0, + 270, 30 ], - "Drawer|-04.16|+01.01|+04.30": [ - -4.25, + "Drawer|-04.33|+01.01|+04.31": [ + -4.75, 3.75, - 0, + 90, 30 ], - "Drawer|-04.74|+01.01|+04.30": [ - -4.75, + "Drawer|-04.92|+01.01|+04.31": [ + -4.5, 3.75, - 0, + 270, 30 ], - "Drawer|-05.02|+00.88|+00.37": [ - -4.0, + "Drawer|-05.02|+00.90|+00.37": [ + -4.25, 1.0, 270, 30 ], - "Dresser|-03.86|00.00|+04.59": [ - -4.25, + "Dresser|-04.04|00.00|+04.59": [ + -4.5, 3.75, 0, - 30 + 0 ], - "Safe|-02.30|-00.01|+00.27": [ - -1.75, - 1.5, + "Safe|-02.30|+00.00|+00.27": [ + -1.5, + 1.0, 180, 30 ], - "Shelf|-00.22|+00.58|+01.00": [ - -1.0, - 1.0, + "Shelf|-00.25|+00.78|+01.06": [ + -0.75, + 1.25, 90, 30 ], - "Shelf|-00.23|+01.09|+01.00": [ + "Shelf|-00.28|+00.27|+01.07": [ -1.0, - 1.0, - 90, - 30 - ], - "Shelf|-00.26|+00.07|+01.00": [ - -1.5, - 1.5, + 1.25, 90, 30 ], - "Shelf|-00.27|+01.58|+00.99": [ + "Shelf|-00.28|+01.29|+01.05": [ -1.0, 1.0, 90, 0 ], - "Shelf|-01.29|+00.07|+00.26": [ - -1.75, + "Shelf|-00.28|+01.81|+01.06": [ + -0.75, 1.25, - 180, - 30 + 90, + 0 ], - "Shelf|-01.29|+00.58|+00.22": [ - -1.0, + "Shelf|-01.22|+00.27|+00.26": [ + -1.5, 1.0, 180, 30 ], - "Shelf|-01.29|+01.09|+00.23": [ - -1.75, - 1.5, + "Shelf|-01.22|+00.78|+00.24": [ + -1.5, + 1.25, 180, 0 ], - "Shelf|-01.29|+01.58|+00.27": [ - -2.0, + "Shelf|-01.22|+01.29|+00.27": [ + -1.75, 1.0, - 90, + 180, 0 ], + "Shelf|-01.22|+01.81|+00.28": [ + -1.25, + 1.0, + 180, + 30 + ], "Shelf|-05.24|+01.39|+00.09": [ -4.75, 1.0, 180, - 0 + -30 ], "Shelf|-05.24|+01.58|+00.07": [ -4.0, 0.75, 270, - 0 + 30 ], "Shelf|-05.24|+01.78|+00.07": [ -4.0, 0.75, 270, - 0 + 30 ], "Shelf|-05.24|+01.97|+00.09": [ -4.0, @@ -143,15 +143,15 @@ 270, 0 ], - "SideTable|-05.02|-00.01|+00.27": [ - -5.25, + "SideTable|-05.02|+00.01|+00.27": [ + -5.0, 1.0, 180, 30 ], - "Sofa|-00.74|+00.00|+02.75": [ - -2.0, - 3.0, + "Sofa|-00.71|00.00|+02.75": [ + -1.5, + 2.75, 90, 30 ] diff --git a/gen/layouts/FloorPlan22-layout.npy b/gen/layouts/FloorPlan22-layout.npy index 3df68c3118fa445fd3727d8f7049f86308f129d6..a2bddb6722cdbd16b4e4fb99ca0a8f3b62b32dbc 100644 GIT binary patch delta 17 YcmZn=x*#~gp3!)tLmJ!WYiwFf05yUIj{pDw delta 52 mcmca0*dR2)p3!WhLmHdX3ws6#aDY%B(D+~MH_u?RU;+Re_z8^w diff --git a/gen/layouts/FloorPlan22-objects.json b/gen/layouts/FloorPlan22-objects.json index f7ee3bbe1..8f95ebc8e 100644 --- a/gen/layouts/FloorPlan22-objects.json +++ b/gen/layouts/FloorPlan22-objects.json @@ -1,41 +1,42 @@ [ - "CounterTop", - "SoapBottle", - "Plate", - "Sink", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Stool", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", - "CreditCard", + "Bowl", "PepperShaker", + "GarbageCan", + "Window", + "Spoon", + "LightSwitch", + "Pan", + "StoveKnob", "Potato", + "Pot", + "Tomato", + "Spatula", + "Fridge", + "Kettle", + "Cup", + "SaltShaker", + "Microwave", "Lettuce", - "Bowl", - "Toaster", "Egg", - "Pan", - "Chair", - "Apple", + "Faucet", "SinkBasin", - "Fridge", - "Window", - "Mug", + "Sink", + "CounterTop", + "SoapBottle", "Drawer", - "Bread", - "Cup", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", - "GarbageCan", "DishSponge", - "LightSwitch", - "StoveBurner", - "Kettle", - "Faucet", + "CreditCard", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "StoveBurner", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan22-openable.json b/gen/layouts/FloorPlan22-openable.json index 947f4e73f..a80838e1b 100644 --- a/gen/layouts/FloorPlan22-openable.json +++ b/gen/layouts/FloorPlan22-openable.json @@ -1,168 +1,174 @@ { "Cabinet|+00.17|+02.01|-01.20": [ - 0.0, + -0.5, -0.5, 180, - -30 + 0 ], "Cabinet|+00.24|+02.01|-01.20": [ - 0.5, + 0.0, -0.5, 180, - -30 + 0 ], "Cabinet|+00.48|+00.39|-00.90": [ -0.25, - 0.0, - 180, + -0.25, + 90, 30 ], "Cabinet|+01.12|+02.01|-01.20": [ 0.5, -0.5, 180, - -30 + 0 ], "Cabinet|+01.13|+00.47|-00.90": [ - 0.5, - 0.0, - 180, + 0.25, + -0.25, + 90, 30 ], "Cabinet|-00.77|+02.01|-01.20": [ - -0.75, + -1.0, -0.5, 180, - -30 + 0 ], "Cabinet|-00.82|+00.47|-00.91": [ -0.5, 0.0, - 180, + 270, 30 ], "Cabinet|-00.84|+02.01|-01.20": [ - -1.0, + -1.5, -0.5, 180, - -30 + 0 ], "Cabinet|-01.77|+02.01|-01.20": [ - -1.5, + -2.0, -0.5, 180, - -30 + 0 ], "Cabinet|-01.80|+00.47|-00.91": [ - -2.0, + -1.0, 0.0, - 180, + 270, 30 ], "Cabinet|-01.84|+02.01|-01.20": [ - -2.0, + -1.5, -0.5, 180, - -30 + 0 ], "Cabinet|-01.85|+00.39|-00.90": [ - -2.0, - -0.25, - 180, + -1.5, + 0.0, + 270, 30 ], "Cabinet|-02.39|+00.39|+00.38": [ -1.5, - 0.25, - 270, + 0.75, + 180, 30 ], "Cabinet|-02.63|+02.01|-01.20": [ -2.0, - -0.25, + -0.5, 180, - -30 + 0 ], "Cabinet|-02.65|+02.01|+00.36": [ -2.0, - 0.0, + -0.25, 270, - -30 + 0 ], "Cabinet|-02.65|+02.01|-00.95": [ -1.5, -0.5, 270, - -30 + 0 ], "Cabinet|-02.65|+02.08|-00.23": [ -2.0, - -0.5, + 0.0, 270, - -30 + 0 ], "Cabinet|-02.65|+02.08|-00.88": [ -2.0, - -0.5, + -0.25, 270, - -30 + 0 ], "Cabinet|-02.65|+02.20|+00.43": [ -1.5, - 0.25, + 0.0, 270, - -30 + 0 ], "Cabinet|-02.65|+02.20|+01.67": [ -1.5, - 1.75, + 2.0, 270, - -30 + 0 ], "CounterTop|+00.07|+00.95|-01.20": [ - 0.5, + 0.0, -0.5, 180, 30 ], "CounterTop|+00.91|+01.15|+00.79": [ - -0.5, - 1.5, - 90, + 0.25, + 0.5, + 0, 30 ], "CounterTop|-02.70|+00.95|+00.11": [ -2.0, - 0.0, + 0.25, 270, 30 ], "Drawer|+00.26|+00.78|-01.08": [ - 0.5, + -0.25, 0.0, 180, - 30 + 0 ], - "Drawer|-02.57|+00.78|+00.10": [ + "Drawer|-02.03|+00.78|-01.08": [ -1.5, - -0.25, - 270, + 0.0, + 180, + 0 + ], + "Drawer|-02.57|+00.78|+00.10": [ + -1.75, + -0.5, + 0, 30 ], "Fridge|-02.86|+00.00|+00.85": [ -1.75, 0.75, 270, - 0 + 30 ], "Microwave|+00.28|+00.90|-01.33": [ - 0.25, + 0.0, -0.5, 180, - 30 + 0 ], "Sink|-01.33|+00.92|-01.23|SinkBasin": [ - -1.25, + -0.75, -0.5, 180, 30 diff --git a/gen/layouts/FloorPlan220-layout.npy b/gen/layouts/FloorPlan220-layout.npy index 9b5f02d32ec49b0ce59577ed509fb735edde924b..cbfb298e970e68e3e6c6e2d1c50d344d6d943b48 100644 GIT binary patch delta 74 zcmca0*C0E=j>*VmqC**%*Z~G8n7H8>m=qXaY@W^(&pnxqPhhedU%=!x QAiWGov++B?wFo!>04Wd?(EtDd delta 233 zcmZpWy&yNij>*`3qC?rlV+STrV@#+QIKTh~59}c{9~z$rjn9R~=Ro7Lq48PJ_)MsL zWd;UR0fs;O8NdMMpdb4uzhKncti}|;&G=$+IYn0+10R_F8QdI8nR G=KuhD8!WE? diff --git a/gen/layouts/FloorPlan220-objects.json b/gen/layouts/FloorPlan220-objects.json index 9c926dc87..3d221d8ca 100644 --- a/gen/layouts/FloorPlan220-objects.json +++ b/gen/layouts/FloorPlan220-objects.json @@ -1,28 +1,30 @@ [ - "SideTable", - "Statue", - "KeyChain", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", - "Dresser", - "Painting", + "Sofa", "Chair", - "Television", - "Laptop", - "Box", - "Window", - "Drawer", - "CoffeeTable", - "TVStand", "GarbageCan", + "RemoteControl", + "HousePlant", + "Window", "LightSwitch", + "Painting", + "TVStand", + "CoffeeTable", + "Box", "Candle", "DiningTable", - "Sofa", - "ArmChair", - "RemoteControl", + "Laptop", "TissueBox", - "Boots" + "Dresser", + "Statue", + "Television", + "RoomDecor", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "Boots", + "ArmChair", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan220-openable.json b/gen/layouts/FloorPlan220-openable.json index 3790d0414..e1ce60729 100644 --- a/gen/layouts/FloorPlan220-openable.json +++ b/gen/layouts/FloorPlan220-openable.json @@ -1,89 +1,89 @@ { - "ArmChair|-02.06|00.00|+04.22": [ - -2.0, + "ArmChair|-02.06|+00.01|+04.22": [ + -1.75, 3.5, 0, 30 ], - "CoffeeTable|-02.65|00.00|+01.15": [ + "CoffeeTable|-02.65|+00.01|+01.15": [ -2.75, - 2.25, + 1.75, 180, 30 ], - "DiningTable|+00.19|+00.72|+02.00": [ - -0.75, + "DiningTable|+00.17|+00.67|+01.98": [ + -1.0, 2.0, 90, - 30 + 0 ], - "DiningTable|+00.19|+00.91|+02.00": [ + "DiningTable|+00.17|+00.86|+01.98": [ -0.75, 2.0, 90, - 30 + 0 ], - "Drawer|-00.37|+00.21|+00.52": [ + "Drawer|-00.31|+00.18|+03.61": [ -1.5, - 1.0, - 90, + 2.75, + 0, 30 ], - "Drawer|-00.37|+00.57|+00.52": [ - -1.25, - 0.75, + "Drawer|-00.31|+00.47|+03.61": [ + -1.75, + 3.5, 90, - 30 + 0 ], - "Drawer|-00.38|+00.18|+03.61": [ + "Drawer|-00.31|+00.76|+03.61": [ -1.5, - 3.75, + 3.5, 90, - 30 + 0 ], - "Drawer|-00.38|+00.48|+03.61": [ + "Drawer|-00.31|+01.05|+03.61": [ -1.25, 3.5, 90, - 30 + 0 ], - "Drawer|-00.38|+00.79|+03.61": [ + "Drawer|-00.36|+00.22|+00.52": [ -1.0, - 3.5, + 0.0, 90, 30 ], - "Drawer|-00.38|+01.07|+03.61": [ - -0.75, - 2.75, - 0, + "Drawer|-00.36|+00.58|+00.52": [ + -1.0, + 0.0, + 90, 30 ], "Dresser|-00.27|+00.00|+03.61": [ - -0.5, - 2.5, + -0.75, + 2.75, 0, 30 ], "SideTable|-00.28|+00.01|+00.52": [ - -1.0, - 0.5, + -0.75, + 0.75, 90, 30 ], - "Sofa|-02.68|-00.05|-00.12": [ - -2.75, - 0.5, + "Sofa|-02.68|+00.01|-00.12": [ + -3.5, + 0.75, 180, 30 ], - "Sofa|-03.79|+00.01|+03.89": [ + "Sofa|-03.79|+00.02|+03.89": [ -3.75, - 2.5, + 3.0, 0, 30 ], - "TVStand|+00.20|+00.58|+01.98": [ + "TVStand|+00.17|+00.59|+01.98": [ -0.5, 2.0, 90, diff --git a/gen/layouts/FloorPlan221-layout.npy b/gen/layouts/FloorPlan221-layout.npy index 6e0b2da5e7a0bcba570466075c8eca6dc8ff6d59..cae71b2884cd3d21429e8159c04d310c2e8fd4cc 100644 GIT binary patch delta 47 zcmaFB-@re?p3!KcgWJSy0u#S|nEZ`Vfstb~JJWn7PPPLKVDMn`e3s`-lc%wJ0RWRt B58eO( delta 94 zcmZqRf51P%p3!2WgPRuL0R}K&gVH=u8ph{>^CvclF|tiOFFx6gQD9=jO76n)1Up5HP|Bnn+X>? diff --git a/gen/layouts/FloorPlan221-objects.json b/gen/layouts/FloorPlan221-objects.json index 43e18a552..ebcd357f1 100644 --- a/gen/layouts/FloorPlan221-objects.json +++ b/gen/layouts/FloorPlan221-objects.json @@ -1,26 +1,29 @@ [ - "SideTable", - "Statue", - "KeyChain", - "Plate", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", - "Painting", - "Pen", + "Sofa", + "Stool", "Chair", - "Television", - "Laptop", - "Box", - "Window", - "Drawer", - "CoffeeTable", "GarbageCan", + "HousePlant", + "RemoteControl", + "Window", "LightSwitch", + "Painting", + "Curtains", + "CoffeeTable", + "Box", + "Vase", + "Pen", "DiningTable", - "Sofa", + "Laptop", + "Statue", + "Television", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CreditCard", "ArmChair", - "RemoteControl", - "Vase" + "Plate" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan221-openable.json b/gen/layouts/FloorPlan221-openable.json index 6e68c4cfa..58547001c 100644 --- a/gen/layouts/FloorPlan221-openable.json +++ b/gen/layouts/FloorPlan221-openable.json @@ -1,20 +1,20 @@ { "ArmChair|+00.66|+00.10|-01.78": [ - -0.5, + 0.0, -1.5, 90, 30 ], - "CoffeeTable|-01.06|+00.10|-02.47": [ - -1.25, - -1.5, + "CoffeeTable|-01.05|+00.10|-02.47": [ + -0.5, + -1.75, 180, 30 ], "CoffeeTable|-01.09|+00.10|-00.74": [ - -1.25, - -1.75, - 0, + -0.5, + 0.0, + 180, 30 ], "DiningTable|-03.43|+00.10|-01.19": [ @@ -23,21 +23,21 @@ 0, 30 ], - "Drawer|-00.03|+00.87|-02.47": [ - -0.25, + "Drawer|-00.03|+00.87|-02.49": [ + -0.5, -1.5, 180, - 30 + 0 ], "SideTable|-00.03|+00.10|-02.55": [ - 0.0, - -1.75, + -0.25, + -2.0, 180, 30 ], "Sofa|-00.91|+00.10|+00.96": [ -1.5, - 0.0, + 0.25, 0, 30 ] diff --git a/gen/layouts/FloorPlan222-layout.npy b/gen/layouts/FloorPlan222-layout.npy index 3b757483fc9414d505a90b2ef2e69603ac49675a..b2a8cc9718e5f2cf19ef4807f70182005f8015d7 100644 GIT binary patch delta 79 zcmZ3$_km}EEt93`Lws)KW)7ww_5i)t9H;;Q delta 106 zcmeysvw&}cEwiD4*+hH$jrGqN8JQ-BGt~ph<4pBTOb(MTFo{j}W6l5yEN2D@i?gf; vlG|C4!Z4oDCic diff --git a/gen/layouts/FloorPlan222-objects.json b/gen/layouts/FloorPlan222-objects.json index 7d63b0b6c..0e8f61a3e 100644 --- a/gen/layouts/FloorPlan222-objects.json +++ b/gen/layouts/FloorPlan222-objects.json @@ -1,25 +1,26 @@ [ - "SideTable", - "Statue", - "Newspaper", - "KeyChain", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", + "Sofa", + "GarbageCan", + "HousePlant", + "RemoteControl", + "Window", + "LightSwitch", "Painting", - "Television", - "Laptop", - "Watch", + "TVStand", + "Curtains", + "CoffeeTable", "Box", - "Window", + "Watch", + "Newspaper", + "Laptop", + "Statue", + "Television", + "KeyChain", "Drawer", - "CoffeeTable", - "TVStand", - "GarbageCan", - "LightSwitch", - "Sofa", + "SideTable", + "Pillow", "ArmChair", - "RemoteControl", - "Curtains" + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan222-openable.json b/gen/layouts/FloorPlan222-openable.json index 026ea332c..88d7254a6 100644 --- a/gen/layouts/FloorPlan222-openable.json +++ b/gen/layouts/FloorPlan222-openable.json @@ -1,91 +1,91 @@ { - "ArmChair|+00.22|+00.01|-01.73": [ + "ArmChair|+00.22|-00.01|-01.72": [ 0.25, -1.0, 180, 30 ], - "CoffeeTable|+00.23|+00.01|-00.17": [ + "CoffeeTable|+00.23|00.00|-00.16": [ 0.75, - 1.0, - 180, - 30 - ], - "Drawer|+00.10|+00.05|-00.17": [ -0.5, - 1.0, - 180, + 270, 30 ], - "Drawer|+00.10|+00.15|-00.17": [ - -0.5, - 1.0, + "Drawer|+00.47|+00.06|-00.17": [ + 1.5, + 0.5, 180, 30 ], - "Drawer|+00.10|+00.26|-00.17": [ - -0.5, - 1.0, + "Drawer|+00.47|+00.17|-00.17": [ + 1.5, + 0.5, 180, 30 ], - "Drawer|+00.35|+00.05|-00.17": [ + "Drawer|+00.47|+00.27|-00.17": [ 1.5, - -0.75, - 270, + -1.0, + 0, 30 ], - "Drawer|+00.35|+00.15|-00.17": [ + "Drawer|+02.00|+00.78|+01.71": [ 1.5, - -0.75, - 270, + 1.0, + 90, 30 ], - "Drawer|+00.35|+00.26|-00.17": [ - 1.5, - -0.75, - 270, + "Drawer|-00.02|+00.06|-00.17": [ + -0.25, + -1.0, + 0, 30 ], - "Drawer|+02.00|+00.77|+01.70": [ - 1.5, - 0.5, + "Drawer|-00.02|+00.17|-00.17": [ + -0.25, + -1.0, + 0, + 30 + ], + "Drawer|-00.02|+00.27|-00.17": [ + -0.25, + -1.0, 0, 30 ], "SideTable|+02.00|+00.00|+01.75": [ 1.75, - 1.0, + 1.25, 0, 30 ], "SideTable|+02.96|+00.00|+01.57": [ 2.0, - 1.25, - 90, + 1.0, + 0, 30 ], "SideTable|-00.68|+00.00|-01.60": [ -0.25, - -0.75, + -1.0, 180, 30 ], "Sofa|+02.87|00.00|+00.25": [ - 1.75, + 2.0, 0.25, 90, 30 ], - "Sofa|-01.07|00.00|-00.20": [ + "Sofa|-01.01|+00.01|-00.21": [ + -0.25, -0.25, - 0.0, 270, 30 ], - "TVStand|+00.84|00.00|+01.58": [ - 0.75, - 0.5, + "TVStand|+00.84|-00.01|+01.58": [ + 1.0, + 1.0, 0, 30 ] diff --git a/gen/layouts/FloorPlan223-layout.npy b/gen/layouts/FloorPlan223-layout.npy index e2d8f64612a8a5ef56aac6bd7124edc03fbfc206..60915f3948627779399baeb1ae3ffe90945da8f3 100644 GIT binary patch delta 113 zcmdlWb3tl?9g~6SLYsKz1G5iph3B_BkNikA1~tKOp-akS)j2F*y#%eg|Zq7ZwgZzdFp5pS$GBqhK5mZ5Zae~$uK{r% zQw1kX<%iAxnZz04+!veqS;RpaCozdl)??iPGC}~zd diff --git a/gen/layouts/FloorPlan223-objects.json b/gen/layouts/FloorPlan223-objects.json index 961940a73..3c098b1f5 100644 --- a/gen/layouts/FloorPlan223-objects.json +++ b/gen/layouts/FloorPlan223-objects.json @@ -1,26 +1,28 @@ [ - "Statue", - "KeyChain", - "Plate", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", - "Painting", + "Sofa", + "WateringCan", "Chair", - "Television", - "Laptop", - "Box", - "Window", - "CoffeeTable", - "TVStand", "GarbageCan", - "WateringCan", + "RemoteControl", + "HousePlant", + "Window", "LightSwitch", + "Painting", + "TVStand", + "CoffeeTable", + "Box", + "Vase", "Candle", "DiningTable", - "Sofa", + "Laptop", + "Statue", + "Television", + "KeyChain", + "SideTable", + "Pillow", + "CreditCard", "ArmChair", - "RemoteControl", - "Vase" + "Plate" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan223-openable.json b/gen/layouts/FloorPlan223-openable.json index 966424dce..6e8ae2695 100644 --- a/gen/layouts/FloorPlan223-openable.json +++ b/gen/layouts/FloorPlan223-openable.json @@ -1,50 +1,62 @@ { - "ArmChair|-00.43|+00.00|+01.06": [ - -1.5, - 1.25, - 90, + "ArmChair|-00.43|+00.01|+01.06": [ + -1.0, + 0.25, + 0, 30 ], - "ArmChair|-00.44|+00.00|+01.92": [ - -1.5, - 2.0, + "ArmChair|-00.44|+00.01|+01.92": [ + -1.25, + 1.75, 90, 30 ], - "ArmChair|-02.01|+00.00|-01.58": [ - -0.75, + "ArmChair|-02.01|+00.01|-01.58": [ -1.25, + -1.0, 270, 30 ], - "CoffeeTable|-02.02|-00.01|+00.02": [ - -1.0, + "CoffeeTable|-02.02|+00.01|+00.02": [ + -1.25, 0.0, 270, 30 ], - "DiningTable|+01.88|00.00|-00.29": [ - 2.0, - -1.25, - 0, + "DiningTable|+01.88|+00.00|-00.29": [ + 3.0, + -0.25, + 270, 30 ], - "DiningTable|-01.88|+00.27|+02.79": [ - -2.25, - 1.75, + "DiningTable|-01.86|+00.23|+02.79": [ + -2.5, + 2.25, 0, 30 ], - "Sofa|-03.44|-00.01|-00.04": [ - -2.75, - 0.0, + "SideTable|-03.60|+00.00|+01.44": [ + -3.0, + 2.0, + 180, + 30 + ], + "SideTable|-03.60|+00.00|-01.61": [ + -2.5, + -1.0, + 270, + 0 + ], + "Sofa|-03.42|+00.01|-00.04": [ + -2.5, + -0.75, 270, 30 ], - "TVStand|-01.86|-00.01|+02.79": [ - -2.0, - 1.75, - 0, + "TVStand|-01.86|+00.00|+02.79": [ + -2.75, + 2.25, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan224-layout.npy b/gen/layouts/FloorPlan224-layout.npy index 65da5837a74575402cec1f5c6ab624a37c6ba625..ca174cb060e01156465291db786b5883a80ad717 100644 GIT binary patch delta 220 zcmbQB{6J-b9g~IGLo^n{4lsbhpZ(bBACv8w#3xT<7MOgEMPRZTo4~|<8k76@ zI41tfFl2)2{Q=brGYiItnF-_nnCuTUYZ=h2XF#*e*aRl$F-lC<d8{+I1X&y)uKQsRq1iTn=by>Q0pTzmn0$a$jETho E0OFcB4gdfE delta 98 zcmaE$GC_HQ9h157LM?s diff --git a/gen/layouts/FloorPlan224-objects.json b/gen/layouts/FloorPlan224-objects.json index 801b0b9c3..e4d819678 100644 --- a/gen/layouts/FloorPlan224-objects.json +++ b/gen/layouts/FloorPlan224-objects.json @@ -1,29 +1,32 @@ [ - "SideTable", - "Statue", - "Newspaper", - "Book", - "KeyChain", - "HousePlant", - "DeskLamp", - "Pillow", + "Floor", + "Cabinet", "FloorLamp", - "CreditCard", - "Painting", + "Sofa", + "Stool", + "WateringCan", + "CellPhone", "Chair", - "Television", - "Laptop", - "Box", - "Window", - "Drawer", "GarbageCan", - "WateringCan", - "LightSwitch", - "Sofa", - "ArmChair", "RemoteControl", + "HousePlant", + "Window", + "DeskLamp", + "LightSwitch", + "Painting", + "Box", "Vase", + "Newspaper", + "Laptop", "Dresser", - "Cabinet", - "CellPhone" + "Statue", + "Television", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "DogBed", + "ArmChair", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan224-openable.json b/gen/layouts/FloorPlan224-openable.json index e1699e7dc..6319dae58 100644 --- a/gen/layouts/FloorPlan224-openable.json +++ b/gen/layouts/FloorPlan224-openable.json @@ -1,162 +1,180 @@ { - "ArmChair|-02.86|+00.02|-02.04": [ + "ArmChair|-02.86|+00.03|-02.04": [ -2.25, - -0.75, - 180, + -1.5, + 270, 30 ], - "Drawer|+02.99|+00.09|+00.37": [ - 2.25, - 1.5, + "Drawer|+03.10|+00.17|+00.36": [ + 2.0, + -0.25, + 0, + 30 + ], + "Drawer|+03.10|+00.17|+01.40": [ + 2.0, + 0.75, + 0, + 30 + ], + "Drawer|+03.10|+00.17|-00.57": [ + 2.0, + 0.0, 180, 30 ], - "Drawer|+02.99|+00.09|-00.57": [ + "Drawer|+03.10|+00.42|+00.36": [ 2.25, - 0.5, - 180, + -0.25, + 0, 30 ], - "Drawer|+02.99|+00.34|+00.37": [ - 2.5, - 1.25, - 180, + "Drawer|+03.10|+00.42|+01.40": [ + 2.25, + 1.0, + 0, 30 ], - "Drawer|+02.99|+00.34|-00.57": [ - 2.5, - 0.5, + "Drawer|+03.10|+00.42|-00.57": [ + 2.25, + 0.0, 180, 30 ], - "Drawer|-00.16|+00.22|+00.99": [ + "Drawer|-00.17|+00.47|-02.14": [ + -0.75, -1.25, - 0.5, 90, 30 ], - "Drawer|-00.16|+00.22|+01.47": [ + "Drawer|-00.19|+00.23|+00.95": [ -1.25, - 2.0, - 90, + 1.5, + 180, 30 ], - "Drawer|-00.16|+00.22|+01.94": [ + "Drawer|-00.19|+00.48|+00.95": [ -1.25, 1.5, - 90, + 180, 30 ], - "Drawer|-00.16|+00.22|+02.42": [ - -1.25, - 2.0, - 90, + "Drawer|-00.19|+00.74|+00.95": [ + -1.0, + 0.5, + 0, 30 ], - "Drawer|-00.16|+00.47|+00.99": [ + "Drawer|-00.42|+00.35|+01.41": [ -1.25, - 0.5, - 90, + 2.0, + 180, 30 ], - "Drawer|-00.16|+00.47|+01.47": [ + "Drawer|-00.42|+00.35|+01.92": [ -1.25, - 1.0, - 90, + 1.25, + 0, 30 ], - "Drawer|-00.16|+00.47|+01.94": [ + "Drawer|-00.42|+00.35|+02.38": [ -1.25, - 1.5, - 90, + 1.75, + 0, 30 ], - "Drawer|-00.16|+00.47|+02.42": [ + "Drawer|-00.42|+00.60|+01.41": [ -1.25, 2.0, - 90, + 180, 30 ], - "Drawer|-00.16|+00.72|+00.99": [ - -1.0, + "Drawer|-00.42|+00.60|+01.92": [ + -1.25, 1.25, - 90, + 0, 30 ], - "Drawer|-00.16|+00.72|+01.47": [ - -1.0, + "Drawer|-00.42|+00.60|+02.38": [ + -1.25, 1.75, - 90, + 0, 30 ], - "Drawer|-00.16|+00.72|+01.94": [ + "Drawer|-00.42|+00.85|+01.41": [ -1.0, - 2.25, - 90, + 1.0, + 0, 30 ], - "Drawer|-00.16|+00.72|+02.42": [ + "Drawer|-00.42|+00.85|+01.92": [ -1.0, - 2.0, - 90, + 1.5, + 0, 30 ], - "Drawer|-00.17|+00.45|-02.04": [ - 0.0, + "Drawer|-00.42|+00.85|+02.38": [ -1.0, - 180, + 2.0, + 0, 30 ], - "Drawer|-03.13|+00.09|-00.49": [ - -2.5, - -1.5, + "Drawer|-03.24|+00.17|-00.49": [ + -2.25, + -1.0, 0, 30 ], - "Drawer|-03.13|+00.34|-00.49": [ - -2.5, - -1.5, + "Drawer|-03.24|+00.42|-00.49": [ + -2.25, + -1.0, 0, 30 ], - "Dresser|-00.02|+00.01|+01.72": [ + "Dresser|-00.05|+00.03|+01.67": [ -0.75, - 2.0, + 1.75, 90, 30 ], - "SideTable|+03.16|+00.02|+00.37": [ + "GarbageCan|+03.16|+00.03|+00.89": [ 2.75, - -0.75, - 0, + 0.5, + 90, 30 ], - "SideTable|+03.16|+00.02|+01.40": [ + "SideTable|+03.16|+00.03|+00.36": [ 2.75, - 0.5, - 0, + -0.25, + 90, 30 ], - "SideTable|+03.16|+00.02|-00.57": [ + "SideTable|+03.16|+00.03|+01.40": [ 2.5, - -1.75, + 0.75, 0, 30 ], - "SideTable|-00.17|+00.01|-02.24": [ + "SideTable|+03.16|+00.03|-00.57": [ + 2.75, + -1.0, + 90, + 30 + ], + "SideTable|-00.17|+00.03|-02.28": [ -0.75, - -1.25, - 180, + -1.75, + 90, 30 ], - "SideTable|-03.30|+00.02|-00.49": [ - -2.5, - 0.0, + "SideTable|-03.30|+00.03|-00.49": [ + -2.75, + -1.25, 270, 30 ], - "Sofa|-02.96|+00.08|+01.39": [ - -1.75, + "Sofa|-02.96|+00.03|+01.39": [ + -2.25, 1.5, 270, 30 diff --git a/gen/layouts/FloorPlan225-layout.npy b/gen/layouts/FloorPlan225-layout.npy index 5525cb8f90541c334f89ab6d57a2e15d5e14bb5b..ad7052df7af997c082b3bbf305788284e4c43c67 100644 GIT binary patch delta 28 gcmZ1=GC^d5J)`kN2e*aGI5~w5Fo1#J3rt=H#B3}Alh?5v0sv#*8A$*D delta 54 zcmbQh{ef$OEt9$BMtgQf#vhaI8O102F-AW^A0yLbb&mYW%Qz-% fcH<0SWMtah&Q;II$TImm_eueXwio*$w6FsJnA{kr diff --git a/gen/layouts/FloorPlan227-objects.json b/gen/layouts/FloorPlan227-objects.json index 2b7f88566..0a937bf9b 100644 --- a/gen/layouts/FloorPlan227-objects.json +++ b/gen/layouts/FloorPlan227-objects.json @@ -1,27 +1,28 @@ [ - "Shelf", - "Statue", - "Newspaper", - "KeyChain", - "Plate", - "HousePlant", - "Pillow", + "Floor", + "Cabinet", "FloorLamp", - "CreditCard", - "Painting", + "Sofa", "Chair", - "Television", - "Laptop", - "Box", - "Window", - "Drawer", - "CoffeeTable", "GarbageCan", + "RemoteControl", + "HousePlant", + "Window", "LightSwitch", + "Shelf", + "Painting", + "Plate", + "CoffeeTable", + "Box", + "Vase", + "Newspaper", "DiningTable", - "Sofa", + "Laptop", + "Statue", + "Television", + "KeyChain", + "Drawer", + "Pillow", "ArmChair", - "RemoteControl", - "Vase", - "Cabinet" + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan227-openable.json b/gen/layouts/FloorPlan227-openable.json index a41e3616d..4adb2c1e4 100644 --- a/gen/layouts/FloorPlan227-openable.json +++ b/gen/layouts/FloorPlan227-openable.json @@ -1,13 +1,13 @@ { - "ArmChair|-01.01|+00.02|+02.08": [ - -2.0, - 2.25, + "ArmChair|-01.01|+00.03|+02.08": [ + -1.75, + 2.5, 90, 30 ], - "ArmChair|-01.52|+00.02|+03.31": [ - -1.75, - 2.25, + "ArmChair|-01.58|+00.03|+03.30": [ + -2.0, + 2.75, 0, 30 ], @@ -24,7 +24,7 @@ 30 ], "Cabinet|-02.02|+01.71|+00.32": [ - -1.75, + -1.5, 1.0, 180, 0 @@ -33,7 +33,7 @@ -2.75, 4.5, 0, - 30 + 0 ], "Cabinet|-03.70|+01.71|+05.03": [ -4.0, @@ -57,107 +57,107 @@ -6.25, 4.5, 0, - 30 + 0 ], - "CoffeeTable|-02.67|+00.02|+02.00": [ - -3.0, - 0.75, - 0, + "CoffeeTable|-02.67|+00.03|+02.00": [ + -2.0, + 1.5, + 270, 30 ], - "CoffeeTable|-03.00|+00.02|+01.73": [ - -4.25, + "CoffeeTable|-03.00|+00.03|+01.73": [ + -4.0, 1.0, - 90, + 0, 30 ], - "DiningTable|-05.82|+00.00|+02.56": [ - -4.75, - 3.25, - 270, + "DiningTable|-05.82|+00.03|+02.56": [ + -5.75, + 4.25, + 180, 30 ], "Drawer|-01.09|+00.23|+00.46": [ - -1.75, + -0.75, 1.25, - 90, + 180, 30 ], "Drawer|-02.68|+00.23|+00.46": [ - -1.25, + -2.25, 1.25, - 270, + 180, 30 ], "Drawer|-02.94|+00.51|+05.00": [ - -3.0, - 4.25, + -3.25, + 4.5, 0, 30 ], "Drawer|-02.94|+00.82|+05.00": [ - -3.0, - 4.25, + -2.75, + 4.5, 0, 30 ], "Drawer|-04.26|+00.23|+00.46": [ - -2.75, + -4.75, 1.25, - 270, + 180, 30 ], "Drawer|-06.33|+00.51|+05.00": [ - -6.5, - 4.25, + -6.0, + 4.5, 0, 30 ], "Drawer|-06.33|+00.82|+05.00": [ - -6.25, - 4.25, + -6.5, + 4.5, 0, 30 ], - "GarbageCan|-06.86|+00.03|+00.22": [ - -6.0, + "GarbageCan|-06.85|+00.02|+00.26": [ + -6.25, 0.75, - 270, + 180, 30 ], "Shelf|-00.81|+01.69|+00.19": [ -0.75, 0.75, 180, - 0 + 30 ], "Shelf|-01.04|+01.00|+00.18": [ -0.5, - 0.75, + 1.0, 180, - 30 + 0 ], "Shelf|-01.04|+01.32|+00.18": [ -0.75, 0.75, 180, - 30 + 0 ], "Shelf|-01.78|+00.99|+00.18": [ -2.25, 0.75, - 180, + 90, 30 ], "Shelf|-02.22|+00.45|+05.17": [ - -1.75, + -2.75, 4.25, - 0, + 90, 30 ], "Shelf|-02.67|+00.61|+00.27": [ - -1.25, - 1.25, + -3.5, + 0.75, 180, 30 ], @@ -165,12 +165,12 @@ -3.25, 4.5, 0, - 30 + 0 ], "Shelf|-03.94|+00.99|+05.17": [ - -4.0, + -3.5, 4.5, - 0, + 270, 30 ], "Shelf|-04.67|+01.00|+05.17": [ @@ -183,29 +183,29 @@ -4.75, 4.5, 0, - 30 + 0 ], "Shelf|-04.90|+01.69|+05.17": [ - -5.0, + -4.75, 4.5, 0, - 0 + -30 ], "Shelf|-05.61|+00.45|+05.17": [ - -6.0, + -5.0, 4.25, - 0, + 270, 30 ], "Shelf|-06.57|+01.15|+05.17": [ -6.5, 4.5, 0, - 30 + 0 ], "Sofa|-03.33|+00.02|+03.63": [ -3.25, - 2.5, + 3.0, 0, 30 ] diff --git a/gen/layouts/FloorPlan228-layout.npy b/gen/layouts/FloorPlan228-layout.npy index fc4e9c555acc69973ec61b5bb39955f728a1de84..7a07f8bf3aa03848dd6ebd588c90ecca0333f83c 100644 GIT binary patch delta 68 zcmZn=oggy7j>*(`qJ!JUX%38xJd>|8#!q%*3Yff%sbI1ivjHQ^WOwHH$=jG0Y))hO Wz|1LnfB_5yHv4mkGftky`3eBd#S{|& delta 111 zcmbOr(jYp)j>*hmqJtZk@Bs!e_+r1Y!HtnoX!3E!cpxdx1R~R!>Vf2SCi}^1%mE-i k^Lj?1&Fn1ynKz4Z2rw$LK{X3HfX!fFLE|$`7U%p40LTs&!2kdN diff --git a/gen/layouts/FloorPlan228-objects.json b/gen/layouts/FloorPlan228-objects.json index 5632e5b3e..3bec6a34d 100644 --- a/gen/layouts/FloorPlan228-objects.json +++ b/gen/layouts/FloorPlan228-objects.json @@ -1,26 +1,27 @@ [ - "SideTable", - "Statue", - "Newspaper", - "KeyChain", - "Plate", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", - "Painting", + "Sofa", "Chair", - "Television", - "Laptop", - "Watch", - "Box", - "Window", - "Drawer", - "CoffeeTable", "GarbageCan", + "RemoteControl", + "HousePlant", + "Window", "LightSwitch", + "Painting", + "CoffeeTable", + "Box", + "Vase", + "Watch", + "Newspaper", "DiningTable", - "Sofa", - "RemoteControl", - "Vase" + "Laptop", + "Statue", + "Television", + "KeyChain", + "Drawer", + "SideTable", + "CreditCard", + "Pillow", + "Plate" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan228-openable.json b/gen/layouts/FloorPlan228-openable.json index 82ec02f55..7474dbbac 100644 --- a/gen/layouts/FloorPlan228-openable.json +++ b/gen/layouts/FloorPlan228-openable.json @@ -1,48 +1,60 @@ { - "CoffeeTable|-04.00|+00.01|+02.45": [ - -2.75, - 2.25, - 270, + "CoffeeTable|-04.00|-00.01|+02.45": [ + -4.75, + 2.75, + 90, 30 ], - "DiningTable|-01.40|+00.00|+01.45": [ - -2.5, - 1.5, - 90, + "DiningTable|-01.40|-00.01|+01.45": [ + -1.25, + 2.5, + 180, 30 ], - "Drawer|-02.56|+00.53|+04.48": [ - -3.0, + "Drawer|-02.56|+00.53|+04.45": [ + -2.0, 3.75, - 0, + 270, 30 ], - "GarbageCan|-00.22|-00.01|+04.73": [ - -1.25, - 4.25, + "GarbageCan|-00.26|-00.04|+04.73": [ + -0.75, + 4.0, 90, 30 ], - "SideTable|-02.56|-00.01|+04.74": [ - -1.5, + "SideTable|-02.56|00.00|+04.62": [ + -2.0, 4.25, 270, 30 ], - "SideTable|-03.79|-00.01|+04.46": [ - -4.75, + "SideTable|-03.79|+00.01|+04.46": [ + -4.0, + 3.75, + 0, + 30 + ], + "SideTable|-04.93|00.00|+00.27": [ + -4.25, + 1.25, + 270, + 30 + ], + "SideTable|-05.68|00.00|+03.95": [ + -5.0, 4.5, - 90, + 180, 30 ], - "Sofa|-03.66|-00.02|+00.46": [ - -3.25, - 1.75, + "Sofa|-03.54|-00.02|+00.46": [ + -3.5, + 1.25, 180, 30 ], - "Sofa|-05.40|-00.02|+02.43": [ - -4.5, + "Sofa|-05.47|+00.01|+02.50": [ + -4.75, 2.5, 270, 30 diff --git a/gen/layouts/FloorPlan229-layout.npy b/gen/layouts/FloorPlan229-layout.npy index 7bc0289358c74e49e4e41ae4b4ec2d1634afd2dd..a0ba3d9cf4069712db5cedb8f8ad562993ede2c3 100644 GIT binary patch delta 132 zcmZpW{va{Imf6tKaH4}7m&gGIFnC};vB6AI6v}&H4-tjQzL>cF`Q$JrgU!>J3>Y_G zV^(0CEXEqZ$TT^eHGlFoFiV`Re)2Llkl1s!dd>^`AqKE)&SzI=p1h1}!e%$_4UCi7 LcpWCE@k#*z%}OH! delta 346 zcmew$(I7p+mf6U_VxoiF#AyZ-pFOA-I=}!1U+f{YAR1o)jn9Y1=RxChq47D;_-v?r zV+Iyf0R|>CJ_8#6&;H3f80{EeY<|vY&j_T%ne`c^UhHQ8gFjGTh(a|nI81h637fo( zC4mzr#5DOoOZen8)&jT)%jEN{;gikS5F%`w*R!cJGhUc{oO3?Yi~XA;xb`tJ3QlI{ U@fZ37wMozcV&j+nlRbDe02}c`@&Et; diff --git a/gen/layouts/FloorPlan229-objects.json b/gen/layouts/FloorPlan229-objects.json index 9462c3601..0dbaec5b7 100644 --- a/gen/layouts/FloorPlan229-objects.json +++ b/gen/layouts/FloorPlan229-objects.json @@ -1,30 +1,32 @@ [ - "SideTable", - "Statue", - "Book", - "KeyChain", - "HousePlant", - "Pillow", + "Floor", "FloorLamp", - "CreditCard", - "Dresser", - "Painting", - "Pen", + "Sofa", + "WateringCan", + "CellPhone", + "Desk", "Chair", - "Television", - "Laptop", - "Box", - "Window", - "Drawer", - "Pencil", - "CoffeeTable", "GarbageCan", - "WateringCan", - "LightSwitch", - "Sofa", - "ArmChair", + "HousePlant", "RemoteControl", + "Window", + "LightSwitch", + "Painting", + "CoffeeTable", + "Box", + "Pencil", + "Pen", + "Laptop", "TissueBox", + "Dresser", + "Statue", + "Television", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", "Boots", - "CellPhone" + "ArmChair", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan229-openable.json b/gen/layouts/FloorPlan229-openable.json index c20260076..6e250cf1f 100644 --- a/gen/layouts/FloorPlan229-openable.json +++ b/gen/layouts/FloorPlan229-openable.json @@ -1,65 +1,65 @@ { - "ArmChair|-01.32|+00.00|+03.65": [ - -1.5, - 2.75, + "ArmChair|-01.32|+00.03|+03.65": [ + -1.75, + 3.0, 0, 30 ], - "CoffeeTable|-03.04|+00.03|+02.34": [ + "CoffeeTable|-03.04|+00.00|+02.34": [ -3.0, - 3.5, + 3.0, 180, 30 ], - "Drawer|-05.58|+00.21|+02.13": [ + "Desk|-00.31|+00.03|+00.62": [ + -1.0, + 1.0, + 90, + 30 + ], + "Drawer|-05.50|+00.21|+02.13": [ -5.0, - 3.25, - 180, + 1.5, + 270, 30 ], - "Drawer|-05.58|+00.21|+02.68": [ + "Drawer|-05.50|+00.21|+02.68": [ -5.0, - 3.75, - 180, + 2.5, + 270, 30 ], - "Drawer|-05.58|+00.52|+02.13": [ + "Drawer|-05.50|+00.52|+02.13": [ -5.25, - 3.0, - 180, + 1.5, + 0, 30 ], - "Drawer|-05.58|+00.52|+02.68": [ + "Drawer|-05.50|+00.52|+02.68": [ -5.25, - 3.5, + 3.25, 180, 30 ], - "Dresser|-05.77|+00.02|+02.40": [ - -5.0, - 2.5, + "Dresser|-05.70|+00.02|+02.40": [ + -5.25, + 3.0, 270, 30 ], - "SideTable|-00.21|+00.02|+01.52": [ - -1.0, - 1.75, - 90, - 30 - ], - "SideTable|-00.31|+00.02|+00.62": [ - -1.25, - 0.5, + "SideTable|-00.31|+00.02|+01.52": [ + -0.75, + 2.0, 90, 30 ], "SideTable|-05.57|+00.02|+00.29": [ - -5.25, - 1.25, - 180, + -5.0, + 0.75, + 270, 30 ], - "Sofa|-03.13|+00.02|+00.41": [ + "Sofa|-03.13|+00.03|+00.61": [ -3.5, 1.5, 180, diff --git a/gen/layouts/FloorPlan23-layout.npy b/gen/layouts/FloorPlan23-layout.npy index 67fe43f3d7c5e3eb35d879de34eadf7e32684970..9e63fce2cd289e0c50458690a443b21b3d1666b8 100644 GIT binary patch delta 21 ccmZqR{lGK9j?r|Z{dMNadMq59^;m+K08hdOUH||9 delta 24 gcmeys)4)5yj?rwR{dHz0o&%EwSj0BVu>>&z0A%?G4FCWD diff --git a/gen/layouts/FloorPlan23-objects.json b/gen/layouts/FloorPlan23-objects.json index da4c1b624..5cc8f46aa 100644 --- a/gen/layouts/FloorPlan23-objects.json +++ b/gen/layouts/FloorPlan23-objects.json @@ -1,45 +1,47 @@ [ - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", - "PepperShaker", - "Glassbottle", - "Potato", - "Lettuce", "Bowl", + "PepperShaker", + "Chair", + "GarbageCan", "WineBottle", - "Toaster", - "Pen", - "Egg", + "Window", + "Spoon", + "LightSwitch", "Pan", - "Apple", - "SinkBasin", - "Chair", + "Shelf", + "Bottle", + "StoveKnob", "Blinds", - "Fridge", - "Window", - "Mug", - "Drawer", - "Bread", + "Potato", + "Pot", "Pencil", + "Tomato", + "Spatula", + "Fridge", + "Pen", + "DiningTable", "Cup", - "Pot", - "StoveKnob", - "Microwave", "SaltShaker", - "GarbageCan", - "DishSponge", - "LightSwitch", - "DiningTable", - "StoveBurner", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "StoveBurner", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan23-openable.json b/gen/layouts/FloorPlan23-openable.json index 6803a4803..6c15ae5f1 100644 --- a/gen/layouts/FloorPlan23-openable.json +++ b/gen/layouts/FloorPlan23-openable.json @@ -1,25 +1,25 @@ { "Cabinet|-00.58|+00.39|-01.80": [ - -1.5, -1.25, - 90, + -2.25, + 0, 30 ], "Cabinet|-00.58|+00.39|-02.20": [ - -1.5, + -1.25, -1.75, - 90, + 180, 30 ], "Cabinet|-00.58|+00.39|-03.40": [ - -1.5, + -1.25, -2.75, - 90, + 180, 30 ], "Cabinet|-00.88|+00.39|-03.42": [ -1.0, - -2.5, + -3.0, 180, 30 ], @@ -41,17 +41,23 @@ 90, 30 ], - "DiningTable|-02.43|+00.90|-01.70": [ - -1.25, + "DiningTable|-02.43|+00.00|-01.69": [ + -1.75, -1.75, 270, 30 ], "Drawer|-00.45|+00.78|-03.27": [ - -1.25, - -3.0, + -1.5, + -2.5, 90, - 30 + 0 + ], + "Drawer|-00.75|+00.78|-03.55": [ + -1.0, + -2.5, + 180, + 0 ], "Fridge|-00.33|+00.00|-00.77": [ -1.25, @@ -59,16 +65,34 @@ 90, 0 ], - "Microwave|-01.32|+01.52|-03.85": [ + "GarbageCan|-01.94|00.00|-03.76": [ + -2.25, + -3.5, + 90, + 30 + ], + "Microwave|-01.32|+01.52|-03.80": [ -1.25, -3.0, 180, + -30 + ], + "Shelf|-02.43|+00.15|-01.69": [ + -1.5, + -1.5, + 270, + 30 + ], + "Shelf|-02.43|+00.52|-01.69": [ + -1.0, + -1.5, + 270, 0 ], "Sink|-00.35|+00.91|-02.01|SinkBasin": [ -1.0, - -2.25, - 90, + -2.5, + 0, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan230-layout.npy b/gen/layouts/FloorPlan230-layout.npy index d3673714e8fa67cfc9d8ea9fa22c3e37861e104a..35ea786ab0b1dda667f3723868c36a81bc2c172f 100644 GIT binary patch delta 405 zcmeyMyTNFJ9h0T$M29v(!2=9n@W38I^Gw`sFT{c-_-Fsb7j=d(r7xgL1)!>6d_FWj z&*X4MerpZ%L>F#0hwKA3!+Wj^DJ$?2@~1z+rE00Slm2>oF4cO+33nCRwq zHhv~Xmd))P|C!)=_+YY=%em_XVQvzDitsJ_0p4kwAu#<}i~s0dSM%0YI}>0zd@qlB39i!1id-sXc1Q;(&oUSkUV?P5J{IQ477dCE}XWaaZQGjtX8?yl;Cq$Hi KfoHNliy{DyIuIuS delta 52 zcmaFBae-rk9i!nydv`7dDEMMOu|aI&GKG!L1Q?kv*l&KpC~0w$X=CQM$&=)m}8@^!{Y0F}cExBvhE delta 40 tcmbQhvVmoS9i#a~`*y|;6Sv26G8|w4gCCRm8PgfROipL?pL~qb3jheZ4D0{^ diff --git a/gen/layouts/FloorPlan25-objects.json b/gen/layouts/FloorPlan25-objects.json index 336b934bd..fb1d4b30a 100644 --- a/gen/layouts/FloorPlan25-objects.json +++ b/gen/layouts/FloorPlan25-objects.json @@ -1,40 +1,41 @@ [ - "Ladle", - "CounterTop", - "SoapBottle", - "Plate", - "Sink", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Stool", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", - "PepperShaker", - "Potato", - "Lettuce", "Bowl", - "Toaster", - "Egg", + "PepperShaker", + "GarbageCan", + "Window", + "Spoon", + "LightSwitch", "Pan", - "Chair", - "Apple", - "SinkBasin", + "Ladle", + "StoveKnob", + "StoveBurner", + "Pot", + "Tomato", + "Spatula", "Fridge", - "Window", - "Mug", - "Drawer", "Cup", - "Bread", - "Pot", - "StoveKnob", - "Microwave", "SaltShaker", - "GarbageCan", - "DishSponge", - "LightSwitch", - "StoveBurner", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "Potato", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan25-openable.json b/gen/layouts/FloorPlan25-openable.json index bebc734ec..7362ee539 100644 --- a/gen/layouts/FloorPlan25-openable.json +++ b/gen/layouts/FloorPlan25-openable.json @@ -1,36 +1,42 @@ { "Cabinet|-01.29|+00.39|+00.56": [ -1.0, - 1.5, - 180, + 1.25, + 270, 30 ], "Cabinet|-02.24|+00.39|+00.56": [ -1.5, - 1.5, - 180, + 1.25, + 270, 30 ], "Cabinet|-02.38|+02.01|+02.58": [ -1.75, - 2.25, + 2.0, 270, - -30 + 0 ], "Cabinet|-02.38|+02.02|+01.72": [ -1.75, - 1.75, + 2.25, 270, - -30 + 0 ], "Cabinet|-02.44|+00.39|+01.67": [ - -1.5, - 1.0, - 270, + -1.75, + 2.0, + 180, 30 ], + "Cabinet|-02.46|+01.80|+00.23": [ + -2.0, + 1.0, + 180, + -30 + ], "Cabinet|-02.77|+01.80|+00.51": [ - -1.5, + -1.75, 1.0, 270, 0 @@ -39,48 +45,36 @@ -2.0, 1.0, 270, - 0 + -30 ], "Cabinet|-02.78|+01.80|+00.83": [ -2.0, 1.25, 270, - 0 + -30 ], "CounterTop|-01.56|+00.86|+00.28": [ -1.0, - 1.0, + 1.25, 180, 30 ], "Drawer|-00.40|+00.70|+00.91": [ - -1.25, - 1.25, - 90, - 30 - ], - "Drawer|-00.40|+00.70|+01.25": [ - -1.25, + -1.5, 1.0, 90, - 30 - ], - "Drawer|-00.86|+00.71|+00.42": [ - -1.25, - 1.25, - 180, - 30 + 0 ], - "Drawer|-01.13|+00.71|+00.42": [ + "Drawer|-00.40|+00.70|+01.25": [ -1.5, - 1.25, - 180, - 30 + 2.0, + 90, + 0 ], "Drawer|-02.59|+00.70|+01.51": [ -1.75, - 1.75, - 270, + 2.0, + 180, 30 ], "Fridge|-02.78|+00.00|+02.22": [ @@ -89,16 +83,22 @@ 270, 30 ], - "Microwave|-02.80|+00.81|+01.35": [ + "GarbageCan|-00.33|+00.00|+02.61": [ + -1.0, + 2.5, + 90, + 30 + ], + "Microwave|-02.79|+00.81|+01.35": [ -2.0, 1.25, 270, - 30 + 0 ], "Sink|-01.84|+00.73|+00.34|SinkBasin": [ -1.5, 1.25, 180, - 30 + 0 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan26-layout.npy b/gen/layouts/FloorPlan26-layout.npy index 3d14cde642c19f6ad4ba4f30b3be9451cafd29f5..065f3b7706857ca49793c3136eada03c8dd85e77 100644 GIT binary patch delta 93 zcmX@WwSjAb9i!<+`{j(1EC(3C;Ez3oW`gl2-)Btcg7Fv}COa^NF}|4G&J+(MuQT~i YHe+^}+y=zgfLM*iVR9J|A7iNk057N+MF0Q* delta 64 zcmdnMb%1Mv9i!Ps`{j(2*_aY0moWuQz6Qi*%npnnCZ{v|1IguJ@;R7PX90<%gURJA FodDyq7pedN diff --git a/gen/layouts/FloorPlan26-objects.json b/gen/layouts/FloorPlan26-objects.json index 59e58bc69..7f2ce982c 100644 --- a/gen/layouts/FloorPlan26-objects.json +++ b/gen/layouts/FloorPlan26-objects.json @@ -1,39 +1,40 @@ [ - "CounterTop", - "SoapBottle", - "Plate", - "Sink", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", + "Bowl", "PepperShaker", + "GarbageCan", + "Window", + "Spoon", + "LightSwitch", + "Pan", + "StoveKnob", "Potato", + "Pot", + "Tomato", + "Spatula", + "Fridge", + "DiningTable", + "Cup", + "SaltShaker", + "Microwave", "Lettuce", - "Bowl", - "Toaster", "Egg", - "Pan", - "Apple", + "Faucet", "SinkBasin", - "Fridge", - "Window", - "Mug", + "Sink", + "CounterTop", + "SoapBottle", "Drawer", - "Bread", - "Cup", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", - "GarbageCan", "DishSponge", - "LightSwitch", - "DiningTable", - "StoveBurner", - "Faucet", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "StoveBurner", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan26-openable.json b/gen/layouts/FloorPlan26-openable.json index 6f6a1fb32..3d0c2b4e1 100644 --- a/gen/layouts/FloorPlan26-openable.json +++ b/gen/layouts/FloorPlan26-openable.json @@ -1,75 +1,75 @@ { "Cabinet|-00.48|+02.05|+00.39": [ -0.75, - 1.25, + 1.0, 180, - -30 + 0 ], "Cabinet|-00.52|+02.05|+00.39": [ - -0.75, + -1.0, 1.0, 180, - -30 + 0 ], "Cabinet|-01.48|+02.05|+00.39": [ -1.25, 1.0, 180, - -30 + 0 ], "Cabinet|-01.51|+02.05|+00.39": [ - -1.75, + -2.0, 1.0, 180, - 30 + 0 ], "Cabinet|-02.47|+02.05|+00.39": [ -2.0, 1.0, 180, - 30 + 0 ], "CounterTop|-01.37|+00.95|+00.35": [ - -2.0, - 1.25, + -2.5, + 1.0, 180, 30 ], "CounterTop|-02.78|+00.97|+03.49": [ - -2.0, - 3.5, + -1.75, + 3.25, 270, - 30 + 0 ], - "DiningTable|-00.47|+00.01|+03.00": [ + "DiningTable|-00.49|00.00|+03.18": [ -1.25, - 2.75, + 3.0, 90, 30 ], - "DiningTable|-02.76|+00.01|+02.36": [ - -2.0, - 2.5, - 270, + "DiningTable|-02.73|00.00|+02.61": [ + -2.25, + 2.0, + 0, 30 ], "Drawer|-00.33|+00.70|+00.41": [ -0.75, - 1.5, - 180, + 1.25, + 90, 30 ], "Drawer|-01.82|+00.70|+00.41": [ - -1.0, + -2.25, 1.25, - 270, + 90, 30 ], "Drawer|-02.32|+00.70|+00.41": [ - -1.5, - 1.25, - 270, - 30 + -2.0, + 1.75, + 180, + 0 ], "Fridge|-02.80|+00.00|+04.43": [ -1.75, @@ -77,9 +77,9 @@ 270, 30 ], - "Microwave|-00.36|+00.91|+00.22": [ - -0.75, - 1.25, + "Microwave|-00.36|+00.92|+00.22": [ + -1.0, + 1.0, 180, 30 ], @@ -87,6 +87,6 @@ -0.75, 1.25, 180, - 30 + 0 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan27-layout.npy b/gen/layouts/FloorPlan27-layout.npy index 1a4bd25dea6606fee6ab662fa1de0b1b24d0174d..4f06aa68fdbaf2ccab8325e8b9b19df3ed8f74b4 100644 GIT binary patch delta 49 lcmdnMc7Sby9iz!a`|X?A7`2!b7{K6*J%na(fY3kSd;kUw2loH~ delta 26 ccmX@Wwt;Pe9i#C?`|Vs8>=~e7;|BvK0BL;&@&Et; diff --git a/gen/layouts/FloorPlan27-objects.json b/gen/layouts/FloorPlan27-objects.json index 7373e40d5..efce0b6ba 100644 --- a/gen/layouts/FloorPlan27-objects.json +++ b/gen/layouts/FloorPlan27-objects.json @@ -1,42 +1,43 @@ [ - "Ladle", - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", - "PepperShaker", - "Potato", - "Lettuce", "Bowl", + "PepperShaker", + "Chair", + "GarbageCan", "WineBottle", - "Toaster", - "Egg", + "Spoon", + "LightSwitch", "Pan", - "Apple", - "SinkBasin", - "Chair", + "Ladle", + "Curtains", + "StoveKnob", + "StoveBurner", + "Pot", + "Tomato", + "Spatula", "Fridge", - "Mug", - "Drawer", - "Bread", + "DiningTable", "Cup", - "Pot", - "StoveKnob", - "Microwave", "SaltShaker", - "GarbageCan", - "DishSponge", - "LightSwitch", - "DiningTable", - "StoveBurner", + "Microwave", + "Lettuce", + "Egg", "Faucet", - "Curtains", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "Potato", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan27-openable.json b/gen/layouts/FloorPlan27-openable.json index addcfa1af..ba0327d54 100644 --- a/gen/layouts/FloorPlan27-openable.json +++ b/gen/layouts/FloorPlan27-openable.json @@ -1,61 +1,79 @@ { "Cabinet|+00.13|+00.39|+01.77": [ 1.0, - 1.75, - 270, + 1.5, + 0, 30 ], "Cabinet|+00.35|+00.39|+02.36": [ - 1.0, + 1.25, 1.5, - 0, + 270, 30 ], "Cabinet|+01.51|+00.39|+02.36": [ - 0.75, + 0.5, 1.5, - 0, + 90, 30 ], "Cabinet|+01.76|+00.39|+00.87": [ - 0.75, 1.0, - 90, + 0.0, + 0, 30 ], "Cabinet|+01.76|+00.39|+02.35": [ - 0.75, + 1.0, 1.5, - 90, + 0, 30 ], + "Cabinet|+01.97|+02.11|+02.62": [ + 1.25, + 2.0, + 0, + 0 + ], "Cabinet|+02.04|+01.81|+00.28": [ 1.25, - 0.25, + 1.0, 90, 0 ], "Cabinet|+02.04|+01.81|+00.87": [ 1.25, - 0.5, + 0.25, 90, 0 ], "Cabinet|+02.04|+02.11|+00.89": [ + 1.25, 0.75, - 1.5, 90, 0 ], "Cabinet|+02.04|+02.11|+01.77": [ - 0.75, 1.25, + 2.0, 90, 0 ], + "Cabinet|+02.04|+02.11|+01.81": [ + 1.5, + 2.0, + 90, + -30 + ], + "Cabinet|+02.04|+02.11|+02.62": [ + 1.5, + 2.0, + 90, + -30 + ], "CounterTop|+01.07|+00.97|+02.67": [ - 1.25, - 1.75, + 1.5, + 2.0, 90, 30 ], @@ -63,30 +81,30 @@ 1.25, 0.5, 90, - 30 + 0 ], - "DiningTable|-00.21|+00.02|+00.88": [ + "DiningTable|-00.15|00.00|+01.07": [ 0.5, - 0.75, + 1.0, 270, 30 ], "Drawer|+01.91|+00.77|+02.06": [ - 1.0, - 2.0, - 90, + 1.25, + 1.75, + 0, 30 ], "Drawer|+02.17|+00.77|+00.58": [ + 1.25, 1.0, - 0.75, - 90, + 180, 30 ], "Drawer|-00.02|+00.77|+02.06": [ 0.75, - 2.0, - 270, + 1.5, + 0, 30 ], "Fridge|+02.10|+00.00|-00.28": [ @@ -95,22 +113,22 @@ 90, 30 ], - "GarbageCan|-00.33|+00.00|-00.80": [ - 0.75, + "GarbageCan|-00.31|00.00|-00.81": [ + 0.25, -0.25, - 270, + 180, 30 ], "Microwave|-00.31|+00.93|+02.08": [ 0.5, - 2.0, + 1.75, 270, - 30 + 0 ], "Sink|+00.94|+00.94|+02.65|SinkBasin": [ 1.0, - 2.0, + 1.75, 0, - 30 + 0 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan28-layout.npy b/gen/layouts/FloorPlan28-layout.npy index 35ce24db5a49e881d980923892cb1d149fe86fe0..7b6b1a810345427619241bcd42635ed7ebe51d2a 100644 GIT binary patch delta 153 zcmcb>yMcFtEt93?L&zD0+ZvII3~+6Moj!CFnJv# z$L4j65-gMd0maV&#r4=cCi5|ID8AUw00vA4AT*560OL>2XEWDif$|=psfO`ksvk_A H&t?b!Rk
DtNUJd? NOy*F>*|nWAxZu#u&gj*^g0R@;{)!KPC<*1}OMq4`Ez@(lGu5 fH2w=T{ulen0!(s~#h4SAe%Mb|U=o{L$NUKZ1nnDw diff --git a/gen/layouts/FloorPlan29-objects.json b/gen/layouts/FloorPlan29-objects.json index 32af6cca5..0396357c4 100644 --- a/gen/layouts/FloorPlan29-objects.json +++ b/gen/layouts/FloorPlan29-objects.json @@ -1,38 +1,39 @@ [ - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", - "PepperShaker", - "Potato", - "Lettuce", "Bowl", - "Toaster", - "Egg", - "Pan", - "Apple", - "SinkBasin", + "PepperShaker", "Chair", - "Fridge", - "Mug", - "Bread", - "Cup", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", "GarbageCan", - "DishSponge", + "Spoon", "LightSwitch", + "Pan", + "StoveKnob", "StoveBurner", + "Pot", + "Tomato", + "Spatula", + "Fridge", "Kettle", + "Cup", + "SaltShaker", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "DishSponge", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "Potato", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan29-openable.json b/gen/layouts/FloorPlan29-openable.json index b6df1eaf0..ead4453cf 100644 --- a/gen/layouts/FloorPlan29-openable.json +++ b/gen/layouts/FloorPlan29-openable.json @@ -1,14 +1,14 @@ { "Cabinet|+01.34|+00.59|-01.11": [ 0.75, - -0.25, + -0.75, 180, 30 ], "Cabinet|+01.99|+00.59|-01.11": [ - 1.5, - -0.25, - 180, + 1.25, + -0.5, + 90, 30 ], "Cabinet|+01.99|+01.40|-01.11": [ @@ -19,50 +19,50 @@ ], "Cabinet|-00.85|+00.59|-01.11": [ -0.25, - -0.25, + -0.75, 180, 30 ], "Cabinet|-01.53|+00.59|-01.11": [ - -1.0, - -0.25, - 180, + -0.75, + -0.5, + 270, 30 ], - "Cabinet|-01.55|+02.00|-01.11": [ - -1.0, - 0.0, - 180, - -30 - ], "CounterTop|+00.20|+01.08|-01.51": [ - 1.0, + 0.25, -0.75, 180, 30 ], "CounterTop|+00.97|+01.08|+00.42": [ - -0.5, 0.5, - 90, + -0.25, + 0, 30 ], "Fridge|-01.29|+00.02|+01.83": [ - 0.0, + -0.25, 1.75, 270, 0 ], - "Microwave|-01.20|+01.61|-01.28": [ + "GarbageCan|+01.86|-00.02|+02.39": [ + 1.5, + 2.0, + 0, + 30 + ], + "Microwave|-01.19|+01.62|-01.28": [ -1.0, -0.5, 180, 0 ], "Sink|+00.93|+00.94|+00.32|SinkBasin": [ - 1.0, + 1.5, -0.25, - 0, + 270, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan3-objects.json b/gen/layouts/FloorPlan3-objects.json index 774710ad2..cfbde1762 100644 --- a/gen/layouts/FloorPlan3-objects.json +++ b/gen/layouts/FloorPlan3-objects.json @@ -1,43 +1,45 @@ [ - "SideTable", - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", - "HousePlant", + "Floor", + "Cabinet", + "Apple", + "Stool", + "Bowl", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", "PepperShaker", - "Potato", - "Bowl", - "Lettuce", + "GarbageCan", + "Window", "WineBottle", - "Toaster", - "Egg", + "HousePlant", + "Spoon", + "LightSwitch", "Pan", - "Chair", - "SinkBasin", - "Apple", - "Fridge", - "Window", - "Mug", - "Drawer", - "Bread", - "Cup", - "Pot", "StoveKnob", - "Microwave", - "SaltShaker", - "GarbageCan", - "DishSponge", - "LightSwitch", "StoveBurner", - "Faucet", - "Kettle", + "Pot", "PaperTowelRoll", "Tomato", - "Cabinet", - "Spoon" + "Spatula", + "Fridge", + "Kettle", + "Cup", + "SaltShaker", + "Microwave", + "Lettuce", + "Egg", + "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "SideTable", + "Bread", + "Knife", + "Fork", + "ButterKnife", + "Potato", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan3-openable.json b/gen/layouts/FloorPlan3-openable.json index 3681a3037..fcc2cf348 100644 --- a/gen/layouts/FloorPlan3-openable.json +++ b/gen/layouts/FloorPlan3-openable.json @@ -1,69 +1,69 @@ { "Cabinet|+00.58|+00.78|-02.05": [ - -0.25, - -2.25, + -0.75, + -1.75, 90, - 30 + 0 ], "Cabinet|-01.46|+00.78|+00.47": [ - -0.5, - 0.0, - 270, + -0.75, + 1.0, + 180, 30 ], "Cabinet|-01.46|+00.78|+01.31": [ - -0.5, - 1.75, - 270, + -0.75, + 0.75, + 0, 30 ], "Cabinet|-01.46|+00.78|-02.00": [ - -0.5, + -0.75, -1.5, - 270, + 180, 30 ], "CounterTop|-01.81|+01.36|+01.18": [ -1.0, - 1.25, + -2.25, 270, 30 ], - "Drawer|+00.71|+00.85|+01.02": [ - 0.0, - 1.5, - 90, - 30 - ], - "Drawer|+00.71|+01.06|+01.02": [ - 0.0, - 0.75, - 90, - 30 - ], - "Drawer|+00.72|+00.59|+00.68": [ + "Drawer|+00.65|+00.60|+00.68": [ -0.25, - 0.0, - 90, + 1.25, + 180, 30 ], - "Drawer|+00.72|+00.59|+01.02": [ + "Drawer|+00.65|+00.60|+01.02": [ -0.25, 0.5, - 90, + 0, 30 ], - "Drawer|+00.72|+00.84|+00.68": [ + "Drawer|+00.65|+00.84|+00.68": [ 0.0, 0.25, - 90, + 0, 30 ], - "Drawer|+00.72|+01.06|+00.68": [ + "Drawer|+00.65|+00.84|+01.02": [ 0.0, + 0.5, + 0, + 30 + ], + "Drawer|+00.65|+01.06|+00.68": [ + -0.25, 0.25, 90, - 30 + 0 + ], + "Drawer|+00.65|+01.06|+01.02": [ + -0.25, + 0.5, + 90, + 0 ], "Fridge|+01.01|+00.23|+01.92": [ 0.0, @@ -71,28 +71,28 @@ 90, 0 ], - "GarbageCan|-01.63|+00.22|+02.19": [ + "GarbageCan|-01.63|+00.21|+02.19": [ -1.0, - 1.25, - 0, + 1.5, + 270, 30 ], - "Microwave|+01.16|+01.19|+00.85": [ - 0.25, - 0.75, + "Microwave|+00.99|+01.31|-02.16": [ + 0.0, + -1.75, 90, - 30 + 0 ], - "SideTable|+01.02|+01.24|+00.87": [ - 0.25, - 1.0, + "SideTable|+00.98|+00.21|+00.87": [ + 0.0, + 1.5, 90, - 30 + 0 ], "Sink|-01.99|+01.14|-00.98|SinkBasin": [ -1.0, - -0.75, + -0.5, 270, - 30 + 0 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan30-layout.npy b/gen/layouts/FloorPlan30-layout.npy index 7fd7e91aacda05730aab0071382774eca8719692..c69feff0f22ab9eb515c1ba9d125253d3ca38142 100644 GIT binary patch delta 36 ucmV+<0Nekt2;c{hJ^?h5Kc|xh0dSMH0icua0T7d40tk~}0td5Y0?PsN&>0q|#eN9=XX5pG!w*ow2T;K;X#5{&{6CZ38P`w#$0)d2 IoarPZ0H}NzKL7v# diff --git a/gen/layouts/FloorPlan30-objects.json b/gen/layouts/FloorPlan30-objects.json index 4a8e13da6..792ff7fc8 100644 --- a/gen/layouts/FloorPlan30-objects.json +++ b/gen/layouts/FloorPlan30-objects.json @@ -1,44 +1,45 @@ [ - "Ladle", - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", - "HousePlant", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", + "CellPhone", "PepperShaker", - "Glassbottle", - "Potato", - "Lettuce", "Bowl", - "Toaster", - "Egg", - "Pan", - "Apple", - "SinkBasin", - "Fridge", - "Window", - "Mug", - "Drawer", - "Cup", - "Bread", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", "GarbageCan", - "DishSponge", + "HousePlant", + "Window", + "Spoon", "LightSwitch", - "Mirror", + "Pan", + "Ladle", + "Bottle", + "StoveKnob", "StoveBurner", + "Pot", + "Tomato", + "Spatula", + "Fridge", + "Mirror", "Kettle", + "Cup", + "SaltShaker", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "CellPhone", - "Spoon" + "Potato", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan30-openable.json b/gen/layouts/FloorPlan30-openable.json index 41ecc29c0..c07b408ec 100644 --- a/gen/layouts/FloorPlan30-openable.json +++ b/gen/layouts/FloorPlan30-openable.json @@ -1,18 +1,18 @@ { "Cabinet|+00.14|+01.67|-01.56": [ - 0.5, + 0.0, -0.75, 180, 0 ], "Cabinet|+00.62|+01.87|-01.26": [ - 1.0, + 0.25, -0.5, 180, 0 ], "Cabinet|+01.40|+01.87|-01.26": [ - 1.0, + 0.75, -0.5, 180, 0 @@ -21,35 +21,35 @@ 2.25, -1.25, 90, - 0 + -30 ], "Cabinet|+02.82|+01.77|-01.85": [ - 2.0, + 2.25, -1.25, 90, 0 ], "Cabinet|+02.85|+00.42|+00.41": [ 2.0, - 0.25, - 90, + 1.25, + 180, 30 ], "Cabinet|+02.85|+00.42|-00.61": [ 2.0, - 0.0, - 90, + -1.0, + 0, 30 ], "Cabinet|+02.85|+00.42|-00.96": [ 2.0, - -1.25, - 90, + -0.25, + 180, 30 ], "Cabinet|+03.07|+01.67|-00.71": [ 2.25, - -1.0, + -0.5, 90, 0 ], @@ -59,226 +59,214 @@ 180, 0 ], - "Cabinet|-00.20|+01.96|-01.33": [ - 0.0, - -0.5, - 180, - -30 - ], - "Cabinet|-00.71|+01.96|-00.82": [ - 0.0, - -0.75, - 270, - -30 - ], "Cabinet|-00.92|+01.67|-00.62": [ -0.25, -0.5, 270, 0 ], - "CounterTop|+00.09|+00.89|-01.52": [ - 0.25, - -0.75, + "CounterTop|+00.13|+00.94|-01.46": [ + 0.5, + -0.5, 180, - 30 + 0 ], "CounterTop|+01.21|+00.94|+00.46": [ - 1.0, - -0.5, - 0, + 2.0, + 0.5, + 270, 30 ], "CounterTop|+03.11|+00.94|+00.02": [ 2.5, - -0.5, + 0.0, 90, 30 ], "CounterTop|-01.01|+00.94|-00.04": [ -0.25, - 0.5, + -0.25, 270, 30 ], "Drawer|+00.38|+00.19|-01.51": [ - 0.0, -0.25, - 180, + -0.25, + 90, 30 ], "Drawer|+00.38|+00.38|-01.51": [ -0.25, - -0.25, - 180, + -0.5, + 90, 30 ], "Drawer|+00.38|+00.57|-01.51": [ - 0.0, + -0.25, -0.5, - 180, + 90, 30 ], "Drawer|+00.38|+00.77|-01.51": [ 0.0, - -0.5, - 180, + -0.75, + 90, 30 ], "Drawer|+03.02|+00.77|+00.70": [ 2.25, - -0.25, + 0.25, 0, 30 ], "Drawer|+03.02|+00.77|-00.41": [ 2.25, - 0.5, + 0.0, 180, 30 ], "Drawer|+03.02|+00.77|-00.78": [ 2.25, - 0.0, - 180, + -1.25, + 0, 30 ], "Drawer|-00.05|+00.19|-01.32": [ - 1.0, + 0.75, -0.5, 270, 30 ], "Drawer|-00.05|+00.38|-01.32": [ - 0.5, - -0.25, - 180, + 0.75, + -0.5, + 270, 30 ], "Drawer|-00.05|+00.57|-01.32": [ 0.5, -0.5, - 180, + 270, 30 ], "Drawer|-00.05|+00.77|-01.32": [ 0.5, - -0.5, + -0.25, 180, - 30 + 0 ], "Drawer|-00.68|+00.19|-00.70": [ 0.0, - 0.5, - 180, + 0.25, + 270, 30 ], "Drawer|-00.68|+00.39|-00.70": [ 0.0, 0.25, - 180, + 270, 30 ], "Drawer|-00.68|+00.58|-00.70": [ 0.0, - 0.25, + -0.25, 180, 30 ], "Drawer|-00.68|+00.77|-00.70": [ + 0.0, -0.25, - 0.25, 180, 30 ], "Drawer|-00.86|+00.19|+00.66": [ 0.0, - -0.5, - 0, + 0.0, + 270, 30 ], "Drawer|-00.86|+00.19|+01.43": [ 0.0, - 0.25, - 0, + 0.75, + 270, 30 ], "Drawer|-00.86|+00.19|-00.10": [ - 0.0, - 1.0, - 180, + 0.25, + -0.75, + 0, 30 ], "Drawer|-00.86|+00.39|+00.66": [ 0.0, - -0.5, + 0.0, 0, 30 ], "Drawer|-00.86|+00.39|+01.43": [ 0.0, - 0.5, + 0.75, 0, 30 ], "Drawer|-00.86|+00.39|-00.10": [ 0.0, - 1.0, - 180, + -0.75, + 0, 30 ], "Drawer|-00.86|+00.58|+00.66": [ 0.0, - -0.5, - 0, + 1.25, + 180, 30 ], "Drawer|-00.86|+00.58|+01.43": [ 0.0, - 0.25, + 0.75, 0, 30 ], "Drawer|-00.86|+00.58|-00.10": [ 0.0, - 1.0, + 0.5, 180, 30 ], "Drawer|-00.86|+00.77|+00.66": [ -0.25, - -0.25, - 0, + 1.25, + 180, 30 ], "Drawer|-00.86|+00.77|+01.43": [ -0.25, - 0.5, + 0.75, 0, 30 ], "Drawer|-00.86|+00.77|-00.10": [ -0.25, - 0.75, + 0.5, 180, 30 ], "Fridge|+01.01|+00.03|-01.47": [ - 1.0, + 0.5, -0.5, 180, 30 ], - "Microwave|-01.03|+00.89|+01.43": [ + "Microwave|-01.03|+00.87|+01.43": [ -0.25, - 1.25, + 1.0, 270, - 30 + 0 ], "Sink|+03.08|+00.89|+00.09|SinkBasin": [ 2.5, - -0.25, - 90, + 0.5, + 180, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan301-layout.npy b/gen/layouts/FloorPlan301-layout.npy index 3f3b4b4cdcd0dfd2f8400814b9f08d841f9afe56..e9f5eef0a134a3a8fe3726ca06e5d0e66595581a 100644 GIT binary patch delta 54 zcmV-60LlOG3!n>-J^?b3KZlXlP?I(RfRp9{Ad@BnaFeD25VOVtDg%=k1QwI71PGHR M1rU>_1rP%GKN+hM9{>OV delta 98 zcmZ3${egRe9i#a~`*x-a_7iu+G5(m$&e*T`!kz&P9_)wEAJF(;Cbu){3o$sLs$z1O Wyn?ZgiNRsA1d|*i%Vu>ZOJ)Ek1s3T5 diff --git a/gen/layouts/FloorPlan301-objects.json b/gen/layouts/FloorPlan301-objects.json index b5b586489..395b617c2 100644 --- a/gen/layouts/FloorPlan301-objects.json +++ b/gen/layouts/FloorPlan301-objects.json @@ -1,33 +1,35 @@ [ - "Shelf", - "Statue", - "Book", - "KeyChain", - "DeskLamp", - "Pillow", - "CD", - "CreditCard", - "Dresser", + "Floor", "Bowl", - "Bed", - "Pen", + "CellPhone", + "Desk", "Chair", - "BaseballBat", + "GarbageCan", + "Window", + "DeskLamp", + "LightSwitch", + "Shelf", "Blinds", - "Laptop", - "Watch", + "BaseballBat", "Box", - "Window", - "Mug", - "Drawer", "Pencil", "BasketBall", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Watch", + "Pen", "Mirror", + "Laptop", "TissueBox", + "AlarmClock", + "Dresser", + "Statue", + "Bed", + "KeyChain", + "Drawer", + "Pillow", + "DogBed", + "CD", "Boots", - "Desk", - "CellPhone" + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan301-openable.json b/gen/layouts/FloorPlan301-openable.json index 1a41c93cc..4135dfb3a 100644 --- a/gen/layouts/FloorPlan301-openable.json +++ b/gen/layouts/FloorPlan301-openable.json @@ -1,98 +1,152 @@ { - "Bed|-00.64|+00.00|+00.87": [ - 0.75, - 1.25, + "Bed|-00.64|+00.01|+00.87": [ + 0.5, + 1.0, 270, 30 ], - "Desk|+02.29|+00.01|-01.15": [ - 2.25, - -0.5, + "Desk|+02.21|+00.01|-01.26": [ + 2.0, + -0.75, 180, 30 ], - "Drawer|+01.63|+00.18|-01.21": [ - 0.75, - -0.5, + "Drawer|+01.62|+00.19|-01.18": [ + 1.0, + 0.0, 90, 30 ], - "Drawer|+01.63|+00.40|-01.21": [ - 0.75, - -0.5, + "Drawer|+01.62|+00.41|-01.18": [ + 1.25, + -0.25, 90, 30 ], - "Drawer|+01.63|+00.62|-01.21": [ - 0.25, - -1.0, + "Drawer|+01.62|+00.63|-01.18": [ + 1.5, + 0.0, + 180, + 0 + ], + "Drawer|+01.94|+00.19|-01.18": [ + 1.25, + 0.0, 90, 30 ], - "Drawer|+01.95|+00.18|-01.21": [ - 1.0, - -0.5, + "Drawer|+01.94|+00.41|-01.18": [ + 1.5, + -0.25, 90, 30 ], - "Drawer|+01.95|+00.40|-01.21": [ - 1.0, + "Drawer|+01.94|+00.63|-01.18": [ + 1.5, -0.5, 90, 30 ], - "Drawer|+02.82|+00.40|-01.21": [ - 2.0, + "Drawer|+02.82|+00.19|-01.18": [ + 2.25, + 0.0, + 90, + 30 + ], + "Drawer|+02.82|+00.41|-01.18": [ + 2.5, + -0.5, + 180, + 30 + ], + "Drawer|+02.82|+00.63|-01.18": [ + 2.5, -0.5, 90, 30 ], - "Drawer|+02.82|+00.62|-01.21": [ - 2.0, + "Drawer|-01.31|+00.18|-00.58": [ + -0.5, + -1.0, + 0, + 30 + ], + "Drawer|-01.31|+00.18|-00.92": [ + -0.5, + -0.5, + 270, + 30 + ], + "Drawer|-01.31|+00.45|-00.58": [ + -0.5, + -1.0, + 0, + 30 + ], + "Drawer|-01.31|+00.45|-00.92": [ + -0.5, + -0.5, + 180, + 30 + ], + "Drawer|-01.31|+00.75|-00.58": [ -0.75, - 90, + -1.0, + 0, 30 ], - "Dresser|-01.33|+00.00|-00.75": [ + "Drawer|-01.31|+00.75|-00.92": [ -0.75, + -0.5, + 180, + 30 + ], + "Drawer|-01.31|+01.03|-00.58": [ -0.75, - 270, + -1.0, + 0, 30 ], - "Shelf|+01.80|+00.80|-01.42": [ - 2.0, + "Drawer|-01.31|+01.03|-00.92": [ -0.75, + -0.5, 180, 30 ], - "Shelf|+01.80|+01.04|-01.42": [ - 1.75, + "Dresser|-01.33|+00.01|-00.74": [ + -0.75, + -0.75, + 270, + 0 + ], + "Shelf|+01.80|+01.39|-01.38": [ + 2.0, -0.75, 180, 30 ], - "Shelf|+02.25|+01.27|-01.42": [ + "Shelf|+02.25|+01.50|-01.38": [ 2.0, -0.75, 180, - 0 + 30 ], - "Shelf|+02.47|+00.80|-01.41": [ + "Shelf|+02.48|+00.92|-01.38": [ 2.5, -0.5, 180, - 30 + 0 ], - "Shelf|+02.47|+01.04|-01.41": [ - 2.5, - -0.5, + "Shelf|+02.48|+01.15|-01.38": [ + 2.0, + -0.75, 180, - 30 + 0 ], - "Shelf|+02.70|+01.27|-01.42": [ + "Shelf|+02.70|+01.51|-01.38": [ 2.5, -0.5, 180, - 0 + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan302-objects.json b/gen/layouts/FloorPlan302-objects.json index c8609c3e3..e0e34fac0 100644 --- a/gen/layouts/FloorPlan302-objects.json +++ b/gen/layouts/FloorPlan302-objects.json @@ -1,30 +1,31 @@ [ - "Shelf", - "SideTable", - "Book", - "KeyChain", + "Floor", + "Bowl", + "CellPhone", + "Desk", + "Chair", + "GarbageCan", "HousePlant", - "TennisRacket", + "Window", "DeskLamp", - "Pillow", - "CD", - "CreditCard", - "Bowl", + "LightSwitch", + "Shelf", + "TennisRacket", "Painting", - "Pen", - "Bed", - "Chair", "Blinds", - "Laptop", - "Window", - "Drawer", "Pencil", - "TeddyBear", + "Pen", + "Mirror", "Safe", + "Laptop", "AlarmClock", - "GarbageCan", - "LightSwitch", - "Mirror", - "Desk", - "CellPhone" + "TeddyBear", + "Bed", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CD", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan302-openable.json b/gen/layouts/FloorPlan302-openable.json index bc944b094..750b628be 100644 --- a/gen/layouts/FloorPlan302-openable.json +++ b/gen/layouts/FloorPlan302-openable.json @@ -1,62 +1,74 @@ { "Bed|+01.24|+00.00|-00.90": [ - 0.0, - -0.75, + 0.25, + -1.0, 90, 30 ], - "Desk|-01.01|-00.01|-01.12": [ - -0.25, + "Desk|-00.79|+00.00|-01.03": [ + -0.5, -0.75, 270, 30 ], - "Drawer|+00.31|+00.17|+01.23": [ - -0.25, - 0.25, + "Drawer|+00.30|+00.17|+01.16": [ + -0.5, + 0.5, 0, 30 ], - "Drawer|+00.31|+00.46|+01.23": [ - -0.5, + "Drawer|+00.30|+00.46|+01.16": [ + -0.25, 0.5, 90, 30 ], - "Safe|+01.64|+00.00|+00.44": [ - 0.5, + "GarbageCan|+00.84|+00.01|+01.34": [ + 1.0, 0.75, + 0, + 30 + ], + "Safe|+01.62|+00.00|+00.45": [ + 0.75, + 0.5, 90, 30 ], "Shelf|-00.47|+00.83|-02.04": [ 0.0, -1.0, - 180, + 270, 30 ], - "Shelf|-01.29|+01.81|-00.60": [ + "Shelf|-01.29|+01.45|-00.60": [ -0.5, -0.5, 270, - -30 + 30 ], - "Shelf|-01.29|+01.81|-01.34": [ + "Shelf|-01.29|+01.45|-01.34": [ + -0.25, + -1.0, + 270, + 30 + ], + "Shelf|-01.29|+01.81|-00.60": [ -0.25, -1.0, 270, 0 ], - "SideTable|+00.31|+00.46|+01.23": [ - -0.75, - 1.0, - 90, + "SideTable|+00.31|+00.00|+01.23": [ + 0.75, + 0.75, + 0, 30 ], "SideTable|+00.41|+00.00|-01.68": [ -0.25, - -0.5, - 180, + -1.0, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan303-layout.npy b/gen/layouts/FloorPlan303-layout.npy index baf92ab6090056f5a49f9f89c338255e1c9abbeb..a61ccd59e4e3104ed02ba05668dd0fa413cd7ba3 100644 GIT binary patch delta 42 zcmV+_0M-AH3xEocJpwl}u|KB)lkNc!ldb{?vkn3X0+Y@H5R;Ar2$MbpxRXW&DjYlv A)Bpeg delta 122 zcmZqRn!r85mdV0!qy2Km$@dr~Hos$(V4BRwBry3L6USsemJ^fvm^mh!u?T1}-~bow WQ6(POPd>q7p#Ty5fhPF}&IbVg+7nR# diff --git a/gen/layouts/FloorPlan303-objects.json b/gen/layouts/FloorPlan303-objects.json index 84f93b040..9da35e1ab 100644 --- a/gen/layouts/FloorPlan303-objects.json +++ b/gen/layouts/FloorPlan303-objects.json @@ -1,32 +1,35 @@ [ - "Shelf", - "SideTable", - "Book", - "KeyChain", - "TennisRacket", - "DeskLamp", - "Pillow", - "CD", - "CreditCard", - "Pen", - "Bed", + "Floor", "Cloth", + "ShelvingUnit", + "CellPhone", + "Desk", "Chair", - "BaseballBat", + "GarbageCan", + "Window", + "Dumbbell", + "DeskLamp", + "LightSwitch", + "Shelf", + "TennisRacket", "Blinds", - "Laptop", + "BaseballBat", "Box", - "Window", - "Mug", - "Drawer", "Pencil", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Vase", + "Pen", "Mirror", + "Laptop", + "AlarmClock", + "Bed", + "KeyChain", "Poster", - "Vase", - "Dresser", - "Desk", - "CellPhone" + "Drawer", + "SideTable", + "Pillow", + "CD", + "GarbageBag", + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan303-openable.json b/gen/layouts/FloorPlan303-openable.json index bae6ed786..5c6d022c4 100644 --- a/gen/layouts/FloorPlan303-openable.json +++ b/gen/layouts/FloorPlan303-openable.json @@ -1,104 +1,110 @@ { "Bed|-01.05|+00.00|-01.85": [ -1.0, - -0.5, + -1.0, 180, 30 ], "Desk|-01.71|+00.00|-00.37": [ + -1.0, -0.75, - -0.5, 270, 30 ], - "Drawer|-01.79|+00.10|-01.15": [ + "Drawer|-01.79|+00.10|-01.14": [ -0.5, -0.5, - 270, + 180, 30 ], - "Drawer|-01.79|+00.25|-01.15": [ - -0.75, - -0.75, + "Drawer|-01.79|+00.25|-01.14": [ + -1.0, + -1.0, 270, 30 ], - "Drawer|-01.79|+00.39|-01.15": [ - -0.75, - -0.75, + "Drawer|-01.79|+00.39|-01.14": [ + -1.0, + -1.0, 270, 30 ], - "Dresser|+00.44|+00.04|-02.65": [ - 0.5, - -2.0, - 180, - 30 - ], - "Shelf|+01.31|+00.05|-02.30": [ - 0.75, - -1.25, - 180, - 30 - ], - "Shelf|+01.31|+00.35|-02.30": [ - 1.75, - -1.5, - 180, - 30 - ], "Shelf|+01.31|+00.97|-02.30": [ - 1.25, - -1.75, + 1.5, + -1.5, 180, - 30 + 0 ], "Shelf|+01.31|+01.17|-02.30": [ 1.25, -1.75, 180, - 30 + 0 ], "Shelf|+01.31|+01.57|-02.30": [ 1.25, -1.75, 180, - -30 + 30 ], - "Shelf|+01.84|+00.05|-02.30": [ - 1.25, + "Shelf|+01.32|+00.16|-02.30": [ + 0.75, -1.25, - 180, + 90, 30 ], - "Shelf|+01.84|+00.35|-02.30": [ - 1.5, + "Shelf|+01.32|+00.46|-02.30": [ + 1.75, -1.5, - 180, + 270, 30 ], - "Shelf|+01.84|+00.97|-02.30": [ + "Shelf|+01.59|+00.61|-02.31": [ 1.75, -1.75, 180, 30 ], + "Shelf|+01.84|+00.97|-02.30": [ + 1.5, + -1.5, + 180, + 0 + ], "Shelf|+01.84|+01.17|-02.30": [ 1.75, -1.75, 180, - 30 + 0 ], "Shelf|+01.84|+01.57|-02.30": [ 1.75, -1.75, 180, - -30 + 30 + ], + "Shelf|+01.85|+00.15|-02.29": [ + 1.25, + -1.25, + 90, + 30 + ], + "Shelf|+01.85|+00.45|-02.30": [ + 1.25, + -1.5, + 90, + 30 + ], + "SideTable|+00.44|+00.04|-02.65": [ + 0.25, + -2.0, + 180, + 30 ], "SideTable|-01.82|+00.00|-01.14": [ -1.0, -0.75, - 270, + 180, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan304-layout.npy b/gen/layouts/FloorPlan304-layout.npy index 62dccb1eba22379d1e7c457c401089becf3270a6..2d47cfe76057298e7b4404ebda7851f7d03196ca 100644 GIT binary patch delta 28 kcmcb>w}5YgJ)_w~2e*yW8W<<{F>-9yV>-bynT_2G0Fey|H2?qr delta 52 zcmZ3$cY$w$J)`AB2RAMTDEP2{V?!I`#B&^z%NPYV^D&)Z;e4eSmv{9iz!cdvVsuX{=cQFX9Cr delta 26 ecmX@WeSv#|9i!<+dvR9IFZ&t5;KyWt)^MGf99iz!a`*h9=_6%U~Vd8xCjn@<7PIdC>8*>zY5;~ diff --git a/gen/layouts/FloorPlan306-objects.json b/gen/layouts/FloorPlan306-objects.json index f78d8df2b..b4f860bd5 100644 --- a/gen/layouts/FloorPlan306-objects.json +++ b/gen/layouts/FloorPlan306-objects.json @@ -1,27 +1,27 @@ [ - "Shelf", - "SideTable", - "Book", - "LaundryHamperLid", - "KeyChain", - "DeskLamp", - "Pillow", - "CD", - "CreditCard", - "Pen", - "Bed", + "Floor", + "Desk", + "CellPhone", "Chair", - "Blinds", - "Laptop", + "GarbageCan", "Window", - "Drawer", + "DeskLamp", + "LightSwitch", + "Shelf", + "Blinds", "Pencil", - "TeddyBear", "LaundryHamper", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "Desk", - "CellPhone" + "Laptop", + "AlarmClock", + "TeddyBear", + "Bed", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CD", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan306-openable.json b/gen/layouts/FloorPlan306-openable.json index 8009d9e00..5ea5efed3 100644 --- a/gen/layouts/FloorPlan306-openable.json +++ b/gen/layouts/FloorPlan306-openable.json @@ -1,43 +1,55 @@ { "Bed|+02.32|+00.00|-01.06": [ - 0.5, - -1.0, - 90, + 1.75, + -0.25, + 180, 30 ], - "Desk|-00.53|00.00|-01.53": [ - -0.75, - -0.75, - 180, + "Desk|-00.50|+00.01|-01.47": [ + 0.5, + -1.0, + 270, 30 ], - "Drawer|+02.44|+00.13|+01.16": [ - 3.0, + "Drawer|+02.44|+00.12|+01.16": [ + 1.75, 0.0, - 0, + 90, 30 ], - "Drawer|+02.44|+00.36|+01.16": [ + "Drawer|+02.44|+00.35|+01.16": [ 3.0, 0.25, - 0, + 270, + 30 + ], + "Drawer|-00.94|+00.74|-01.18": [ + -0.5, + -0.5, + 270, 30 ], - "Drawer|-00.94|+00.21|-01.19": [ + "Drawer|-00.95|+00.21|-01.18": [ -0.25, - 0.0, - 180, + -0.25, + 270, 30 ], - "Drawer|-00.94|+00.49|-01.19": [ - -0.5, + "Drawer|-00.95|+00.49|-01.18": [ -0.25, + -0.25, + 270, + 30 + ], + "GarbageCan|+03.37|+00.00|-00.03": [ + 3.0, + 0.5, 180, 30 ], - "Drawer|-00.94|+00.73|-01.19": [ - -0.75, - -0.25, + "LaundryHamper|+00.36|+00.01|-01.51": [ + 0.75, + -1.0, 180, 30 ], @@ -47,10 +59,10 @@ 180, 30 ], - "SideTable|+02.44|+00.01|+01.23": [ - 1.25, + "SideTable|+02.44|+00.00|+01.15": [ + 3.0, 0.75, - 90, + 0, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan307-layout.npy b/gen/layouts/FloorPlan307-layout.npy index ae8c18375ebc163c21c058dfe9b513318c2ae84f..4fb9f4683f5a28d8054ba9b7bc62475acf190845 100644 GIT binary patch delta 35 rcmbQh)4(&qj?rSG{d6ViDUCWW+o;8HyaKF diff --git a/gen/layouts/FloorPlan307-objects.json b/gen/layouts/FloorPlan307-objects.json index 808dfe371..30f62b540 100644 --- a/gen/layouts/FloorPlan307-objects.json +++ b/gen/layouts/FloorPlan307-objects.json @@ -1,33 +1,34 @@ [ - "Shelf", - "SideTable", - "Book", - "LaundryHamperLid", - "KeyChain", - "TennisRacket", - "DeskLamp", - "Pillow", - "CD", - "CreditCard", - "Bowl", - "Painting", - "Bed", - "Pen", + "Floor", "Cloth", + "Bowl", + "ShelvingUnit", + "CellPhone", + "Desk", "Chair", - "Blinds", - "Television", - "Laptop", + "GarbageCan", + "RemoteControl", "Window", - "Drawer", + "DeskLamp", + "LightSwitch", + "TennisRacket", + "Painting", + "Shelf", + "Blinds", "Pencil", "LaundryHamper", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "RemoteControl", + "Laptop", + "AlarmClock", + "Television", + "Bed", + "KeyChain", "Poster", - "Desk", - "CellPhone" + "Drawer", + "SideTable", + "Pillow", + "CD", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan307-openable.json b/gen/layouts/FloorPlan307-openable.json index 26a15ce91..cd262c83f 100644 --- a/gen/layouts/FloorPlan307-openable.json +++ b/gen/layouts/FloorPlan307-openable.json @@ -1,50 +1,116 @@ { "Bed|+00.27|+00.00|+01.33": [ - -0.25, - 0.0, + 0.75, + 0.25, 0, 30 ], - "Desk|-00.87|-00.01|-02.44": [ - -1.25, - -1.75, - 180, + "Desk|+00.24|+00.00|-02.36": [ + 1.0, + -2.0, + 270, 30 ], - "Drawer|-01.41|+00.20|-02.32": [ - -0.25, + "Desk|-00.97|+00.00|-02.35": [ + -1.0, -1.75, - 270, + 180, 30 ], - "Drawer|-01.41|+00.48|-02.32": [ - -0.25, - -1.75, + "Drawer|-01.39|+00.20|-02.26": [ + -0.75, + -1.25, 270, 30 ], - "Drawer|-01.41|+00.73|-02.32": [ + "Drawer|-01.39|+00.48|-02.26": [ -0.75, - -1.75, + -1.5, 270, 30 ], - "Shelf|+01.49|+00.82|-01.48": [ + "Drawer|-01.39|+00.73|-02.26": [ + -1.0, + -1.0, + 180, + 0 + ], + "GarbageCan|+01.31|00.00|-02.45": [ 1.0, -2.0, - 90, + 180, + 30 + ], + "LaundryHamper|-01.33|+00.00|+01.83": [ + -1.25, + 1.25, + 0, 30 ], - "Shelf|-01.02|+01.35|-02.54": [ + "Shelf|-00.98|+01.39|-02.48": [ -1.0, -1.75, 180, - 0 + 30 ], - "SideTable|+00.25|00.00|-02.38": [ - 0.25, - -1.75, + "Shelf|-01.61|+00.15|-00.69": [ + -0.5, + -1.25, + 0, + 30 + ], + "Shelf|-01.61|+00.15|-01.12": [ + -0.5, + -0.5, 180, 30 + ], + "Shelf|-01.61|+00.44|-00.69": [ + -0.75, + -0.25, + 180, + 30 + ], + "Shelf|-01.61|+00.44|-01.12": [ + -0.75, + -1.5, + 0, + 30 + ], + "Shelf|-01.61|+00.72|-00.69": [ + -0.5, + -0.25, + 270, + 0 + ], + "Shelf|-01.61|+00.72|-01.12": [ + -0.5, + -0.75, + 270, + 0 + ], + "Shelf|-01.61|+01.01|-00.69": [ + -0.75, + -0.25, + 270, + 0 + ], + "Shelf|-01.61|+01.01|-01.12": [ + -0.75, + -0.75, + 270, + 0 + ], + "Shelf|-01.61|+01.15|-00.90": [ + -1.0, + -1.0, + 270, + 0 + ], + "SideTable|+01.48|+00.00|-01.48": [ + 1.0, + -1.5, + 90, + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan308-layout.npy b/gen/layouts/FloorPlan308-layout.npy index b63d4930b223623ff72b495a7072e12676f74468..25b35a3e08bd0237fafda76fce8b908cda370978 100644 GIT binary patch delta 29 lcmZ3$yMcFt9i!z$`*6k=8{5}2PrS!5*^Ngn902qq2uJ_` diff --git a/gen/layouts/FloorPlan308-objects.json b/gen/layouts/FloorPlan308-objects.json index 44444cf12..a15aa602b 100644 --- a/gen/layouts/FloorPlan308-objects.json +++ b/gen/layouts/FloorPlan308-objects.json @@ -1,30 +1,30 @@ [ - "Shelf", - "Book", - "LaundryHamperLid", - "KeyChain", - "DeskLamp", - "Pillow", - "CD", - "CreditCard", + "Floor", "Bowl", - "Bed", - "Pen", + "CellPhone", + "Desk", "Chair", - "BaseballBat", - "Blinds", - "Laptop", + "GarbageCan", "Window", - "Mug", - "Drawer", + "DeskLamp", + "LightSwitch", + "Shelf", + "Blinds", + "BaseballBat", "Pencil", - "Safe", "BasketBall", "LaundryHamper", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "Desk", - "CellPhone" + "Safe", + "Laptop", + "AlarmClock", + "Bed", + "KeyChain", + "Drawer", + "Pillow", + "CD", + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan308-openable.json b/gen/layouts/FloorPlan308-openable.json index 022c9f757..b1e769488 100644 --- a/gen/layouts/FloorPlan308-openable.json +++ b/gen/layouts/FloorPlan308-openable.json @@ -1,80 +1,104 @@ { "Bed|+01.23|+00.00|+01.67": [ - -0.25, - 1.5, + 0.0, + 1.75, 90, 30 ], - "Desk|-00.57|+00.00|-01.35": [ + "Desk|-00.64|+00.01|-01.19": [ + 0.0, + -1.0, + 270, + 30 + ], + "Desk|-01.73|+00.00|+00.58": [ + -1.75, + 1.25, + 180, + 30 + ], + "Drawer|-00.49|+00.20|-00.86": [ 0.25, -1.25, - 270, + 0, 30 ], - "Desk|-01.58|+00.02|+00.67": [ + "Drawer|-00.49|+00.74|-00.86": [ + 0.0, -0.25, - 0.75, - 270, + 180, 30 ], - "Drawer|-00.51|+00.19|-00.85": [ - 0.5, - -1.5, - 0, + "Drawer|-02.06|+00.20|+00.74": [ + -1.25, + 1.5, + 270, 30 ], - "Drawer|-00.51|+00.72|-00.85": [ - 0.25, + "Drawer|-02.06|+00.48|+00.73": [ -1.25, - 0, + 1.25, + 270, 30 ], - "Drawer|-02.07|+00.74|+00.73": [ + "Drawer|-02.06|+00.73|+00.73": [ -1.25, - 1.5, + 1.25, 270, 30 ], - "GarbageCan|-00.75|+00.00|-00.34": [ - 0.25, - 0.0, + "GarbageCan|-00.75|+00.01|-00.33": [ + -0.25, + -0.25, 270, 30 ], - "Safe|-02.18|+00.00|+02.58": [ - -1.0, + "LaundryHamper|+00.16|+00.00|+02.64": [ + -0.25, 2.0, + 90, + 30 + ], + "Safe|-02.18|+00.00|+02.58": [ + -1.5, + 1.75, 270, 30 ], - "Shelf|-01.29|+00.87|+00.41": [ - -1.0, + "Shelf|-01.31|+01.09|+00.42": [ + -0.75, 1.5, 180, + 0 + ], + "Shelf|-01.31|+01.51|+00.42": [ + -1.75, + 1.25, + 180, 30 ], - "Shelf|-01.29|+01.72|+00.41": [ + "Shelf|-01.31|+01.89|+00.42": [ -1.0, 1.25, 180, - -30 + 0 ], - "Shelf|-01.96|+00.87|+00.41": [ - -1.75, + "Shelf|-01.97|+01.09|+00.42": [ + -1.5, 1.5, 180, - 30 - ], - "Shelf|-01.96|+01.34|+00.41": [ - -0.75, - 1.0, - 270, 0 ], - "Shelf|-01.96|+01.72|+00.41": [ - -1.75, - 1.25, + "Shelf|-01.97|+01.51|+00.42": [ + -1.5, + 1.75, 180, -30 + ], + "Shelf|-01.97|+01.89|+00.42": [ + -2.0, + 1.25, + 180, + 0 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan309-layout.npy b/gen/layouts/FloorPlan309-layout.npy index 88e0a0e83a03c4821eedaabe80fa25c985729b37..6215ffc9355070e36e6329d7943262b7f3d079e0 100644 GIT binary patch delta 49 zcmZ3W_d#cZ9h0fyL!L$K-R&D<=B^+5dp-c`Pd?#{t=V VOdOl@SUFfHw{dOQ?8fcI3;^rr6?gyu delta 84 zcmZ1=GeLHO9g~siMh7(}#y^w8ndSq@=S=gN{@718V3eEuj*(;XJmwW3t^<(!56F#U e0doU@Ts|g_&2p?9tUx{DT>BaSY(CBv$qWGebRAy+ diff --git a/gen/layouts/FloorPlan311-objects.json b/gen/layouts/FloorPlan311-objects.json index da06543cf..9bad44b14 100644 --- a/gen/layouts/FloorPlan311-objects.json +++ b/gen/layouts/FloorPlan311-objects.json @@ -1,33 +1,32 @@ [ - "SideTable", - "Book", - "LaundryHamperLid", - "KeyChain", - "CounterTop", - "Pillow", - "CD", - "CreditCard", + "Floor", "Bowl", - "Painting", - "Bed", - "Pen", + "CellPhone", + "Desk", "Chair", - "Blinds", - "Television", - "Laptop", + "GarbageCan", + "RemoteControl", "Window", - "Mug", - "Drawer", + "DeskLamp", + "LightSwitch", + "Painting", + "Blinds", "Pencil", - "Lamp", "LaundryHamper", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "DiningTable", + "Laptop", + "AlarmClock", + "Television", + "Bed", + "KeyChain", + "CounterTop", + "Drawer", + "SideTable", + "Pillow", + "CD", "ArmChair", - "RemoteControl", - "Dresser", - "CellPhone" + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan311-openable.json b/gen/layouts/FloorPlan311-openable.json index 27e579a23..abf0dbc59 100644 --- a/gen/layouts/FloorPlan311-openable.json +++ b/gen/layouts/FloorPlan311-openable.json @@ -1,20 +1,20 @@ { - "ArmChair|+02.43|+00.00|-00.57": [ - 1.25, - -0.75, + "ArmChair|+02.43|+00.01|-00.56": [ + 1.5, + -0.25, 90, 30 ], - "ArmChair|-01.28|+00.00|-01.17": [ - -0.25, - -1.25, + "ArmChair|-01.28|+00.01|-01.17": [ + -0.5, + -1.0, 270, 30 ], - "Bed|-00.59|+00.00|+02.30": [ - -0.5, - 0.5, - 0, + "Bed|-00.59|+00.01|+02.30": [ + 0.75, + 2.5, + 270, 30 ], "CounterTop|-00.89|+00.95|+04.35": [ @@ -23,34 +23,40 @@ 270, 30 ], - "DiningTable|+02.58|+00.00|+03.05": [ + "Desk|+02.57|+00.01|+03.05": [ 1.75, - 3.25, + 3.0, 90, 30 ], - "Drawer|+02.55|+00.21|+00.62": [ + "Drawer|+02.53|+00.21|+00.62": [ 1.25, - 0.0, - 90, + 1.5, + 180, 30 ], - "Drawer|+02.55|+00.57|+00.62": [ - 1.5, - 0.75, + "Drawer|+02.53|+00.58|+00.62": [ + 1.25, + 1.0, 90, + 0 + ], + "GarbageCan|-00.63|-00.01|+03.74": [ + -0.25, + 4.25, + 180, 30 ], - "Dresser|+02.55|+00.57|+00.62": [ + "SideTable|+02.57|+00.01|-01.53": [ 2.0, - 0.75, + -1.5, 90, 30 ], - "SideTable|+02.57|+00.01|-01.54": [ - 1.75, - -1.5, - 90, + "SideTable|+02.65|+00.01|+00.62": [ + 2.25, + 1.5, + 180, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan312-layout.npy b/gen/layouts/FloorPlan312-layout.npy index 74352551b39d559723d5b7347e419fcbcd745e4c..046dddd40a4386079d453dddc608315958124623 100644 GIT binary patch delta 20 ccmcb>vw&xU9izcU`{yi^-B>qFW@GaL08LW{+5i9m delta 40 mcmZ3$bAe}q9i#C^`{yizFYFn>07ie9EY7;0@x$cftdRijrVGpf diff --git a/gen/layouts/FloorPlan312-objects.json b/gen/layouts/FloorPlan312-objects.json index 5259e09f6..1b069fbfc 100644 --- a/gen/layouts/FloorPlan312-objects.json +++ b/gen/layouts/FloorPlan312-objects.json @@ -1,24 +1,27 @@ [ - "Shelf", - "SideTable", - "Book", - "KeyChain", - "Pillow", - "CD", - "CreditCard", - "Pen", - "Bed", + "Floor", + "CellPhone", + "Desk", "Chair", - "Laptop", + "GarbageCan", "Window", - "Drawer", + "Dumbbell", + "DeskLamp", + "LightSwitch", + "Shelf", "Pencil", - "Lamp", "BasketBall", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "Desk", - "CellPhone" + "Laptop", + "AlarmClock", + "Bed", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CD", + "GarbageBag", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan312-openable.json b/gen/layouts/FloorPlan312-openable.json index 9061a726b..7c1021aa9 100644 --- a/gen/layouts/FloorPlan312-openable.json +++ b/gen/layouts/FloorPlan312-openable.json @@ -1,79 +1,79 @@ { - "Bed|-00.81|-00.01|-00.92": [ - 0.75, + "Bed|-00.81|+00.01|-00.89": [ + 0.25, -0.75, 270, 30 ], - "Desk|+02.24|00.00|-01.58": [ - 0.5, + "Desk|+02.02|+00.00|-01.58": [ + 1.0, -1.25, 90, 30 ], - "Drawer|+00.15|+00.20|-01.64": [ - 1.25, + "Drawer|+00.19|+00.16|-01.58": [ + 0.75, -0.75, 270, 30 ], - "Drawer|+00.15|+00.45|-01.64": [ - 0.5, - -0.75, + "Drawer|+00.19|+00.46|-01.58": [ + 0.75, + -1.0, 180, 30 ], - "Shelf|+01.56|+00.06|-01.34": [ - 1.0, - -0.25, - 180, + "GarbageCan|+02.66|-00.02|+01.28": [ + 2.0, + 0.75, + 0, 30 ], - "Shelf|+01.56|+00.30|-01.34": [ - 2.0, - -0.5, - 180, + "Shelf|+01.57|+00.17|-01.56": [ + 1.0, + -0.25, + 90, 30 ], - "Shelf|+01.56|+00.54|-01.34": [ + "Shelf|+01.57|+00.42|-01.56": [ 2.0, -0.5, - 180, + 270, 30 ], - "Shelf|+01.60|+00.77|-01.68": [ - 1.5, - -1.0, + "Shelf|+01.57|+00.63|-01.56": [ + 1.0, + -0.25, 180, - 30 + 0 ], - "Shelf|+01.60|+01.13|-01.68": [ + "Shelf|+01.61|+00.95|-01.74": [ 1.5, -1.0, 180, - 30 + 0 ], - "Shelf|+01.99|+01.38|-01.70": [ - 1.5, + "Shelf|+01.61|+01.25|-01.75": [ + 1.25, -1.0, 180, - 30 + 0 ], - "Shelf|+02.24|+00.77|-01.68": [ - 2.25, - -0.5, + "Shelf|+02.27|+00.94|-01.72": [ + 1.75, + -0.75, 180, - 30 + 0 ], - "Shelf|+02.24|+01.13|-01.68": [ - 2.25, - -0.5, + "Shelf|+02.27|+01.25|-01.72": [ + 1.75, + -0.75, 180, 0 ], - "SideTable|+00.15|+00.45|-01.64": [ - 0.5, - -1.0, + "SideTable|+00.19|00.00|-01.64": [ + 0.25, + -1.25, 180, 30 ] diff --git a/gen/layouts/FloorPlan313-layout.npy b/gen/layouts/FloorPlan313-layout.npy index 4accea90c57fd53113216d7a5e5541a37ecba1e5..cfcc036169efe305575a6ab7a7812526aedb18d3 100644 GIT binary patch delta 45 ucmbQhK7oD0w28|EHXdtWV)|e|S%FDz@;)Yx$#Kj^0t{gA!5%_Cum=EJ#|(G? delta 29 lcmbQhK7oD0G{y%L+vOP_Y@FWDG?|Y{VDdaBj>&$^MgXY63M&8r diff --git a/gen/layouts/FloorPlan313-objects.json b/gen/layouts/FloorPlan313-objects.json index d8fe4507f..9b3230e99 100644 --- a/gen/layouts/FloorPlan313-objects.json +++ b/gen/layouts/FloorPlan313-objects.json @@ -1,32 +1,34 @@ [ - "Shelf", - "SideTable", - "Book", - "KeyChain", + "Floor", + "ShelvingUnit", + "CellPhone", + "Desk", + "Chair", + "GarbageCan", "HousePlant", + "Window", + "DeskLamp", + "LightSwitch", "TennisRacket", - "Pillow", - "CD", - "CreditCard", "Painting", - "Bed", - "Pen", - "Chair", - "BaseballBat", + "Shelf", "Blinds", - "Laptop", + "BaseballBat", "Box", - "Window", - "Mug", - "Drawer", "Pencil", - "Lamp", - "TeddyBear", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", + "Laptop", "TissueBox", - "Desk", - "CellPhone" + "AlarmClock", + "TeddyBear", + "Bed", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CD", + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan313-openable.json b/gen/layouts/FloorPlan313-openable.json index 2c92d689b..e1df3acf7 100644 --- a/gen/layouts/FloorPlan313-openable.json +++ b/gen/layouts/FloorPlan313-openable.json @@ -1,66 +1,78 @@ { - "Bed|-01.78|00.00|-00.03": [ - -0.5, + "Bed|-01.74|+00.00|-00.07": [ + -0.75, 0.0, 270, 30 ], - "Desk|+00.63|-00.04|-01.63": [ - 1.0, - -0.5, + "Desk|+00.63|+00.00|-01.56": [ + 0.25, + -1.0, 180, 30 ], - "Drawer|+00.39|+00.13|-01.46": [ - 1.0, + "Drawer|+00.27|+00.16|-01.43": [ -0.25, - 180, + -0.25, + 90, 30 ], - "Drawer|+00.39|+00.33|-01.46": [ - 0.75, + "Drawer|+00.27|+00.35|-01.43": [ + -0.25, -0.5, - 180, + 90, 30 ], - "Drawer|+00.39|+00.54|-01.46": [ - 0.0, + "Drawer|+00.27|+00.55|-01.43": [ + 0.75, -0.5, - 180, + 270, 30 ], - "Drawer|-00.03|+00.13|-01.46": [ - 0.5, + "Drawer|-00.16|+00.16|-01.43": [ + -0.75, -0.25, - 180, + 90, 30 ], - "Drawer|-00.03|+00.33|-01.46": [ - -0.5, - -0.5, - 180, + "Drawer|-00.16|+00.35|-01.43": [ + 0.5, + -0.25, + 270, 30 ], - "Drawer|-00.03|+00.54|-01.46": [ - -0.5, + "Drawer|-00.16|+00.55|-01.43": [ + 0.25, -0.5, - 180, + 270, 30 ], - "Shelf|+01.54|+00.48|-00.47": [ + "Shelf|+01.41|+00.18|-01.51": [ 0.75, -0.25, 90, 30 ], - "Shelf|+01.55|+01.40|+00.38": [ - 0.0, - 0.5, + "Shelf|+01.41|+00.38|-01.51": [ + 1.0, + -0.5, 90, 30 ], - "SideTable|+01.56|-00.01|-00.47": [ - 0.5, + "Shelf|+01.41|+00.57|-01.51": [ + 1.0, + -0.5, + 90, + 30 + ], + "Shelf|+01.54|+00.49|-00.48": [ + 0.75, + 0.0, + 180, + 30 + ], + "SideTable|+01.56|+00.00|-00.47": [ + 1.0, -0.25, 90, 30 diff --git a/gen/layouts/FloorPlan314-layout.npy b/gen/layouts/FloorPlan314-layout.npy index cfaa96ed7df24e0bc39e986114678e9636c995a8..f10c008a9a66b66ee3094394f56b5cc292d50f9a 100644 GIT binary patch delta 83 zcmZqR-oQD*mdVU~qP_dXX#o?z1x!w3blAL&(ST|4I%a{%d@LM5tTA~XkSzyf#{t>r ZfNVV=dmWH{56HFyvi||uAli>r2momg8EF6j delta 192 zcmdnM*}y%)mdV0kqP;uU1A7KA__BXuLl_f-!^9JDk{6(2FZM&^U}|1WmS=Ql{IfZn z(Vl5?91F+fFlLF#>zFx!SYvV?ke>$R?*sDR0r_=6ei@K|4#?MI(U{x^g@IhdLJ)`+V2S3R_`x(FhM*o2Fe@uKYzOio;I{-3%4a5Kd diff --git a/gen/layouts/FloorPlan317-objects.json b/gen/layouts/FloorPlan317-objects.json index c57fdc30e..36591b42c 100644 --- a/gen/layouts/FloorPlan317-objects.json +++ b/gen/layouts/FloorPlan317-objects.json @@ -1,30 +1,30 @@ [ - "SideTable", - "Book", - "LaundryHamperLid", - "KeyChain", - "DeskLamp", - "Pillow", - "CD", - "CreditCard", - "Bowl", - "Pen", - "Bed", + "Floor", "Cloth", + "Bowl", + "CellPhone", + "GarbageCan", + "Window", + "DeskLamp", + "LightSwitch", "Blinds", - "Laptop", "Box", - "Window", - "Drawer", "Pencil", - "TeddyBear", - "Safe", "LaundryHamper", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "Poster", + "Safe", + "Laptop", "Dresser", - "CellPhone" + "AlarmClock", + "TeddyBear", + "Bed", + "KeyChain", + "Poster", + "Drawer", + "SideTable", + "Pillow", + "CD", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan317-openable.json b/gen/layouts/FloorPlan317-openable.json index fb9f4a49f..3edb3a47f 100644 --- a/gen/layouts/FloorPlan317-openable.json +++ b/gen/layouts/FloorPlan317-openable.json @@ -1,96 +1,102 @@ { - "Bed|+01.38|-00.01|+00.07": [ - 1.25, - -1.25, + "Bed|+01.38|+00.00|+00.07": [ + 1.5, + -1.0, 0, 30 ], - "Drawer|+00.40|+00.10|-01.63": [ + "Drawer|+00.41|+00.11|-01.63": [ -0.25, - -0.25, - 180, + -0.5, + 90, 30 ], - "Drawer|+00.40|+00.28|-01.63": [ - 0.0, + "Drawer|+00.41|+00.29|-01.63": [ -0.25, - 180, + -0.5, + 90, 30 ], - "Drawer|+00.40|+00.48|-01.63": [ - 0.0, - -0.5, - 180, + "Drawer|+00.41|+00.49|-01.63": [ + -0.25, + -0.75, + 90, 30 ], - "Drawer|+00.40|+00.67|-01.63": [ - 0.0, - -0.5, - 180, + "Drawer|+00.41|+00.68|-01.63": [ + -0.25, + -0.75, + 90, 30 ], - "Drawer|+00.40|+00.86|-01.63": [ - 0.0, - -0.5, - 180, + "Drawer|+00.41|+00.87|-01.63": [ + -0.25, + -0.75, + 90, 30 ], - "Drawer|+02.21|+00.47|+01.33": [ + "Drawer|+02.25|+00.47|+01.33": [ 1.25, - 1.25, - 90, + 1.0, + 0, 30 ], - "Drawer|-00.39|+00.10|-01.63": [ + "Drawer|-00.39|+00.11|-01.63": [ -1.0, - -0.25, - 180, + -0.5, + 90, 30 ], - "Drawer|-00.39|+00.28|-01.63": [ - -0.25, - -0.25, - 180, + "Drawer|-00.39|+00.29|-01.63": [ + -1.0, + -0.5, + 90, 30 ], - "Drawer|-00.39|+00.48|-01.63": [ + "Drawer|-00.39|+00.49|-01.63": [ + -1.0, -0.75, - -0.5, - 180, + 90, 30 ], - "Drawer|-00.39|+00.86|-01.63": [ - -0.25, - -0.5, - 180, + "Drawer|-00.39|+00.68|-01.63": [ + -1.0, + -0.75, + 90, 30 ], - "Drawer|-00.40|+00.67|-01.63": [ - -0.5, - -0.5, - 180, + "Drawer|-00.39|+00.87|-01.63": [ + -1.0, + -0.75, + 90, 30 ], - "Dresser|+00.01|+00.00|-01.80": [ - 0.25, - -1.0, - 180, + "Dresser|+00.01|+00.00|-01.68": [ + 1.25, + -1.25, + 270, 30 ], - "GarbageCan|-02.21|+00.00|-01.74": [ + "GarbageCan|-02.21|-00.02|-01.74": [ + -1.75, -1.25, - -1.0, 270, 30 ], - "Safe|+01.65|+00.00|-02.02": [ - 2.0, - -1.0, + "LaundryHamper|-01.57|+00.00|-01.93": [ + -1.25, + -1.5, 180, 30 ], - "SideTable|+02.19|+00.00|+01.51": [ - 1.25, + "Safe|+01.64|+00.00|-02.04": [ + 1.0, + -1.25, + 90, + 30 + ], + "SideTable|+02.24|00.00|+01.33": [ + 1.75, 1.0, 90, 30 diff --git a/gen/layouts/FloorPlan318-layout.npy b/gen/layouts/FloorPlan318-layout.npy index 11f65bebff2a5d63098a15278a532c824ea15237..3f87f4f1088c4f81cb2e8b2bf5b10d67e14f4dab 100644 GIT binary patch delta 130 zcmZqR*}yZwmdVm^qP@G+7kdUU_^}^K!}${%mN9;rEY9c;B*VevbjAY{-}6tlW8|1z z$CNSIj!9thJtmIHe9Rh?=P`3kc4Ly5{0_+XW6qd-jM-o^8_NbknDI;wP~$f*XYphN E0N(s1Qvd(} delta 117 zcmdnM)4(&qmdV0mqP_dXWeX;UF*;0M2E^YOH%_i+W}nQ)C^0#Ykz?{cri{sb%p8;3 zm?S340cksCjmh(vIDu-)IWO2VfWeQ+@0rcvyg!rWS+;Nf#$v@N0FnL!RmR}}0EqY? Aj{pDw diff --git a/gen/layouts/FloorPlan318-objects.json b/gen/layouts/FloorPlan318-objects.json index 3d167de04..df0a26be3 100644 --- a/gen/layouts/FloorPlan318-objects.json +++ b/gen/layouts/FloorPlan318-objects.json @@ -1,29 +1,31 @@ [ - "Book", - "KeyChain", - "TennisRacket", + "Floor", + "Cabinet", + "CellPhone", + "Desk", + "Chair", + "GarbageCan", + "Window", "DeskLamp", - "Pillow", - "CD", - "CreditCard", + "LightSwitch", + "TennisRacket", "Painting", - "Pen", - "Bed", - "Chair", + "Shelf", "Blinds", - "Laptop", "Box", - "Window", - "Mug", - "Drawer", "Pencil", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "ArmChair", + "Laptop", "Dresser", - "Desk", - "Cabinet", - "CellPhone" + "AlarmClock", + "Bed", + "KeyChain", + "Drawer", + "Pillow", + "CD", + "ArmChair", + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan318-openable.json b/gen/layouts/FloorPlan318-openable.json index 5f70276dc..0bcbfb3fd 100644 --- a/gen/layouts/FloorPlan318-openable.json +++ b/gen/layouts/FloorPlan318-openable.json @@ -1,110 +1,146 @@ { - "ArmChair|+01.83|+00.01|+01.61": [ - 1.0, + "ArmChair|+01.71|00.00|+01.53": [ 1.5, - 90, + 2.25, + 180, 30 ], - "Bed|-00.87|+00.00|-00.92": [ - 0.25, + "Bed|-00.87|+00.01|-00.92": [ -0.75, - 270, + 0.5, + 180, 30 ], - "Bed|-00.88|+01.65|+02.17": [ - 1.0, - 2.25, - 270, - 0 - ], - "Cabinet|-00.36|+00.26|+02.53": [ + "Cabinet|-00.65|+00.27|+02.25": [ 0.5, 1.75, - 270, + 0, 30 ], - "Desk|+01.81|-00.01|-00.12": [ - 1.0, - 0.25, + "Desk|+01.81|+00.00|-00.01": [ + 1.25, + -0.5, 90, 30 ], - "Desk|-00.65|+00.01|+01.80": [ + "Desk|-00.66|+00.01|+01.81": [ 0.25, - 1.75, + 2.0, 270, 30 ], - "Drawer|+01.65|+00.15|-00.36": [ + "Drawer|+01.69|+00.16|-00.38": [ 0.5, -1.0, - 90, + 0, 30 ], - "Drawer|+01.65|+00.15|-00.78": [ + "Drawer|+01.69|+00.16|-00.81": [ 0.5, -0.25, - 90, + 180, 30 ], - "Drawer|+01.65|+00.36|-00.36": [ + "Drawer|+01.69|+00.35|-00.38": [ 0.5, - -0.75, - 90, + 0.25, + 180, 30 ], - "Drawer|+01.65|+00.36|-00.78": [ - 0.5, + "Drawer|+01.69|+00.35|-00.81": [ + 0.75, -0.25, - 90, + 180, 30 ], - "Drawer|+01.65|+00.57|-00.36": [ + "Drawer|+01.69|+00.55|-00.38": [ 0.75, - -0.75, - 90, + 0.0, + 180, 30 ], - "Drawer|+01.65|+00.57|-00.78": [ + "Drawer|+01.69|+00.55|-00.81": [ 0.75, - -0.5, - 90, + -1.25, + 0, 30 ], - "Drawer|-00.57|+00.57|+02.24": [ - 0.25, - 1.25, + "Drawer|-00.55|+00.16|+02.94": [ + 0.75, + 2.25, 0, 30 ], - "Drawer|-00.58|+00.15|+02.96": [ - 0.25, - 1.75, + "Drawer|-00.55|+00.38|+02.94": [ + 0.5, + 2.25, 0, 30 ], - "Drawer|-00.58|+00.37|+02.96": [ - 0.25, - 2.0, + "Drawer|-00.55|+00.57|+02.94": [ + 0.5, + 2.25, 0, 30 ], - "Drawer|-00.58|+00.56|+02.96": [ - 0.5, - 2.75, + "Drawer|-00.55|+00.58|+02.25": [ + 1.0, + 1.5, 270, - 30 + 0 ], - "Dresser|-00.66|-00.01|+02.97": [ + "Drawer|-00.66|+00.23|-01.31": [ 0.25, - 3.0, + -0.75, 270, 30 ], - "Dresser|-00.77|-00.01|-01.31": [ + "Drawer|-00.66|+00.55|-01.31": [ 0.25, - -1.25, + -0.75, + 180, + 30 + ], + "Drawer|-00.66|+00.83|-01.31": [ + 0.25, + -0.75, + 180, + 30 + ], + "Dresser|-00.67|+00.00|+02.94": [ + 0.25, + 2.5, 270, 30 + ], + "Dresser|-00.77|+00.00|-01.31": [ + 0.25, + -0.25, + 180, + 30 + ], + "GarbageCan|+02.02|-00.04|-01.24": [ + 1.5, + -1.5, + 90, + 30 + ], + "Shelf|+01.77|+00.18|+00.76": [ + 0.5, + 0.25, + 0, + 30 + ], + "Shelf|+01.77|+00.38|+00.76": [ + 0.75, + 1.25, + 180, + 30 + ], + "Shelf|+01.77|+00.57|+00.76": [ + 0.75, + 1.25, + 180, + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan319-layout.npy b/gen/layouts/FloorPlan319-layout.npy index 94511b8c72b7851831dfc0277b21140c03ae8a24..df66cb97060728f8bbe4d89052908caa2bfa8c7e 100644 GIT binary patch delta 34 ncmZqRS->;FmdVm!qJ25%gZ&I(@MYur=Zq8oNo=0Sl*9}G!|V(D delta 21 dcmZ3$)4(&qmdV0mqJ8ae!lj9izcUdvV6e@0b)O|6>%GJdcTE^E}2)OaPlO3N8Qu diff --git a/gen/layouts/FloorPlan320-objects.json b/gen/layouts/FloorPlan320-objects.json index 49f209445..f8bd99c2a 100644 --- a/gen/layouts/FloorPlan320-objects.json +++ b/gen/layouts/FloorPlan320-objects.json @@ -1,25 +1,30 @@ [ - "Shelf", - "Book", - "KeyChain", - "TennisRacket", - "DeskLamp", - "Pillow", - "CD", - "CreditCard", - "Bed", - "Pen", + "Floor", + "CellPhone", + "Desk", "Chair", - "Laptop", + "GarbageCan", "Window", + "Dumbbell", + "DeskLamp", + "LightSwitch", + "TennisRacket", + "Shelf", + "Curtains", "Pencil", - "TeddyBear", "BasketBall", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "Curtains", - "Desk", - "CellPhone" + "Laptop", + "AlarmClock", + "TeddyBear", + "Bed", + "Footstool", + "KeyChain", + "SideTable", + "Pillow", + "CD", + "GarbageBag", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan320-openable.json b/gen/layouts/FloorPlan320-openable.json index 3d6aca792..4348b5aaf 100644 --- a/gen/layouts/FloorPlan320-openable.json +++ b/gen/layouts/FloorPlan320-openable.json @@ -1,50 +1,50 @@ { "Bed|-01.04|+00.01|-00.69": [ - -0.75, - 0.5, + -0.5, + 0.25, 180, 30 ], - "Desk|+01.58|00.00|+00.39": [ + "Desk|+01.52|+00.00|+00.39": [ 0.75, 0.5, 90, 30 ], - "Desk|-01.72|+00.01|+01.11": [ + "Desk|-01.72|+00.00|+00.92": [ -1.0, - 1.25, + 1.0, 270, 30 ], - "Shelf|+00.63|+00.68|-01.71": [ - 0.75, - -0.75, - 180, - 30 - ], - "Shelf|-01.73|+00.06|+01.51": [ + "Shelf|-01.70|+00.16|+01.54": [ -0.5, 1.0, - 270, + 0, 30 ], - "Shelf|-01.73|+00.28|+01.51": [ + "Shelf|-01.70|+00.38|+01.54": [ -0.75, - 1.25, - 270, + 1.0, + 0, 30 ], - "Shelf|-01.73|+00.50|+01.51": [ - -0.5, + "Shelf|-01.70|+00.57|+01.54": [ + -0.75, 1.0, - 270, + 0, 30 ], - "Shelf|-01.88|+01.06|+01.19": [ + "Shelf|-01.84|+01.08|+01.24": [ -1.0, 1.25, 270, + 0 + ], + "SideTable|+00.63|+00.00|-01.71": [ + 0.25, + -1.0, + 180, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan321-layout.npy b/gen/layouts/FloorPlan321-layout.npy index f2e4d8c3a06ab3f1e533c2ca6cae32fc7e595272..8330b1d354dd62d77efb96dbff50aad0aa7a98dd 100644 GIT binary patch delta 212 zcmZ3$eSl|zEu-Z`y8tJa0}K%00HI)fCNw?^8lMf$pV$yK@tMJ7HAaWcWsCugoD5Kz z7nAohg~NFdCi62Rco!zeGlz4*R5CD3-oP9N=U%X%#1e+2(VqpO@x|o%NW2e|-?M}> K{+R5}8VLZNHzYp* delta 96 zcmX@Wvw(YoEu+OmyMT%JJUD;YGeE#(c}8=tFHqi}{gVS2-8f;~ADjCb!x<-kV+xoY h#vCwt8xV`J1WYai;%h)`#u_kr8fyUKi^J`TT diff --git a/gen/layouts/FloorPlan322-objects.json b/gen/layouts/FloorPlan322-objects.json index 7a09b063f..0cb6c1e97 100644 --- a/gen/layouts/FloorPlan322-objects.json +++ b/gen/layouts/FloorPlan322-objects.json @@ -1,28 +1,30 @@ [ - "SideTable", - "Book", - "KeyChain", - "Pillow", - "CD", - "CreditCard", - "Painting", - "Pen", - "Bed", + "Floor", "Cloth", - "BaseballBat", - "Laptop", - "Window", - "Mug", - "Drawer", - "Pencil", - "Lamp", - "AlarmClock", + "Cabinet", + "CellPhone", "GarbageCan", + "Window", + "DeskLamp", "LightSwitch", - "Mirror", - "ArmChair", + "Painting", + "Shelf", "Curtains", + "BaseballBat", + "Pencil", + "Pen", + "Mirror", + "Laptop", "Dresser", - "Cabinet", - "CellPhone" + "AlarmClock", + "Bed", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CD", + "ArmChair", + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan322-openable.json b/gen/layouts/FloorPlan322-openable.json index 04fc7351f..ece30ad4f 100644 --- a/gen/layouts/FloorPlan322-openable.json +++ b/gen/layouts/FloorPlan322-openable.json @@ -1,78 +1,120 @@ { - "ArmChair|+02.58|-00.01|-00.82": [ - 1.75, - -0.75, + "ArmChair|+02.57|+00.00|-00.82": [ + 2.0, + -0.5, 90, 30 ], - "Bed|-00.75|+00.03|+00.11": [ - 1.0, - 0.0, - 270, + "Bed|-00.75|-00.02|+00.11": [ + -0.75, + -1.25, + 0, 30 ], "Cabinet|+02.48|+00.50|+01.00": [ 1.75, - 0.5, - 90, + 0.25, + 0, 30 ], "Cabinet|+02.48|+00.50|+01.01": [ - 1.5, + 1.75, 0.75, - 90, + 0, 30 ], "Cabinet|+02.48|+00.50|+02.03": [ 1.75, - 1.5, - 90, + 1.25, + 0, 30 ], "Cabinet|+02.48|+00.50|-00.02": [ - 1.5, - -0.25, - 90, + 1.75, + 0.75, + 180, 30 ], "Drawer|+02.57|+00.90|+00.23": [ 2.0, - 0.25, - 90, + -0.25, + 0, 30 ], "Drawer|+02.57|+00.90|+00.75": [ 2.0, - 0.75, - 90, + 1.0, + 180, 30 ], - "Drawer|+02.57|+00.90|+01.27": [ + "Drawer|+02.57|+00.90|+01.26": [ 2.0, - 1.25, - 90, + 1.75, + 180, 30 ], "Drawer|+02.57|+00.90|+01.78": [ 2.0, - 1.75, - 90, + 1.25, + 0, + 30 + ], + "Drawer|-01.53|+00.46|+01.48": [ + -1.0, + 1.5, + 270, + 30 + ], + "Drawer|-01.53|+00.46|-01.25": [ + -1.0, + -1.25, + 270, 30 ], "Dresser|+02.82|+00.00|+01.01": [ 2.25, - 0.25, + 0.75, 90, 30 ], - "SideTable|-01.60|-00.01|+01.48": [ + "GarbageCan|+01.35|+00.00|-01.69": [ + 0.75, + -1.25, + 90, + 30 + ], + "Shelf|-01.55|+00.04|+01.33": [ + -0.25, + 1.75, + 270, + 30 + ], + "Shelf|-01.55|+00.04|+01.60": [ -0.5, + 1.75, + 270, + 30 + ], + "Shelf|-01.55|+00.04|-01.13": [ + 0.0, + -1.25, + 270, + 30 + ], + "Shelf|-01.55|+00.04|-01.40": [ + 0.0, + -1.25, + 270, + 30 + ], + "SideTable|-01.60|+00.00|+01.48": [ + -1.0, 1.5, 270, 30 ], - "SideTable|-01.60|-00.01|-01.25": [ - -0.5, + "SideTable|-01.60|+00.00|-01.25": [ + -1.0, -1.25, 270, 30 diff --git a/gen/layouts/FloorPlan323-layout.npy b/gen/layouts/FloorPlan323-layout.npy index a169317650d4fdc3437fc984707b6586c5a2bcfd..f8a6fc8daeb2dc1dff8f07c070ee9908e737dc3e 100644 GIT binary patch delta 106 zcmca0u|Z;jJ)`+Xhc-sWADg!`_A^foV=Z9(vw1t~e5T2990HU7ad1qoe3vkFy-p9eQS&mzY5deyE B9`yhK delta 120 zcmdlWaY15&J)`ADhc?E|*BBd^8UIXnXRY6SjdcRk^MGf99iz!adv~J;`x(H1=>UYjfX07ek1GGceq+Z!mdSNY0+aVKaZFyvItc)| Cs}gVk delta 50 zcmaFBbAe}q9i#C?dv~TU`#0|R$HMf(e)0k)xykRCI3}NCog}~j20!c}^b30c?A8!} diff --git a/gen/layouts/FloorPlan324-objects.json b/gen/layouts/FloorPlan324-objects.json index aefc1bda7..7a2b2ac79 100644 --- a/gen/layouts/FloorPlan324-objects.json +++ b/gen/layouts/FloorPlan324-objects.json @@ -1,26 +1,29 @@ [ - "Shelf", - "Book", - "KeyChain", - "TennisRacket", + "Floor", + "ShelvingUnit", + "CellPhone", + "GarbageCan", + "Window", "DeskLamp", - "Pillow", - "CD", - "CreditCard", + "LightSwitch", "Painting", - "Pen", - "Bed", - "BaseballBat", + "TennisRacket", + "Shelf", "Blinds", - "Laptop", - "Window", - "Mug", - "Drawer", + "BaseballBat", "Pencil", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "VacuumCleaner", + "Pen", "Mirror", + "Laptop", "Dresser", - "CellPhone" + "AlarmClock", + "Bed", + "KeyChain", + "Drawer", + "Pillow", + "CD", + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan324-openable.json b/gen/layouts/FloorPlan324-openable.json index 0ed0e484f..a8396a241 100644 --- a/gen/layouts/FloorPlan324-openable.json +++ b/gen/layouts/FloorPlan324-openable.json @@ -1,98 +1,110 @@ { - "Bed|-00.85|-00.02|-00.36": [ - 1.0, - -0.25, - 270, + "Bed|-00.84|00.00|-00.36": [ + -1.0, + 0.75, + 180, 30 ], - "Drawer|+01.62|+00.06|-01.46": [ + "Drawer|+01.60|+00.09|-01.46": [ 0.5, - -1.25, - 90, + -0.75, + 180, 30 ], - "Drawer|+01.62|+00.06|-02.21": [ - 0.5, - -1.75, - 90, + "Drawer|+01.60|+00.09|-02.20": [ + 0.25, + -1.5, + 180, 30 ], - "Drawer|+01.62|+00.22|-01.46": [ - 0.5, - -1.0, + "Drawer|+01.60|+00.25|-01.46": [ + 0.0, + -1.5, 90, - 30 + 0 ], - "Drawer|+01.62|+00.22|-02.21": [ - 0.5, - -1.75, + "Drawer|+01.60|+00.25|-02.20": [ + 0.0, + -1.5, 90, - 30 + 0 ], - "Drawer|+01.62|+00.38|-01.46": [ + "Drawer|+01.60|+00.41|-01.46": [ 0.5, - -1.0, - 90, + -0.75, + 180, 30 ], - "Drawer|+01.62|+00.38|-02.21": [ + "Drawer|+01.60|+00.41|-02.20": [ 0.5, - -1.75, - 90, - 30 - ], - "Drawer|+01.62|+00.55|-01.46": [ - 0.75, -1.5, - 90, + 180, 30 ], - "Drawer|+01.62|+00.55|-02.21": [ - 0.75, + "Drawer|+01.60|+00.57|-01.46": [ + 0.25, -2.0, 90, - 30 + 0 ], - "Drawer|+01.62|+00.71|-01.46": [ - 0.5, + "Drawer|+01.60|+00.57|-02.20": [ + 0.25, -1.5, 90, - 30 + 0 ], - "Drawer|+01.62|+00.71|-02.21": [ + "Drawer|+01.60|+00.73|-01.46": [ + 0.5, + -1.0, + 90, + 0 + ], + "Drawer|+01.60|+00.73|-02.20": [ 0.5, -2.0, 90, - 30 + 0 ], - "Dresser|+01.63|-00.02|-01.83": [ + "Dresser|+01.63|+00.00|-01.83": [ 1.0, - -2.0, + -1.75, 90, 30 ], "GarbageCan|+03.38|+00.00|+00.22": [ 2.5, -0.25, - 90, + 0, 30 ], - "Shelf|+00.24|+00.67|-02.59": [ - 0.0, - -2.0, - 180, + "Shelf|+00.02|+00.18|-02.51": [ + 0.5, + -1.75, + 270, 30 ], - "Shelf|+00.25|+00.35|-02.58": [ - -0.25, + "Shelf|+00.24|+00.34|-02.51": [ + 0.75, -1.75, + 270, + 30 + ], + "Shelf|+00.25|+00.67|-02.52": [ + 0.25, + -2.0, 180, 30 ], - "Shelf|+00.36|+00.18|-02.58": [ - 1.0, + "Shelf|+00.36|+00.18|-02.51": [ + -0.25, -1.5, - 180, + 90, + 30 + ], + "Shelf|+00.47|+00.34|-02.51": [ + 0.0, + -1.75, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan325-layout.npy b/gen/layouts/FloorPlan325-layout.npy index 07faed3dfdbbf253080dae1a8b79b352308f4757..4be858fe7356107b30be3e287fcf9f3d18c46a6f 100644 GIT binary patch delta 122 zcmZ1=(I7Fwp3!8Y!?ww6j29HY*fW5^m;Dg>2O9s+w z-!blBn!JsrVX_^oz~p`+#?XJ)_Y?2e*yW7BDeBn5@pcp7Fuv^?_@G9i!z$`{SF%7y}p?UrY{X@}Hc?%rQBQNn-MTCick(nAj%&X5yZF4#=+q RikAWDb4(nY|1kwI0RXsy6;A*F delta 55 zcmeysb%ASw9i#a~`{PV6>^J_1W1O7E@qlB39i!1idw-!X`x(IChdqS;vVUTO*~VjC%mCZ03)=ty diff --git a/gen/layouts/FloorPlan328-objects.json b/gen/layouts/FloorPlan328-objects.json index e7a2f0600..6d2d850e3 100644 --- a/gen/layouts/FloorPlan328-objects.json +++ b/gen/layouts/FloorPlan328-objects.json @@ -1,29 +1,31 @@ [ - "Shelf", - "SideTable", - "Book", - "KeyChain", + "Floor", + "CellPhone", + "Desk", + "Chair", + "GarbageCan", "HousePlant", - "TennisRacket", + "Window", + "Dumbbell", "DeskLamp", - "Pillow", - "CD", - "CreditCard", - "Bed", - "Pen", - "Chair", + "LightSwitch", + "TennisRacket", + "Shelf", "Blinds", - "Laptop", - "Window", - "Mug", - "Drawer", "Pencil", - "TeddyBear", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", + "Laptop", "TissueBox", - "Desk", - "CellPhone" + "AlarmClock", + "TeddyBear", + "Bed", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CD", + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan328-openable.json b/gen/layouts/FloorPlan328-openable.json index 25356e7b5..742c72d37 100644 --- a/gen/layouts/FloorPlan328-openable.json +++ b/gen/layouts/FloorPlan328-openable.json @@ -1,44 +1,44 @@ { - "Bed|+00.23|+00.00|-00.95": [ - 1.5, + "Bed|+00.23|00.00|-00.95": [ + 1.25, -1.0, 270, 30 ], - "Desk|+02.49|+00.00|-01.59": [ - 2.5, - -0.5, + "Desk|+02.50|+00.00|-01.60": [ + 2.75, + -1.0, 180, 30 ], - "Drawer|+01.24|+00.13|-01.60": [ + "Drawer|+01.24|+00.13|-01.55": [ 1.75, -0.5, - 180, + 270, 30 ], - "Drawer|+01.24|+00.35|-01.60": [ - 2.25, + "Drawer|+01.24|+00.35|-01.55": [ + 1.75, -0.75, 270, 30 ], - "GarbageCan|+03.17|+00.00|-00.27": [ - 2.25, - -0.75, - 90, + "GarbageCan|+03.17|-00.01|-00.26": [ + 2.5, + 0.25, + 180, 30 ], - "Shelf|+03.04|+00.54|-01.44": [ - 2.75, - -0.5, - 180, + "Shelf|+03.03|+00.64|-01.58": [ + 2.5, + -0.75, + 90, 30 ], - "SideTable|+01.24|+00.00|-01.67": [ - 1.75, + "SideTable|+01.24|+00.00|-01.55": [ + 2.0, -0.75, - 180, + 270, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan329-objects.json b/gen/layouts/FloorPlan329-objects.json index 6781d3914..18631b524 100644 --- a/gen/layouts/FloorPlan329-objects.json +++ b/gen/layouts/FloorPlan329-objects.json @@ -1,26 +1,28 @@ [ - "SideTable", - "Book", - "KeyChain", - "Pillow", - "CD", - "CreditCard", + "Floor", + "CellPhone", + "Desk", + "GarbageCan", + "Window", + "DeskLamp", + "LightSwitch", "Painting", - "Pen", - "Bed", - "BaseballBat", + "Shelf", "Blinds", - "Laptop", + "BaseballBat", "Box", - "Window", - "Mug", - "Drawer", "Pencil", - "Lamp", - "AlarmClock", - "GarbageCan", - "LightSwitch", + "Pen", "Mirror", - "DiningTable", - "CellPhone" + "Laptop", + "AlarmClock", + "Bed", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CD", + "Book", + "CreditCard", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan329-openable.json b/gen/layouts/FloorPlan329-openable.json index 9ca566fd9..58cfb2a90 100644 --- a/gen/layouts/FloorPlan329-openable.json +++ b/gen/layouts/FloorPlan329-openable.json @@ -1,32 +1,44 @@ { - "Bed|-00.12|+00.00|-01.70": [ - -0.25, - -0.5, - 180, + "Bed|-00.12|00.00|-01.70": [ + 1.0, + -1.75, + 270, 30 ], - "DiningTable|-00.28|-00.01|+00.83": [ - -0.5, - -0.5, + "Desk|-00.28|00.00|+00.83": [ + 0.25, + 0.25, 0, 30 ], - "Drawer|+01.00|+00.17|-02.39": [ - 1.25, - -1.25, + "Drawer|+00.95|+00.17|-02.39": [ + 1.75, + -1.75, 180, 30 ], - "Drawer|+01.00|+00.46|-02.39": [ - 1.25, - -1.5, - 180, + "Drawer|+00.95|+00.46|-02.39": [ + 1.5, + -2.0, + 270, 30 ], - "SideTable|+01.00|+00.01|-02.47": [ - 2.0, - -2.0, + "Shelf|-00.28|+00.10|+00.83": [ + -1.0, + 0.0, + 0, + 30 + ], + "Shelf|-00.28|+00.35|+00.83": [ + 0.75, + -0.5, 270, 30 + ], + "SideTable|+00.95|+00.00|-02.46": [ + 1.5, + -2.0, + 180, + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan330-layout.npy b/gen/layouts/FloorPlan330-layout.npy index 07b1f44177190ca467b3437722f884f79be797c4..7c9623ef78b625856ae7454dba6cfab0f9782ebf 100644 GIT binary patch delta 137 zcmZn=S|B*Vp3z{UgP#!F0R}L5u^&RS9hlhgZSyq72TYUOSOhk+u_`c5Hen!2zQ23sfT$8Xss+2HSi_PN?)B J`^f?v1^@~GAn*VH diff --git a/gen/layouts/FloorPlan330-objects.json b/gen/layouts/FloorPlan330-objects.json index 4efb0f70a..19282a12b 100644 --- a/gen/layouts/FloorPlan330-objects.json +++ b/gen/layouts/FloorPlan330-objects.json @@ -1,30 +1,32 @@ [ - "Shelf", - "SideTable", - "Statue", - "Book", - "KeyChain", - "HousePlant", - "Pillow", - "CD", - "CreditCard", - "Dresser", + "Floor", "Bowl", + "ShelvingUnit", + "CellPhone", + "GarbageCan", + "HousePlant", + "Window", + "DeskLamp", + "LightSwitch", "Painting", - "Pen", - "Bed", + "Shelf", "Blinds", - "Laptop", - "Window", - "Drawer", "Pencil", - "Lamp", - "AlarmClock", - "GarbageCan", - "LightSwitch", - "Mirror", - "ArmChair", "Vase", + "Pen", + "Mirror", + "Laptop", + "Dresser", + "AlarmClock", + "Statue", + "Bed", + "KeyChain", + "Drawer", + "SideTable", + "Pillow", + "CD", "Boots", - "CellPhone" + "ArmChair", + "Book", + "CreditCard" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan330-openable.json b/gen/layouts/FloorPlan330-openable.json index a458a1fb1..e9ae659db 100644 --- a/gen/layouts/FloorPlan330-openable.json +++ b/gen/layouts/FloorPlan330-openable.json @@ -1,126 +1,126 @@ { - "ArmChair|+02.41|+00.01|+02.00": [ - 2.25, - 0.75, - 0, + "ArmChair|+02.39|00.00|+01.94": [ + 1.5, + 1.5, + 90, 30 ], - "Bed|+01.02|+00.06|-00.73": [ - 1.0, - 0.75, - 180, + "Bed|+01.02|+00.00|-00.69": [ + -0.25, + -1.0, + 90, 30 ], - "Drawer|+01.58|+00.17|+02.14": [ - 0.5, - 1.25, + "Drawer|+01.58|+00.16|+02.07": [ + 1.0, + 1.5, 90, 30 ], - "Drawer|+01.58|+00.46|+02.14": [ - 2.0, - 1.25, + "Drawer|+01.58|+00.46|+02.07": [ + 1.0, + 1.5, 0, 30 ], - "Drawer|+02.44|+00.17|-01.60": [ + "Drawer|+02.44|+00.16|-01.54": [ 2.25, - -0.5, - 180, + -1.0, + 90, 30 ], - "Drawer|+02.44|+00.46|-01.60": [ + "Drawer|+02.44|+00.46|-01.54": [ 2.25, - -0.75, + -1.0, 180, 30 ], - "Drawer|-01.59|+00.10|+00.26": [ - 0.0, - 0.75, - 270, + "Drawer|-01.63|+00.10|+00.24": [ + -0.5, + 1.0, + 180, 30 ], - "Drawer|-01.59|+00.10|-00.54": [ + "Drawer|-01.63|+00.10|-00.55": [ -0.5, - 0.75, + 0.25, 180, 30 ], - "Drawer|-01.59|+00.28|+00.26": [ - -0.25, - -0.25, - 270, + "Drawer|-01.63|+00.29|+00.24": [ + -0.5, + -0.5, + 0, 30 ], - "Drawer|-01.59|+00.28|-00.54": [ - -0.25, - 0.0, - 270, + "Drawer|-01.63|+00.29|-00.55": [ + -0.5, + -1.25, + 0, 30 ], - "Drawer|-01.59|+00.48|+00.26": [ - -0.25, - 0.5, - 270, + "Drawer|-01.63|+00.49|+00.24": [ + -0.75, + 0.75, + 180, 30 ], - "Drawer|-01.59|+00.48|-00.54": [ - -0.25, - -0.25, - 270, + "Drawer|-01.63|+00.49|-00.55": [ + -0.75, + -1.25, + 0, 30 ], - "Drawer|-01.59|+00.67|+00.26": [ + "Drawer|-01.63|+00.68|+00.24": [ -0.75, - -0.75, - 0, + 0.75, + 180, 30 ], - "Drawer|-01.59|+00.67|-00.54": [ + "Drawer|-01.63|+00.68|-00.55": [ -0.75, - 0.5, + 0.0, 180, 30 ], - "Drawer|-01.59|+00.86|+00.26": [ - -0.5, - 0.25, + "Drawer|-01.63|+00.87|+00.24": [ + -0.75, + 0.75, 270, 30 ], - "Drawer|-01.59|+00.86|-00.54": [ - -0.5, - -0.5, - 270, + "Drawer|-01.63|+00.87|-00.55": [ + -0.75, + -1.25, + 0, 30 ], - "Dresser|-01.75|+00.00|-00.15": [ + "Dresser|-01.67|+00.00|-00.15": [ -1.0, - -0.5, + -0.25, 270, 30 ], - "Shelf|-01.70|+01.14|-02.06": [ + "Shelf|-01.67|+01.87|-02.05": [ -1.0, -2.0, 270, - 30 + 0 ], - "Shelf|-01.70|+01.63|-02.06": [ + "Shelf|-01.68|+01.38|-02.05": [ -1.0, -2.0, 270, - -30 + 0 ], - "SideTable|+01.58|+00.46|+02.14": [ - 0.5, + "SideTable|+01.58|00.00|+02.14": [ + 1.25, 1.75, - 90, + 0, 30 ], - "SideTable|+02.44|+00.46|-01.60": [ - 2.5, + "SideTable|+02.44|00.00|-01.60": [ + 2.25, -1.0, 180, 30 diff --git a/gen/layouts/FloorPlan4-objects.json b/gen/layouts/FloorPlan4-objects.json index 6626f4fa9..56609053d 100644 --- a/gen/layouts/FloorPlan4-objects.json +++ b/gen/layouts/FloorPlan4-objects.json @@ -1,41 +1,42 @@ [ - "Ladle", - "CounterTop", - "SoapBottle", - "Plate", - "Sink", - "Fork", - "HousePlant", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", - "PepperShaker", - "Potato", - "Lettuce", "Bowl", - "Toaster", - "Egg", + "PepperShaker", + "GarbageCan", + "Window", + "HousePlant", + "Spoon", + "LightSwitch", "Pan", - "Apple", - "SinkBasin", + "Ladle", + "StoveKnob", + "StoveBurner", + "Pot", + "Tomato", + "Spatula", "Fridge", - "Window", - "Mug", - "Drawer", - "Bread", + "DiningTable", "Cup", - "Pot", - "StoveKnob", - "Microwave", "SaltShaker", - "GarbageCan", - "DishSponge", - "LightSwitch", - "DiningTable", - "StoveBurner", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "Potato", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan4-openable.json b/gen/layouts/FloorPlan4-openable.json index fd591d3ea..b282aed21 100644 --- a/gen/layouts/FloorPlan4-openable.json +++ b/gen/layouts/FloorPlan4-openable.json @@ -1,14 +1,14 @@ { "Cabinet|-01.00|+00.39|+00.73": [ -1.75, - 1.75, - 180, + 1.5, + 90, 30 ], "Cabinet|-01.73|+00.39|+00.73": [ - -1.75, - 1.75, - 180, + -2.0, + 1.5, + 90, 30 ], "CounterTop|-00.52|+01.16|+00.49": [ @@ -25,26 +25,26 @@ ], "CounterTop|-03.86|+01.16|+00.38": [ -3.25, - 1.5, + 1.25, 180, - 30 + 0 ], "DiningTable|-00.62|+00.02|+02.49": [ -1.25, - 2.25, + 2.5, 90, 30 ], "Drawer|-02.04|+00.22|+00.59": [ - -1.0, - 1.0, + -1.5, + 1.5, 270, 30 ], "Drawer|-02.04|+00.61|+00.59": [ - -1.25, - 1.0, - 270, + -2.5, + 1.25, + 90, 30 ], "Drawer|-02.04|+00.94|+00.60": [ @@ -54,15 +54,15 @@ 30 ], "Drawer|-02.50|+00.22|+00.59": [ - -1.5, - 1.0, - 270, + -3.0, + 1.5, + 90, 30 ], "Drawer|-02.50|+00.61|+00.59": [ - -1.75, - 1.0, - 270, + -3.0, + 1.25, + 90, 30 ], "Drawer|-02.51|+00.94|+00.60": [ @@ -75,18 +75,24 @@ -2.5, 2.75, 270, + 0 + ], + "GarbageCan|-03.70|+00.00|+02.01": [ + -3.5, + 1.5, + 0, 30 ], "Microwave|-00.37|+01.11|+00.43": [ - -1.5, + -1.0, 1.0, 90, 30 ], "Sink|-01.39|+00.98|+00.44|SinkBasin": [ - -1.0, - 1.25, - 180, + -2.0, + 1.0, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan401-layout.npy b/gen/layouts/FloorPlan401-layout.npy index 7b958c63c97f860063ea6a6eb040e4037b44ec16..8b12751de9fc2cc7006e2be12637ba7a3f50cda6 100644 GIT binary patch delta 194 zcmZ3$`+#?XEwiD4(L{UuiS_Igrv*&>7QpyrvpM5_rp;n30*sT*SSL)r#yUZeJ$Oe*ja@=l}ruks<{E delta 112 zcmaFByMT9sEt93iLoO%V9i!n!`|Yfg#n`L>GNlDR delta 51 qcmdnM^MGf99iz!c`|YfPEC(3CK*#|?GfjTZ>L~zWvmJoY!VUl&Cn_!vpS$CkU<3d*1O@p3 delta 15 XcmZ3$I)Qb99i#C?`{f(ItzrZKD=h{F diff --git a/gen/layouts/FloorPlan407-objects.json b/gen/layouts/FloorPlan407-objects.json index db8e28253..a1cbff935 100644 --- a/gen/layouts/FloorPlan407-objects.json +++ b/gen/layouts/FloorPlan407-objects.json @@ -1,30 +1,32 @@ [ - "Toilet", - "ShowerGlass", - "CounterTop", - "ScrubBrush", - "SoapBottle", - "HandTowelHolder", - "Sink", - "ShowerCurtain", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Bathtub", + "Cabinet", "Cloth", "SprayBottle", - "SinkBasin", - "Window", - "BathtubBasin", - "Plunger", + "ScrubBrush", "GarbageCan", + "Window", + "ShowerGlass", "LightSwitch", + "TowelHolder", + "ShowerDoor", + "Bathtub", + "Towel", + "ShowerHead", "SoapBar", + "BathtubBasin", + "ToiletPaper", + "ToiletPaperHanger", "Mirror", "Candle", - "TowelHolder", - "ToiletPaperHanger", + "Toilet", + "HandTowelHolder", "Faucet", - "ShowerDoor", - "Cabinet" + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "ShowerCurtain", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan407-openable.json b/gen/layouts/FloorPlan407-openable.json index bac5df156..67e57fac3 100644 --- a/gen/layouts/FloorPlan407-openable.json +++ b/gen/layouts/FloorPlan407-openable.json @@ -1,61 +1,55 @@ { "Bathtub|+00.88|+00.39|-01.15|BathtubBasin": [ 0.0, - -0.75, - 90, + -0.5, + 180, 30 ], "Cabinet|-00.07|+00.34|-01.33": [ - -0.75, + -1.0, -0.5, - 180, + 90, 30 ], "Cabinet|-01.04|+00.34|-01.33": [ - -1.25, + -0.25, -0.5, - 180, + 270, 30 ], "Cabinet|-01.05|+00.34|-01.33": [ -0.75, - -0.25, - 180, + -0.5, + 270, 30 ], "Cabinet|-02.02|+00.34|-01.33": [ -1.25, - -0.25, - 180, + -0.5, + 270, 30 ], "CounterTop|-01.04|+00.88|-01.53": [ -1.5, - -0.75, - 180, - 30 - ], - "GarbageCan|+00.10|00.00|-01.57": [ - -0.25, - -0.5, + -1.0, 180, 30 ], "Sink|-00.53|+00.81|-01.60|SinkBasin": [ - -0.5, -1.0, - 180, + -1.0, + 90, 30 ], "Sink|-01.56|+00.81|-01.60|SinkBasin": [ - -1.5, + -1.25, -1.0, - 180, + 270, 30 ], "Toilet|-01.61|00.00|+00.21": [ - -1.5, - -0.75, + -1.25, + -0.5, 0, 30 ] diff --git a/gen/layouts/FloorPlan408-layout.npy b/gen/layouts/FloorPlan408-layout.npy index 553b9aeadd92e2d389129cd53547a2ff169de3a9..2e29bb70fc0d319fa63c7a739209a09d6fa65f2b 100644 GIT binary patch delta 19 bcmcb>`hazU9izoY`{|5~FE$@%W007If3bgR{#J2 delta 101 zcmdnMHi3PD9i!z&`*udgACtE;`ZN96zxfBF9-|k>0R}L5U=N|$4nSxap9PK2gvMup F^8wy_6S4pR diff --git a/gen/layouts/FloorPlan412-objects.json b/gen/layouts/FloorPlan412-objects.json index 935824069..4287543f4 100644 --- a/gen/layouts/FloorPlan412-objects.json +++ b/gen/layouts/FloorPlan412-objects.json @@ -1,28 +1,29 @@ [ - "Toilet", - "ShowerGlass", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", - "FloorLamp", - "Towel", + "Floor", "HandTowel", - "ToiletPaper", + "Cabinet", "Cloth", "SprayBottle", - "SinkBasin", - "Window", - "Plunger", + "ScrubBrush", "GarbageCan", + "Window", + "ShowerGlass", "LightSwitch", - "Candle", - "Mirror", - "SoapBar", "TowelHolder", - "ToiletPaperHanger", "ShowerDoor", + "Towel", "ShowerHead", - "Cabinet" + "SoapBar", + "ToiletPaper", + "ToiletPaperHanger", + "Mirror", + "Candle", + "Toilet", + "HandTowelHolder", + "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan412-openable.json b/gen/layouts/FloorPlan412-openable.json index 311db7c38..9c645e894 100644 --- a/gen/layouts/FloorPlan412-openable.json +++ b/gen/layouts/FloorPlan412-openable.json @@ -2,43 +2,49 @@ "Cabinet|-03.17|+00.37|-00.59": [ -2.25, -0.25, - 270, + 180, 30 ], "Cabinet|-03.17|+00.37|-01.38": [ - -2.25, + -2.5, -0.75, - 270, + 180, 30 ], "Cabinet|-03.17|+00.37|-01.40": [ + -2.25, + -1.0, + 180, + 30 + ], + "Cabinet|-03.17|+00.37|-02.19": [ -2.5, -1.5, - 270, + 180, 30 ], "CounterTop|-03.43|+00.88|-01.39": [ -2.75, -1.0, - 270, + 180, 30 ], "Sink|-03.39|+00.84|-00.93|SinkBasin": [ -2.75, - -0.75, - 270, + -0.5, + 180, 30 ], "Sink|-03.39|+00.84|-01.83|SinkBasin": [ -2.75, - -1.5, - 270, + -1.25, + 180, 30 ], "Toilet|-01.90|00.00|-01.74": [ - -1.0, + -2.5, -1.5, - 270, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan413-layout.npy b/gen/layouts/FloorPlan413-layout.npy index 181f924f8c6500d4244e793320f7baca3ec832e0..4e4bacfef632a3115b75e476f18975a9ad35947b 100644 GIT binary patch delta 32 kcmcb>`GI4C9i#C^dvT`8X-pS3hcP=aay{7300uk`0I>21>Hq)$ delta 101 zcmeysae;G!9i!z&dvPWv28PKVO!ovI*fW3un*)S?v00qipV8{Yeh8NbD*OPAe*umE J0%{D80{{VR5P<*y diff --git a/gen/layouts/FloorPlan413-objects.json b/gen/layouts/FloorPlan413-objects.json index 97336e895..430ff084d 100644 --- a/gen/layouts/FloorPlan413-objects.json +++ b/gen/layouts/FloorPlan413-objects.json @@ -1,31 +1,32 @@ [ - "Toilet", - "CounterTop", - "ScrubBrush", - "SoapBottle", - "HandTowelHolder", - "Sink", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Bathtub", + "Cabinet", "Cloth", "SprayBottle", - "SinkBasin", - "Window", - "Drawer", - "BathtubBasin", - "Plunger", + "ScrubBrush", "GarbageCan", + "Window", "LightSwitch", - "SoapBar", - "Mirror", - "Candle", "TowelHolder", - "ToiletPaperHanger", - "Faucet", "ShowerDoor", + "Bathtub", + "Towel", "ShowerHead", + "SoapBar", + "BathtubBasin", + "ToiletPaper", + "ToiletPaperHanger", + "Mirror", + "Candle", "Dresser", - "Cabinet" + "Toilet", + "HandTowelHolder", + "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan413-openable.json b/gen/layouts/FloorPlan413-openable.json index cc6ef4249..cb7699dbf 100644 --- a/gen/layouts/FloorPlan413-openable.json +++ b/gen/layouts/FloorPlan413-openable.json @@ -1,68 +1,80 @@ { "Bathtub|-01.41|00.00|+00.56|BathtubBasin": [ - -0.25, - 1.0, + -1.0, + 1.25, 270, 30 ], "Cabinet|-01.61|+00.31|+02.49": [ -0.75, 3.25, - 270, + 180, 30 ], "Cabinet|-01.61|+00.31|+03.11": [ -0.75, - 3.5, - 270, + 2.5, + 0, 30 ], "Cabinet|-01.61|+00.31|+03.14": [ -0.75, 2.75, - 270, + 0, 30 ], "Cabinet|-01.61|+00.31|+03.75": [ -0.75, 3.0, - 270, + 0, 30 ], "CounterTop|-01.80|+00.75|+03.12": [ - -1.0, + -1.25, + 3.25, + 270, + 30 + ], + "Drawer|+00.20|+00.16|+03.81": [ + -0.5, 2.75, + 90, + 30 + ], + "Drawer|+00.20|+00.42|+03.81": [ + 0.75, + 3.0, 270, 30 ], - "Dresser|+00.21|+00.81|+03.77": [ - 0.25, + "Drawer|+00.20|+00.68|+03.81": [ + -0.25, 3.25, 0, 30 ], - "GarbageCan|-01.76|-00.02|+02.22": [ - -0.75, - 2.75, - 270, + "Drawer|+00.20|+00.94|+03.81": [ + -0.25, + 3.25, + 90, 30 ], - "Sink|-01.83|+00.69|+02.78|SinkBasin": [ - -1.25, + "Dresser|+00.21|+00.00|+03.83": [ + 0.25, 3.25, - 270, - 30 + 0, + 0 ], - "Sink|-01.83|+00.69|+03.47|SinkBasin": [ - -1.25, - 3.0, - 270, + "GarbageCan|+00.93|-00.03|+03.76": [ + 0.25, + 3.25, + 0, 30 ], "Toilet|-01.57|00.00|+01.82": [ - -0.5, + -1.25, 2.5, - 270, + 180, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan414-layout.npy b/gen/layouts/FloorPlan414-layout.npy index bf3b903a4415242158c1accba1501c254fcd1f48..2bb6084fb4eef00393055bcc565d67b6883923a4 100644 GIT binary patch delta 16 XcmZ3$-oQS=mdV6oqJ8_uXS@W38QZ`^*82>_-i38Vl3 diff --git a/gen/layouts/FloorPlan414-objects.json b/gen/layouts/FloorPlan414-objects.json index ae23dff8e..f525ec1a7 100644 --- a/gen/layouts/FloorPlan414-objects.json +++ b/gen/layouts/FloorPlan414-objects.json @@ -1,30 +1,31 @@ [ - "Toilet", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Bathtub", + "Cabinet", "Cloth", "SprayBottle", - "SinkBasin", - "Window", - "Drawer", - "BathtubBasin", - "Plunger", + "ScrubBrush", "GarbageCan", - "DishSponge", + "Window", "LightSwitch", - "Candle", - "Mirror", - "SoapBar", "TowelHolder", + "Bathtub", + "Towel", + "SoapBar", + "PaperTowelRoll", + "BathtubBasin", + "ToiletPaper", "ToiletPaperHanger", + "Mirror", + "Candle", + "Toilet", + "HandTowelHolder", "Faucet", - "PaperTowelRoll", - "Cabinet" + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan414-openable.json b/gen/layouts/FloorPlan414-openable.json index ae7907402..e806fa643 100644 --- a/gen/layouts/FloorPlan414-openable.json +++ b/gen/layouts/FloorPlan414-openable.json @@ -1,81 +1,81 @@ { "Bathtub|-00.44|+00.18|+01.58|BathtubBasin": [ -1.0, - 2.75, - 180, + 2.25, + 90, 30 ], "Cabinet|-02.41|+00.37|+01.59": [ - -1.5, + -1.75, 2.25, - 270, + 180, 30 ], "Cabinet|-02.41|+00.37|+02.04": [ - -1.5, + -1.75, 1.75, - 270, + 0, 30 ], "Cabinet|-02.41|+00.37|+02.86": [ -1.5, - 2.25, - 270, + 2.0, + 0, 30 ], "Cabinet|-02.41|+00.37|+02.91": [ - -1.5, + -1.75, 2.75, 270, 30 ], "Cabinet|-02.41|+00.37|+03.57": [ - -1.5, + -1.75, 3.0, - 270, + 0, 30 ], "Cabinet|-02.41|+01.26|+02.91": [ -1.75, - 3.0, + 2.75, 270, - 30 + 0 ], "Cabinet|-02.41|+01.26|+03.57": [ - -1.5, + -1.75, 3.0, 270, - 30 + 0 ], "Cabinet|-02.41|+02.02|+02.91": [ -1.75, - 3.0, + 2.75, 270, - -30 + 0 ], "Cabinet|-02.41|+02.02|+03.57": [ -1.75, 3.0, 270, - -30 + 0 ], "CounterTop|-02.61|+01.24|+01.46": [ -2.0, - 1.25, + 1.75, 270, 30 ], "CounterTop|-02.69|+00.97|+02.26": [ -2.0, - 2.5, + 2.25, 270, 30 ], "Sink|-02.72|+00.86|+02.23|SinkBasin": [ -2.0, - 2.25, + 2.0, 270, - 30 + 0 ], "Toilet|-02.58|+00.03|+00.66": [ -2.0, diff --git a/gen/layouts/FloorPlan415-layout.npy b/gen/layouts/FloorPlan415-layout.npy index 96b4b4ef0c2d2c79a204a5d5cee26c85a2f36931..cd5280c7c56be9af4ef48c9b2dccb3df6672a05c 100644 GIT binary patch delta 31 ncmbQhae;k;9i#C?`|yd|5;m(b8Zb?M$0RV>j+tX}9rGjrtO^QY delta 53 zcmcb>K7nI`9i#a~`*5K@`x(H1=KzHMv43Jm9^-?J&+VBQA531)BtMytnPajY^CSSW C9}t89 diff --git a/gen/layouts/FloorPlan415-objects.json b/gen/layouts/FloorPlan415-objects.json index 7e5769782..e482d1752 100644 --- a/gen/layouts/FloorPlan415-objects.json +++ b/gen/layouts/FloorPlan415-objects.json @@ -1,30 +1,31 @@ [ - "Shelf", - "Toilet", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", - "ShowerCurtain", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Bathtub", "Cloth", "SprayBottle", - "SinkBasin", - "Drawer", - "BathtubBasin", - "Plunger", + "ScrubBrush", "GarbageCan", "LightSwitch", + "Shelf", + "TowelHolder", + "Bathtub", + "Towel", + "ShowerHead", "SoapBar", + "BathtubBasin", + "ToiletPaper", + "ToiletPaperHanger", "Mirror", "Candle", - "TowelHolder", - "ToiletPaperHanger", + "Dresser", + "Toilet", + "HandTowelHolder", "Faucet", - "ShowerHead", - "Dresser" + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "ShowerCurtain", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan415-openable.json b/gen/layouts/FloorPlan415-openable.json index 302bce70b..1957129d2 100644 --- a/gen/layouts/FloorPlan415-openable.json +++ b/gen/layouts/FloorPlan415-openable.json @@ -1,6 +1,6 @@ { "Bathtub|-02.10|+00.53|-00.83|BathtubBasin": [ - -1.5, + -1.75, -0.5, 270, 30 @@ -11,57 +11,57 @@ 270, 30 ], - "Drawer|-00.19|+00.16|-03.40": [ + "Drawer|-00.23|+00.16|-03.40": [ -1.25, -2.75, - 90, + 180, 30 ], - "Drawer|-00.19|+00.42|-03.40": [ - -1.5, - -2.75, + "Drawer|-00.23|+00.42|-03.40": [ + -0.75, + -3.0, 90, 30 ], - "Drawer|-00.19|+00.68|-03.40": [ - -1.25, + "Drawer|-00.23|+00.68|-03.40": [ + -0.75, -3.0, 90, 30 ], - "Drawer|-00.19|+00.94|-03.40": [ - -1.0, - -3.25, - 90, + "Drawer|-00.23|+00.94|-03.40": [ + -0.75, + -3.0, + 180, 30 ], - "Dresser|-00.21|+00.81|-03.40": [ + "Dresser|-00.20|+00.00|-03.40": [ -0.75, -3.25, 90, - 30 + 0 ], - "GarbageCan|-00.23|00.00|-02.80": [ - -1.25, - -2.25, - 90, + "GarbageCan|-00.27|-00.03|-02.75": [ + -1.0, + -3.25, + 0, 30 ], "Shelf|-02.58|+00.40|-02.92": [ -1.25, -2.75, 270, - 30 + 0 ], "Sink|-00.31|+00.00|-02.08|SinkBasin": [ -0.75, -1.5, - 180, + 90, 30 ], "Toilet|-00.41|00.00|-00.55": [ -0.5, - -1.25, + -1.0, 0, 30 ] diff --git a/gen/layouts/FloorPlan416-layout.npy b/gen/layouts/FloorPlan416-layout.npy index 21353b33162edb4d4b726d856d96d066d08c2622..8f66bf968a44f8284ca857b8b78055fba4d2c0db 100644 GIT binary patch delta 28 kcmaFB`GI4CEt8q?M0@v*(+)6APGc^Z{ET_R$-!U5j0Feg?h5!Hn delta 21 dcmX@Wv4CTOEt9FmM*HQ=llL)kOy*-T0su~N26+Gg diff --git a/gen/layouts/FloorPlan417-objects.json b/gen/layouts/FloorPlan417-objects.json index f695d0954..d8c4b827c 100644 --- a/gen/layouts/FloorPlan417-objects.json +++ b/gen/layouts/FloorPlan417-objects.json @@ -1,28 +1,29 @@ [ - "Toilet", - "ShowerGlass", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", + "Floor", "HandTowel", - "Towel", - "FloorLamp", - "ToiletPaper", + "Cabinet", "Cloth", + "ScrubBrush", "SprayBottle", - "SinkBasin", - "Window", - "Plunger", "GarbageCan", + "Window", + "ShowerGlass", "LightSwitch", - "SoapBar", - "Mirror", - "Candle", "TowelHolder", - "ToiletPaperHanger", "ShowerDoor", + "Towel", "ShowerHead", - "Cabinet" + "SoapBar", + "ToiletPaper", + "ToiletPaperHanger", + "Mirror", + "Candle", + "Toilet", + "HandTowelHolder", + "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan417-openable.json b/gen/layouts/FloorPlan417-openable.json index 70e78f084..784881e15 100644 --- a/gen/layouts/FloorPlan417-openable.json +++ b/gen/layouts/FloorPlan417-openable.json @@ -1,50 +1,44 @@ { "Cabinet|-02.50|+00.40|-01.24": [ - -1.5, - -1.5, - 270, + -1.75, + -0.5, + 180, 30 ], "Cabinet|-02.50|+00.40|-02.21": [ + -1.75, -1.5, - -1.5, - 270, + 180, 30 ], "Cabinet|-02.51|+00.43|-00.29": [ - -1.5, + -1.75, -1.0, - 270, + 0, 30 ], "Cabinet|-02.51|+00.43|-01.26": [ - -1.5, + -1.75, -2.0, - 270, + 0, 30 ], "CounterTop|-02.75|+00.99|-01.24": [ -2.25, - -1.0, - 270, - 30 - ], - "GarbageCan|-01.53|+00.00|-00.18": [ - -0.5, - -0.75, + -1.5, 270, 30 ], "Sink|-02.91|+00.99|-00.73|SinkBasin": [ -2.25, - -0.5, - 270, + -1.0, + 0, 30 ], "Sink|-02.91|+00.99|-01.76|SinkBasin": [ -2.25, - -2.0, - 270, + -1.5, + 180, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan418-layout.npy b/gen/layouts/FloorPlan418-layout.npy index 8c572c33b3feede4cd033ef017b58f00e2279718..22902508b2a4de2071a940a9363ea9b38076e7cc 100644 GIT binary patch delta 26 ecmZo*zrZ%Zj?r|Y{q&8`3YfV5>}LRj2m1kkR0%c! delta 60 qcmcb>*1$f&j?rSG{dC3`8;{pBX|Wt&0D}knAv6;j{|{9B!F~Yt{tos4 diff --git a/gen/layouts/FloorPlan418-objects.json b/gen/layouts/FloorPlan418-objects.json index 3cecf3191..4287543f4 100644 --- a/gen/layouts/FloorPlan418-objects.json +++ b/gen/layouts/FloorPlan418-objects.json @@ -1,27 +1,29 @@ [ - "Toilet", - "ShowerGlass", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", + "Cabinet", "Cloth", "SprayBottle", - "SinkBasin", - "Window", - "Plunger", + "ScrubBrush", "GarbageCan", + "Window", + "ShowerGlass", "LightSwitch", - "Candle", - "Mirror", - "SoapBar", "TowelHolder", + "ShowerDoor", + "Towel", + "ShowerHead", + "SoapBar", + "ToiletPaper", "ToiletPaperHanger", + "Mirror", + "Candle", + "Toilet", + "HandTowelHolder", "Faucet", - "ShowerDoor", - "Cabinet" + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan418-openable.json b/gen/layouts/FloorPlan418-openable.json index 6ae512994..79a5d77f4 100644 --- a/gen/layouts/FloorPlan418-openable.json +++ b/gen/layouts/FloorPlan418-openable.json @@ -1,32 +1,38 @@ { "Cabinet|-02.29|+00.32|-03.25": [ - -1.25, - -3.5, - 270, + -1.5, + -2.5, + 180, 30 ], "Cabinet|-02.29|+00.32|-03.81": [ - -1.25, + -1.5, -3.0, - 270, + 180, 30 ], "Cabinet|-02.30|+00.35|-02.25": [ - -1.25, + -1.5, -3.0, - 270, + 0, 30 ], "CounterTop|-02.63|+00.84|-03.04": [ - -1.75, + -2.0, -3.0, 270, 30 ], - "Toilet|-00.45|+00.00|-03.05": [ - -0.75, + "GarbageCan|-00.46|-00.04|-03.77": [ + -1.25, + -3.25, + 180, + 30 + ], + "Sink|-02.66|+00.79|-03.07|SinkBasin": [ + -2.0, -3.5, - 90, + 0, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan419-layout.npy b/gen/layouts/FloorPlan419-layout.npy index 1f93d4184f8d4ca7710c392ba0c04fd6ae68acbd..5bbc37b7c18f492bf6c1a36f64f0235ce55a68e6 100644 GIT binary patch delta 21 dcmeysGJ$1+Et8SyM*DQe$=etMCW|pi0RT?i26g}d delta 90 zcmbQh@_}W7Et9d~M*DO|#s`z9GsXkS=Zu;T3}EnOKZJe&r9YtYU!d_}>K^O|08;K2 AXaE2J diff --git a/gen/layouts/FloorPlan419-objects.json b/gen/layouts/FloorPlan419-objects.json index 1ec14604a..a6270a09d 100644 --- a/gen/layouts/FloorPlan419-objects.json +++ b/gen/layouts/FloorPlan419-objects.json @@ -1,28 +1,30 @@ [ - "Toilet", - "SideTable", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", - "ShowerCurtain", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Bathtub", "Cloth", "SprayBottle", - "SinkBasin", - "Drawer", - "BathtubBasin", - "Plunger", + "ScrubBrush", "GarbageCan", "LightSwitch", + "TowelHolder", + "Bathtub", + "Towel", + "ShowerHead", "SoapBar", + "BathtubBasin", + "ToiletPaper", + "ToiletPaperHanger", "Mirror", "Candle", - "TowelHolder", - "ToiletPaperHanger", + "TissueBox", + "Toilet", + "HandTowelHolder", "Faucet", - "TissueBox" + "SinkBasin", + "Sink", + "SoapBottle", + "Drawer", + "SideTable", + "ShowerCurtain", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan419-openable.json b/gen/layouts/FloorPlan419-openable.json index 5553e9700..407dee72b 100644 --- a/gen/layouts/FloorPlan419-openable.json +++ b/gen/layouts/FloorPlan419-openable.json @@ -1,20 +1,38 @@ { "Bathtub|-00.98|-00.72|-02.93|BathtubBasin": [ -1.25, - -2.0, + -2.25, 180, 30 ], - "SideTable|-02.12|+00.46|-01.31": [ - -1.75, - -0.5, + "Drawer|-02.11|+00.16|-01.31": [ + -1.25, + -0.75, 180, 30 ], - "Sink|-02.10|00.00|-02.03|SinkBasin": [ + "Drawer|-02.11|+00.46|-01.31": [ -1.5, + -0.75, + 270, + 30 + ], + "GarbageCan|-00.24|-00.03|-01.36": [ + -0.75, + -1.25, + 90, + 30 + ], + "SideTable|-02.18|00.00|-01.31": [ -1.75, + -0.75, 270, 30 + ], + "Sink|-02.10|00.00|-02.03|SinkBasin": [ + -1.5, + -1.75, + 180, + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan420-layout.npy b/gen/layouts/FloorPlan420-layout.npy index 442e5057f1d15d18b0231cbb961b77465b5d445f..3d239dd2e8222e42f8e0272eedc659e483177ba4 100644 GIT binary patch delta 23 fcmX@WvVmoS9i#b1dv(T%?*u0MF>*}qW84G)UVR7T delta 22 ecmdnMa)4!m9izoYdv(T%^8_aTPDVN6m0F~tPd delta 26 ecmaFB@_}W79i!n!dv+$yKl>TLfM>EjlOh0a9tM{H diff --git a/gen/layouts/FloorPlan421-objects.json b/gen/layouts/FloorPlan421-objects.json index 4f8a2a5ee..bd4cc8834 100644 --- a/gen/layouts/FloorPlan421-objects.json +++ b/gen/layouts/FloorPlan421-objects.json @@ -1,28 +1,29 @@ [ - "Toilet", - "ShowerGlass", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", "Cloth", "SprayBottle", - "SinkBasin", - "Drawer", - "Plunger", + "ScrubBrush", "GarbageCan", - "DishSponge", + "ShowerGlass", "LightSwitch", + "TowelHolder", + "ShowerDoor", + "Towel", + "ShowerHead", "SoapBar", + "ToiletPaper", + "ToiletPaperHanger", "Mirror", "Candle", - "ToiletPaperHanger", - "TowelHolder", + "Toilet", + "HandTowelHolder", "Faucet", - "ShowerDoor", - "ShowerHead" + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan421-openable.json b/gen/layouts/FloorPlan421-openable.json index 744d5b843..84da9c038 100644 --- a/gen/layouts/FloorPlan421-openable.json +++ b/gen/layouts/FloorPlan421-openable.json @@ -1,67 +1,67 @@ { "CounterTop|-00.35|+00.01|+01.45": [ -1.0, - 1.75, + 2.0, 90, 30 ], "Drawer|-00.32|+00.32|+01.46": [ -1.5, 2.0, - 90, + 180, 30 ], "Drawer|-00.32|+00.32|+02.50": [ -1.5, - 2.0, - 90, + 3.0, + 180, 30 ], "Drawer|-00.32|+00.32|+03.01": [ -1.5, 2.5, - 90, + 0, 30 ], "Drawer|-00.32|+00.62|+01.46": [ -1.25, - 1.75, - 90, + 2.0, + 180, 30 ], "Drawer|-00.32|+00.62|+01.98": [ -1.25, - 2.25, - 90, + 2.5, + 180, 30 ], "Drawer|-00.32|+00.62|+02.50": [ -1.25, - 2.75, - 90, + 3.0, + 180, 30 ], "Drawer|-00.32|+00.62|+03.01": [ -1.25, - 2.75, - 90, + 2.5, + 0, 30 ], "Sink|-00.30|+00.81|+01.73|SinkBasin": [ -1.0, - 2.0, - 90, + 2.25, + 180, 30 ], "Sink|-00.30|+00.81|+02.75|SinkBasin": [ -1.0, - 2.5, - 90, + 2.25, + 0, 30 ], "Toilet|-00.60|00.00|+03.67": [ -1.0, - 3.25, + 3.0, 90, 30 ] diff --git a/gen/layouts/FloorPlan422-layout.npy b/gen/layouts/FloorPlan422-layout.npy index a8eb9bcdc9788a411dff823868fb8117f272a92d..449c1e849a9bc8adcb42330c8ef839f800955870 100644 GIT binary patch delta 45 ycmZo*o4`83mdV(7qP;s8+W`hJcws-W!ENHTg2`!&3nrT}IZSS2GMIdf$qE1}Xbutp delta 100 zcmbQh+Q2r!mdV6mqP_dXX%37(CLXUB{IH(^3_jRH=m(R{8P{t*fQo*BiZUF4$o_!x Y|3Kw`Ouo7XSbN diff --git a/gen/layouts/FloorPlan422-objects.json b/gen/layouts/FloorPlan422-objects.json index b573efe84..e5d6b0303 100644 --- a/gen/layouts/FloorPlan422-objects.json +++ b/gen/layouts/FloorPlan422-objects.json @@ -1,31 +1,33 @@ [ - "Shelf", - "Toilet", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", - "ShowerCurtain", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Bathtub", - "Cloth", + "Cabinet", "SprayBottle", - "SinkBasin", - "Window", - "Drawer", - "BathtubBasin", - "Plunger", + "Cloth", + "ScrubBrush", "GarbageCan", + "Window", "LightSwitch", + "Shelf", + "TowelHolder", + "Bathtub", + "Towel", + "ShowerHead", "SoapBar", + "BathtubBasin", + "ToiletPaper", + "ToiletPaperHanger", "Mirror", "Candle", - "TowelHolder", - "ToiletPaperHanger", - "Faucet", "TissueBox", - "Cabinet" + "Toilet", + "HandTowelHolder", + "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "ShowerCurtain", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan422-openable.json b/gen/layouts/FloorPlan422-openable.json index 809cf01d9..2cd3b6f30 100644 --- a/gen/layouts/FloorPlan422-openable.json +++ b/gen/layouts/FloorPlan422-openable.json @@ -1,51 +1,69 @@ { "Bathtub|-03.45|+00.18|+01.03|BathtubBasin": [ - -2.5, + -2.75, 1.25, 270, 30 ], "Cabinet|-00.61|+00.46|+00.52": [ -1.25, - 1.5, - 180, + 1.25, + 90, 30 ], "Cabinet|-00.61|+01.99|+00.52": [ - -0.75, - 1.25, + -1.25, + 1.0, 180, - 0 + -30 ], "Cabinet|-01.89|+00.44|+01.98": [ -1.25, 1.75, - 270, + 0, 30 ], "Cabinet|-01.89|+01.88|+02.39": [ -1.25, - 2.0, + 2.25, 270, - -30 + 0 ], "Cabinet|-02.34|+00.46|+00.52": [ -1.75, - 1.5, + 1.0, 180, 30 ], "CounterTop|-00.81|+00.09|+00.29": [ - -1.0, + -1.25, 1.0, 180, + 0 + ], + "CounterTop|-01.92|+00.00|+00.29": [ + -2.0, + 0.75, + 180, 30 ], + "Drawer|-00.81|+00.96|+00.38": [ + -1.5, + 1.0, + 90, + 0 + ], + "Drawer|-02.03|+00.94|+02.19": [ + -1.5, + 1.5, + 0, + 0 + ], "Shelf|-02.03|+01.18|+02.19": [ -1.25, - 2.25, + 1.75, 270, - 30 + 0 ], "Shelf|-02.12|+01.39|+02.19": [ -1.25, @@ -56,11 +74,11 @@ "Sink|-01.93|+00.77|+00.33|SinkBasin": [ -2.5, 0.75, - 90, + 180, 30 ], "Toilet|-00.46|00.00|+02.26": [ - -1.25, + -1.0, 2.25, 90, 30 diff --git a/gen/layouts/FloorPlan423-layout.npy b/gen/layouts/FloorPlan423-layout.npy index 4c02c87a7623d2c3c9491111c78b5ece51b429b8..6535129554d38c8088434c4e37b2363c738c8a2c 100644 GIT binary patch delta 27 fcmZqRn7}c?j?sLheK;d0+W`hJ__4X4v5*M>VpRt0 delta 17 YcmbQh(ZDgmj?rwReK_OhWsF%&05A9jGynhq diff --git a/gen/layouts/FloorPlan423-objects.json b/gen/layouts/FloorPlan423-objects.json index d7d6466a2..4bffeb001 100644 --- a/gen/layouts/FloorPlan423-objects.json +++ b/gen/layouts/FloorPlan423-objects.json @@ -1,31 +1,32 @@ [ - "Toilet", - "ShowerGlass", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", - "ShowerCurtain", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Bathtub", "Cloth", "SprayBottle", - "SinkBasin", - "Window", - "Drawer", - "BathtubBasin", - "Plunger", + "ScrubBrush", "GarbageCan", + "Window", + "ShowerGlass", "LightSwitch", + "TowelHolder", + "ShowerDoor", + "Bathtub", + "Towel", + "ShowerHead", "SoapBar", + "BathtubBasin", + "ToiletPaper", + "ToiletPaperHanger", "Mirror", "Candle", - "TowelHolder", - "ToiletPaperHanger", + "Toilet", + "HandTowelHolder", "Faucet", - "ShowerDoor", - "ShowerHead" + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "ShowerCurtain", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan423-openable.json b/gen/layouts/FloorPlan423-openable.json index e766e0a80..a982318c4 100644 --- a/gen/layouts/FloorPlan423-openable.json +++ b/gen/layouts/FloorPlan423-openable.json @@ -1,79 +1,85 @@ { "Bathtub|-03.59|+00.11|+01.52|BathtubBasin": [ - -2.75, - 1.0, + -3.0, + 1.25, 270, 30 ], "CounterTop|-00.28|+00.79|+01.93": [ - -1.0, - 2.75, + -1.25, + 2.25, 90, - 30 + 0 ], "CounterTop|-02.54|+00.81|+00.28": [ -1.75, - 1.0, - 180, + 0.75, + 270, 30 ], "Drawer|-00.33|+00.32|+01.72": [ -1.5, 2.25, - 90, + 180, 30 ], "Drawer|-00.33|+00.32|+02.16": [ -1.5, 2.75, - 90, + 180, 30 ], "Drawer|-00.33|+00.32|+02.59": [ -1.5, 2.0, - 90, + 0, 30 ], "Drawer|-00.33|+00.32|+03.03": [ -1.5, 2.5, - 90, + 0, 30 ], "Drawer|-00.33|+00.62|+02.59": [ -1.25, - 2.25, - 90, + 2.0, + 0, 30 ], "Drawer|-00.33|+00.62|+03.03": [ - -1.5, + -1.25, 2.5, - 90, + 0, 30 ], "Drawer|-02.25|+00.32|+00.28": [ -1.5, - 1.75, - 180, + 1.5, + 270, 30 ], "Drawer|-02.84|+00.32|+00.28": [ -2.25, - 1.75, + 1.5, + 270, + 30 + ], + "GarbageCan|-01.75|+00.00|+00.23": [ + -2.0, + 0.75, 180, 30 ], "Sink|-00.26|+00.66|+01.92|SinkBasin": [ -1.0, - 2.25, - 90, + 2.5, + 180, 30 ], - "Sink|-02.54|+00.66|+00.25|SinkBasin": [ - -1.75, - 0.75, + "Toilet|-02.84|+00.00|+02.76": [ + -2.25, + 2.5, 270, 30 ] diff --git a/gen/layouts/FloorPlan424-objects.json b/gen/layouts/FloorPlan424-objects.json index be3a5d80d..408081d86 100644 --- a/gen/layouts/FloorPlan424-objects.json +++ b/gen/layouts/FloorPlan424-objects.json @@ -1,26 +1,28 @@ [ - "Toilet", - "ShowerGlass", - "CounterTop", - "ScrubBrush", - "SoapBottle", - "HandTowelHolder", - "Sink", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Cloth", + "Cabinet", "SprayBottle", - "SinkBasin", - "Plunger", + "Cloth", + "ScrubBrush", "GarbageCan", + "ShowerGlass", "LightSwitch", + "TowelHolder", + "ShowerDoor", + "Towel", + "ShowerHead", "SoapBar", + "ToiletPaper", + "ToiletPaperHanger", "Mirror", "Candle", - "TowelHolder", - "ToiletPaperHanger", + "Toilet", + "HandTowelHolder", "Faucet", - "ShowerDoor", - "Cabinet" + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan424-openable.json b/gen/layouts/FloorPlan424-openable.json index 36b4afe17..eeb737682 100644 --- a/gen/layouts/FloorPlan424-openable.json +++ b/gen/layouts/FloorPlan424-openable.json @@ -1,49 +1,49 @@ { "Cabinet|-00.49|+00.41|+02.06": [ - -1.5, - 1.75, - 90, + -1.25, + 2.75, + 180, 30 ], "Cabinet|-00.49|+00.41|+02.86": [ - -1.75, - 2.75, - 90, + -1.25, + 2.5, + 0, 30 ], "Cabinet|-00.50|+00.38|+02.84": [ - -1.5, - 2.0, - 90, + -1.25, + 2.25, + 0, 30 ], "Cabinet|-00.50|+00.38|+03.65": [ - -1.5, + -1.25, 3.0, - 90, + 0, 30 ], "CounterTop|-00.26|+00.93|+02.84": [ - -1.0, - 2.5, + -0.75, + 3.25, 90, 30 ], "Sink|-00.30|+00.80|+02.42|SinkBasin": [ - -1.0, - 2.25, + -0.75, + 2.75, 90, 30 ], "Sink|-00.30|+00.80|+03.26|SinkBasin": [ - -1.0, - 3.0, + -0.75, + 3.5, 90, 30 ], "Toilet|-00.54|+00.00|+01.49": [ -0.75, - 2.5, + 2.0, 180, 30 ] diff --git a/gen/layouts/FloorPlan425-objects.json b/gen/layouts/FloorPlan425-objects.json index b6cf13ea6..15a58cac8 100644 --- a/gen/layouts/FloorPlan425-objects.json +++ b/gen/layouts/FloorPlan425-objects.json @@ -1,29 +1,30 @@ [ - "Toilet", - "ShowerGlass", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Cloth", + "Cabinet", "SprayBottle", - "SinkBasin", - "Window", - "Plunger", + "Cloth", + "ScrubBrush", "GarbageCan", + "Window", + "ShowerGlass", "LightSwitch", + "TowelHolder", + "ShowerDoor", + "Towel", + "ShowerHead", "SoapBar", + "ToiletPaper", + "ToiletPaperHanger", "Mirror", "Candle", - "TowelHolder", - "ToiletPaperHanger", - "Faucet", - "ShowerDoor", "TissueBox", - "ShowerHead", - "Cabinet" + "Toilet", + "HandTowelHolder", + "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan425-openable.json b/gen/layouts/FloorPlan425-openable.json index 5aa978ff0..1ca48eec9 100644 --- a/gen/layouts/FloorPlan425-openable.json +++ b/gen/layouts/FloorPlan425-openable.json @@ -2,36 +2,54 @@ "Cabinet|-01.19|+00.39|+02.13": [ -0.25, 3.0, - 270, + 180, 30 ], "Cabinet|-01.19|+00.39|+03.03": [ - -0.25, + -0.5, 2.25, - 270, + 0, 30 ], "Cabinet|-01.19|+00.39|+03.06": [ - -0.25, + -0.5, 2.75, - 270, + 0, 30 ], "Cabinet|-01.19|+00.39|+03.97": [ - -0.25, + -0.5, 3.25, - 270, + 0, 30 ], "CounterTop|-01.35|+00.97|+02.95": [ + -1.0, + 2.0, + 270, + 30 + ], + "GarbageCan|+00.21|+00.00|+03.77": [ + -0.5, + 3.25, + 0, + 30 + ], + "Sink|-01.33|+00.96|+02.57|SinkBasin": [ -0.75, 3.0, - 270, + 180, + 30 + ], + "Sink|-01.33|+00.96|+03.51|SinkBasin": [ + -0.75, + 3.0, + 0, 30 ], "Toilet|-00.04|+00.09|+01.73": [ -0.25, - 2.75, + 2.25, 180, 30 ] diff --git a/gen/layouts/FloorPlan426-layout.npy b/gen/layouts/FloorPlan426-layout.npy index 3ddd1d6871517619a6696471fcd62a2fa876d2f2..94321de9af5333766e5e23000868aeba99b81892 100644 GIT binary patch delta 27 jcmZ3$K7oCLEt84mM00B_mKlT7>6AaJ* delta 31 kcmcb>zJYy$9i!n!`{hiNzcD3DPGe5s`mmn?4F1>y0JIqjV*mgE diff --git a/gen/layouts/FloorPlan427-objects.json b/gen/layouts/FloorPlan427-objects.json index 6e56b52d5..bd1f1385d 100644 --- a/gen/layouts/FloorPlan427-objects.json +++ b/gen/layouts/FloorPlan427-objects.json @@ -1,30 +1,32 @@ [ - "Toilet", - "CounterTop", - "SoapBottle", - "ScrubBrush", - "HandTowelHolder", - "Sink", - "ShowerCurtain", + "Floor", "HandTowel", - "Towel", - "ToiletPaper", - "Bathtub", "Cloth", "SprayBottle", - "SinkBasin", - "Drawer", - "BathtubBasin", - "Plunger", + "ScrubBrush", "GarbageCan", - "DishSponge", "LightSwitch", - "Candle", - "Mirror", - "SoapBar", "TowelHolder", + "Bathtub", + "Towel", + "ShowerHead", + "SoapBar", + "PaperTowelRoll", + "BathtubBasin", + "ToiletPaper", "ToiletPaperHanger", - "Faucet", + "Mirror", + "Candle", "TissueBox", - "PaperTowelRoll" + "Toilet", + "HandTowelHolder", + "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "ShowerCurtain", + "Plunger" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan427-openable.json b/gen/layouts/FloorPlan427-openable.json index 148c008be..47408b527 100644 --- a/gen/layouts/FloorPlan427-openable.json +++ b/gen/layouts/FloorPlan427-openable.json @@ -1,68 +1,80 @@ { "Bathtub|-03.71|+00.34|+00.64|BathtubBasin": [ -2.75, - 0.5, - 270, + 0.0, + 0, 30 ], "CounterTop|-02.80|+00.00|-00.59": [ - -2.25, - 0.25, + -2.0, + 0.0, 180, 30 ], "Drawer|-01.44|+00.27|-00.62": [ -2.0, 0.5, - 180, + 90, 30 ], "Drawer|-01.44|+00.53|-00.62": [ - -2.0, - 0.5, - 180, + -1.0, + 0.25, + 270, 30 ], "Drawer|-01.89|+00.27|-00.62": [ -2.5, 0.5, - 180, + 90, 30 ], "Drawer|-01.89|+00.53|-00.62": [ - -2.5, - 0.5, + -1.0, + 0.75, 180, - 30 + 0 ], "Drawer|-02.34|+00.27|-00.62": [ -1.75, 0.5, - 180, + 270, 30 ], "Drawer|-02.34|+00.53|-00.62": [ - -1.75, - 0.5, + -1.5, + 0.75, 180, - 30 + 0 ], "Drawer|-02.79|+00.27|-00.62": [ -2.25, 0.5, - 180, + 270, 30 ], "Drawer|-02.79|+00.53|-00.62": [ -2.25, - 0.5, - 180, + 0.25, + 270, + 30 + ], + "GarbageCan|-01.56|00.00|+01.91": [ + -1.0, + 1.25, + 270, 30 ], "Sink|-01.92|+00.44|+02.03|SinkBasin": [ - -1.75, + -2.25, 1.5, - 0, + 90, + 30 + ], + "Toilet|-00.72|+00.00|-00.31": [ + -1.25, + 0.0, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan428-layout.npy b/gen/layouts/FloorPlan428-layout.npy index 1eb9160145d3eb25047d3936b3dae8a3b3f553c3..4d05afd33ca78e48ea22de8363f5091fea6c55c9 100644 GIT binary patch delta 47 ycmeys{(xaM=V9x*sJPrVp1`cHa delta 115 zcmaFB_JMtZEt9F~MEm2MANDhV0n^0)=1dF>lQkIMF}|40&eRVi+rcC|vpnO6$>PlR YRuGj83_K1H)&+YA4dXvR%hi_XH1jlF-c6$W3HI&$0RU$9}~yqcg#%yVn7dV delta 31 ncmZ3$`GI4C9i#C?d-sjg9xzRAV{Vwdk4a#%9y7;eJ(eN>yx*SZ9!%cG G`U?QlkP}=0 delta 53 zcmZ3$yMcFt9i!z&`|pgC?=cEYj$`5g;)>1Bm@Y6faX3s4U=*9YkA;Kr#pLZQ?-@BZ JPiN(11OWCP5!e6# diff --git a/gen/layouts/FloorPlan5-objects.json b/gen/layouts/FloorPlan5-objects.json index a7cc40324..cd94c7bcf 100644 --- a/gen/layouts/FloorPlan5-objects.json +++ b/gen/layouts/FloorPlan5-objects.json @@ -1,45 +1,47 @@ [ - "Shelf", - "Ladle", - "Statue", - "CounterTop", - "SoapBottle", - "Sink", - "Plate", - "Fork", - "HousePlant", + "Floor", + "Cabinet", + "Apple", + "Stool", + "Bowl", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", "PepperShaker", + "ShelvingUnit", + "GarbageCan", + "HousePlant", + "Spoon", + "LightSwitch", + "Pan", + "Shelf", + "Ladle", + "StoveKnob", "Potato", - "Bowl", + "Pot", + "PaperTowelRoll", + "Tomato", + "Spatula", + "Fridge", + "Vase", + "Kettle", + "Cup", + "SaltShaker", + "Microwave", "Lettuce", - "Toaster", + "Statue", "Egg", - "Pan", - "Chair", - "Apple", + "Faucet", "SinkBasin", - "Fridge", - "Mug", + "Sink", + "CounterTop", + "SoapBottle", "Drawer", - "Cup", - "Bread", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", - "GarbageCan", "DishSponge", - "LightSwitch", - "StoveBurner", - "Faucet", - "Kettle", - "Vase", - "PaperTowelRoll", + "Bread", + "Knife", + "Fork", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "StoveBurner", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan5-openable.json b/gen/layouts/FloorPlan5-openable.json index 91ca63469..a51ae872d 100644 --- a/gen/layouts/FloorPlan5-openable.json +++ b/gen/layouts/FloorPlan5-openable.json @@ -1,123 +1,87 @@ { - "Cabinet|+00.12|+02.27|-02.00": [ - 0.25, - -1.25, - 180, - -30 - ], "Cabinet|+00.20|+02.02|-02.00": [ - 0.5, + 0.75, -1.25, 180, - -30 + 0 ], "Cabinet|+01.18|+02.02|-02.00": [ 1.0, -1.25, 180, - -30 + 0 ], - "Cabinet|+01.38|+00.46|-01.69": [ - 1.0, + "Cabinet|+01.39|+00.47|-01.06": [ + 0.75, -0.75, 180, 30 ], - "Cabinet|+01.39|+00.47|-01.06": [ - 0.5, - -1.0, - 90, - 30 - ], "Cabinet|+01.74|+02.02|-02.00": [ 1.0, -1.25, 180, - -30 + 0 ], "Cabinet|+01.75|+02.02|-01.03": [ 1.0, - -1.25, + -0.75, 90, - -30 + 0 ], "Cabinet|+01.75|+02.02|-01.40": [ 1.0, -1.25, 90, - -30 + 0 ], "Cabinet|-00.42|+00.37|-00.01": [ - -0.25, - -1.0, - 0, + 0.5, + -0.75, + 270, 30 ], "Cabinet|-00.45|+00.47|-00.01": [ - -0.5, + 0.0, -1.0, - 0, + 270, 30 ], - "Cabinet|-00.46|+02.27|-02.00": [ - 0.0, - -1.25, - 180, - -30 - ], "Cabinet|-00.82|+00.47|-01.69": [ -0.25, - -0.75, - 180, + -1.0, + 270, 30 ], "Cabinet|-00.84|+00.47|-00.05": [ - 0.0, - -0.5, - 270, + -0.25, + -0.75, + 0, 30 ], "Cabinet|-00.84|+00.47|-01.67": [ 0.0, -1.0, - 270, - 30 - ], - "Cabinet|-01.10|+02.02|-02.00": [ - -0.5, - -1.25, 180, - -30 + 30 ], "Cabinet|-01.15|+02.02|+00.38": [ -0.5, -0.25, 270, - -30 + 0 ], "Cabinet|-01.15|+02.02|-00.77": [ -0.5, -0.5, 270, - -30 + 0 ], "Cabinet|-01.15|+02.02|-01.98": [ - -0.25, - -1.25, - 270, - -30 - ], - "Cabinet|-01.15|+02.27|-00.84": [ -0.5, -1.25, 270, - -30 - ], - "Cabinet|-01.15|+02.27|-01.42": [ - -0.5, - -1.0, - 270, - -30 + 0 ], "CounterTop|+01.16|+00.95|-02.01": [ 1.0, @@ -126,69 +90,69 @@ 30 ], "CounterTop|-00.63|+01.17|+00.57": [ - 0.5, - 0.75, - 270, - 30 + 0.0, + 1.25, + 180, + 0 ], "CounterTop|-00.67|+00.95|+00.19": [ -0.5, - -0.5, + -0.25, 0, 30 ], "Drawer|-00.07|+00.75|-00.01": [ - 0.75, - -0.5, - 270, - 30 + 0.5, + -1.0, + 0, + 0 ], "Drawer|-00.45|+00.75|-00.01": [ - 0.0, + -0.25, -0.5, 270, 30 ], "Drawer|-00.82|+00.75|-01.69": [ - 0.0, - -1.25, - 270, - 30 + -0.5, + -0.75, + 180, + 0 ], "Fridge|+01.98|+00.00|-00.54": [ 1.0, - -0.75, + -0.5, + 90, + 30 + ], + "GarbageCan|+01.92|-00.01|+00.14": [ + 1.25, + 0.25, 90, 30 ], "Microwave|+01.83|+00.90|-01.35": [ 1.0, - -1.25, + -1.0, 90, - 30 + 0 ], - "Shelf|+02.81|+00.16|+00.14": [ - 2.75, - 1.5, + "Shelf|+02.76|+00.55|+00.15": [ + 2.25, + 0.75, 180, 30 ], - "Shelf|+02.81|+00.54|+00.14": [ - 2.5, - 1.25, + "Shelf|+02.76|+00.88|+00.14": [ + 2.25, + 1.0, 180, - 30 - ], - "Shelf|+02.81|+00.87|+00.14": [ - 2.0, - 0.75, - 90, - 30 + 0 ], "Sink|-00.12|+00.88|-02.01|SinkBasin": [ - 0.0, + -0.5, -1.25, 180, - 30 + 0 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan6-layout.npy b/gen/layouts/FloorPlan6-layout.npy index 2afba7a6048df5caf5d4cad428ac05ba4036a385..b70a48b18036b68d96182f4163e5569a28dee732 100644 GIT binary patch delta 71 zcmaDLctK!-9g~siLJO8@`> delta 107 zcmcbhctB}_J)^}&hiOcVY@3fWgwn1!yJ)_}7hp>&yW^n-kEz1SK delta 17 YcmdlWc0g=`J)_Y?hcHH#jqNMB05uu~wg3PC diff --git a/gen/layouts/FloorPlan8-objects.json b/gen/layouts/FloorPlan8-objects.json index 805b35410..b5d264803 100644 --- a/gen/layouts/FloorPlan8-objects.json +++ b/gen/layouts/FloorPlan8-objects.json @@ -1,45 +1,46 @@ [ - "Ladle", - "CounterTop", - "SoapBottle", - "Plate", - "Sink", - "HousePlant", - "Fork", - "CoffeeMachine", - "Knife", - "Spatula", - "PepperShaker", - "Glassbottle", - "Potato", - "Lettuce", - "Bowl", - "Toaster", - "Pen", - "Egg", + "Floor", + "Cabinet", "SprayBottle", - "Pan", - "Chair", - "SinkBasin", "Apple", - "Fridge", - "Window", - "Mug", - "Drawer", - "Cup", - "Bread", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", + "Stool", + "Bowl", + "CoffeeMachine", + "Toaster", + "PepperShaker", "GarbageCan", - "DishSponge", + "HousePlant", + "Window", + "Spoon", "LightSwitch", + "Pan", + "Ladle", + "Bottle", + "StoveKnob", "StoveBurner", + "Pot", + "Tomato", + "Spatula", + "Fridge", + "Pen", "Kettle", + "Cup", + "SaltShaker", + "Microwave", + "Lettuce", + "Egg", "Faucet", + "SinkBasin", + "Sink", + "CounterTop", + "SoapBottle", + "Drawer", + "DishSponge", + "Bread", + "Knife", + "Fork", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "Potato", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan8-openable.json b/gen/layouts/FloorPlan8-openable.json index be322efb6..4973e6f5d 100644 --- a/gen/layouts/FloorPlan8-openable.json +++ b/gen/layouts/FloorPlan8-openable.json @@ -3,89 +3,83 @@ 0.5, -0.75, 180, - -30 + 0 ], "Cabinet|+00.83|+00.40|-01.39": [ - 0.25, + 0.0, -0.5, - 180, + 90, 30 ], "Cabinet|+00.86|+00.40|+00.67": [ 0.0, - 0.0, - 90, + 1.0, + 180, 30 ], "Cabinet|+00.86|+00.40|-00.55": [ - 0.0, + 0.25, -0.25, - 90, + 180, 30 ], "Cabinet|+00.86|+00.40|-01.37": [ 0.0, - -0.75, - 90, + -0.5, + 180, 30 ], "Cabinet|+01.16|+02.06|-00.34": [ 0.5, -0.75, 90, - -30 + 0 ], "Cabinet|+01.16|+02.06|-01.02": [ 0.25, -1.0, 90, - -30 + 0 ], "Cabinet|-00.19|+02.06|-01.69": [ - 0.25, + 0.0, -1.0, 180, - -30 + 0 ], "Cabinet|-00.20|+00.40|-01.39": [ - 0.5, -0.5, - 180, + -0.5, + 90, 30 ], "Cabinet|-00.24|+00.40|-01.39": [ -0.75, - -0.5, - 180, - 30 - ], - "Cabinet|-00.69|+00.75|-01.39": [ - -1.0, -0.75, - 180, + 90, 30 ], "Cabinet|-00.82|+00.40|-01.39": [ -0.25, - -0.5, - 180, + -0.75, + 270, 30 ], "Cabinet|-00.82|+02.06|-01.69": [ - -0.5, + -0.25, -1.0, 180, - -30 + 0 ], "Cabinet|-00.87|+02.01|-01.69": [ - -1.25, - -0.5, + -0.25, + -0.75, 180, 0 ], "Cabinet|-01.61|+02.01|-01.69": [ + -2.0, -1.0, - -0.5, 180, 0 ], @@ -93,18 +87,18 @@ -2.0, -1.0, 180, - -30 + 0 ], "Cabinet|-01.67|+00.40|-01.39": [ - -1.5, - -0.5, - 180, + -2.25, + -0.75, + 90, 30 ], "Cabinet|-02.24|+00.40|-01.39": [ - -1.5, - -0.5, - 180, + -2.5, + -0.75, + 90, 30 ], "CounterTop|+01.17|+00.95|-00.65": [ @@ -120,81 +114,87 @@ 0 ], "CounterTop|-01.97|+00.95|-01.71": [ - -2.0, - -1.0, - 180, + -2.5, + -1.25, + 90, 30 ], "CounterTop|-02.10|+00.95|+00.29": [ - -2.0, - -0.5, + -1.5, + -0.25, 0, 30 ], "Drawer|+00.59|+00.75|-01.39": [ - -0.25, - -1.0, - 90, - 30 + 0.0, + -0.5, + 180, + 0 ], "Drawer|+00.86|+00.75|+00.43": [ - 0.25, - 0.25, + 0.0, + 1.0, 90, - 30 + 0 ], "Drawer|+00.86|+00.75|-00.70": [ - 0.25, - -1.0, + 0.0, + 0.0, 90, - 30 + 0 ], "Drawer|+00.87|+00.75|-01.14": [ 0.0, - -0.75, + -1.0, 90, - 30 + 0 ], "Drawer|-00.38|+00.75|-01.39": [ - -1.0, - -1.0, + -0.75, + -0.75, 90, 30 ], - "Drawer|-01.80|+00.75|-01.39": [ - -1.25, - -1.0, + "Drawer|-00.69|+00.75|-01.39": [ + -0.25, + -0.75, 270, 30 ], + "Drawer|-01.80|+00.75|-01.39": [ + -2.25, + -0.75, + 90, + 30 + ], "Drawer|-02.11|+00.75|-01.39": [ - -1.5, - -1.0, - 270, + -2.5, + -0.75, + 90, 30 ], "Fridge|+01.42|+00.00|+02.10": [ 0.5, - 2.25, + 2.0, 90, 0 ], - "GarbageCan|+01.38|+00.00|+01.08": [ - 0.25, - 1.75, - 90, + "GarbageCan|+01.34|+00.02|+01.04": [ + 0.5, + 0.5, + 0, 30 ], "Microwave|+01.42|+01.15|+00.02": [ 0.5, - 0.0, + 0.5, 90, - 30 + 0 ], "Sink|+00.16|+00.82|-01.80|SinkBasin": [ - -0.25, + -0.5, -1.0, - 180, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan9-layout.npy b/gen/layouts/FloorPlan9-layout.npy index d14724e9428901487408170d436ed3222e2610ca..6f959226bb10aa153bf2ec5e7d73853ab00273d5 100644 GIT binary patch delta 30 mcmX@WwSa4a9iz!ad-sjg5||h{Ha};QXPhj?a$xc^mM8$7MG8Rx delta 43 wcmZ3$b%1Mv9i!Pqdv~rM`x(IC#r};AX-u2HF$pj-vQ7TZe4deI@^+R?06H`dZ2$lO diff --git a/gen/layouts/FloorPlan9-objects.json b/gen/layouts/FloorPlan9-objects.json index 509227cad..15aa5a251 100644 --- a/gen/layouts/FloorPlan9-objects.json +++ b/gen/layouts/FloorPlan9-objects.json @@ -1,41 +1,42 @@ [ - "CounterTop", - "SoapBottle", - "Plate", - "Sink", - "Fork", + "Floor", + "Cabinet", + "Apple", + "Toaster", "CoffeeMachine", - "Knife", - "Spatula", + "Bowl", "PepperShaker", + "Chair", + "GarbageCan", + "Window", + "Spoon", + "LightSwitch", + "Pan", + "StoveKnob", "Potato", + "Pot", + "Tomato", + "Spatula", + "Fridge", + "Kettle", + "DiningTable", + "Cup", + "SaltShaker", + "Microwave", "Lettuce", - "Bowl", - "Toaster", "Egg", - "Pan", - "Apple", + "Faucet", "SinkBasin", - "Chair", - "Fridge", - "Window", - "Mug", + "Sink", + "CounterTop", + "SoapBottle", "Drawer", - "Bread", - "Cup", - "Pot", - "StoveKnob", - "Microwave", - "SaltShaker", - "GarbageCan", "DishSponge", - "LightSwitch", - "DiningTable", - "StoveBurner", - "Faucet", - "Kettle", + "Bread", + "Fork", + "Knife", "ButterKnife", - "Tomato", - "Cabinet", - "Spoon" + "StoveBurner", + "Plate", + "Mug" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan9-openable.json b/gen/layouts/FloorPlan9-openable.json index 5be23cb49..3888a6b08 100644 --- a/gen/layouts/FloorPlan9-openable.json +++ b/gen/layouts/FloorPlan9-openable.json @@ -1,261 +1,261 @@ { "Cabinet|+00.02|+02.01|+01.31": [ - -0.25, + -0.5, 0.75, 0, - -30 + 0 ], "Cabinet|+00.07|+02.26|+01.31": [ 0.0, 0.5, 0, - -30 + 0 ], "Cabinet|+00.33|+02.01|-00.61": [ 0.0, 0.0, 180, - -30 + 0 ], "Cabinet|+00.36|+02.01|-00.61": [ 0.25, 0.0, 180, - -30 + 0 ], "Cabinet|+00.97|+02.26|+01.31": [ - 1.0, + 0.25, 0.5, 0, - -30 + 0 ], "Cabinet|+00.98|+02.01|-00.61": [ - 0.5, - 0.25, + 1.25, + 0.0, 180, - -30 + 0 ], "Cabinet|+01.02|+00.40|-00.30": [ 1.75, 0.5, - 180, + 270, 30 ], "Cabinet|+01.02|+02.01|-00.61": [ - 1.25, + 1.5, 0.0, 180, - -30 + 0 ], "Cabinet|+01.03|+00.40|+01.00": [ 1.75, - 0.0, - 0, + 0.25, + 270, 30 ], "Cabinet|+01.03|+02.01|+01.31": [ - 1.25, + 1.5, 0.75, 0, - -30 + 0 ], "Cabinet|+01.67|+00.40|-00.30": [ 1.0, 0.5, - 180, + 90, 30 ], "Cabinet|+01.67|+02.01|+01.31": [ - 1.5, + 1.75, 0.75, 0, - -30 + 0 ], "Cabinet|+01.68|+00.40|+01.00": [ - 2.0, - 0.0, - 0, + 1.0, + 0.25, + 90, 30 ], "Cabinet|+01.68|+02.01|-00.61": [ - 1.75, + 1.25, 0.0, 180, - -30 + 0 ], "Cabinet|+01.72|+00.40|+01.00": [ 2.25, 0.25, - 0, + 270, 30 ], "Cabinet|+01.72|+00.40|-00.30": [ - 2.25, + 2.5, 0.5, - 180, + 270, 30 ], "Cabinet|+01.72|+02.01|-00.61": [ - 2.0, + 1.5, 0.0, 180, - -30 + 0 ], "Cabinet|+01.73|+02.01|+01.31": [ - 2.0, + 1.5, 0.75, 0, - -30 + 0 ], "Cabinet|+02.33|+00.40|+01.00": [ 1.75, - 0.0, - 0, + 0.25, + 90, 30 ], "Cabinet|+02.33|+02.01|+01.31": [ - 2.0, + 2.25, 0.75, 0, - -30 + 0 ], "Cabinet|+02.35|+00.40|-00.30": [ 1.75, 0.5, - 180, + 90, 30 ], "Cabinet|+02.35|+02.01|-00.61": [ - 2.0, + 1.75, 0.0, 180, - -30 + 0 ], "Cabinet|+02.37|+00.40|+01.00": [ - 2.0, - 0.0, - 0, + 3.0, + 0.25, + 270, 30 ], "Cabinet|+02.37|+02.01|+01.31": [ - 2.5, + 2.25, 0.75, 0, - -30 + 0 ], "Cabinet|+02.98|+00.40|+01.00": [ 2.25, 0.25, - 0, + 90, 30 ], "Cabinet|+02.99|+02.01|+01.31": [ - 2.75, + 3.0, 0.75, 0, - -30 + 0 ], "Cabinet|-00.27|+00.40|+01.00": [ 0.25, - 0.0, - 0, + 0.25, + 270, 30 ], "Cabinet|-00.28|+02.01|-00.61": [ 0.0, 0.0, 180, - -30 + 0 ], "CounterTop|+01.36|+00.95|-00.60": [ - 1.0, - 0.25, + 1.25, + 0.0, 180, 30 ], "CounterTop|+01.92|+00.95|+01.30": [ - 2.25, - 0.5, + 1.25, + 0.75, 0, 30 ], "CounterTop|-00.16|+00.95|+01.30": [ -0.75, - 1.0, - 90, + 0.75, + 0, 30 ], - "DiningTable|-00.84|+00.79|-01.26": [ + "DiningTable|-00.84|00.00|-01.26": [ -1.25, - -0.25, + -0.75, 180, 30 ], "Drawer|+01.17|+00.79|-00.30": [ 1.5, 0.25, - 180, + 270, 30 ], "Drawer|+01.18|+00.79|+01.00": [ - 0.75, + 1.75, 0.25, - 0, + 270, 30 ], "Drawer|+01.52|+00.79|-00.30": [ 1.25, 0.25, - 180, + 90, 30 ], "Drawer|+01.53|+00.79|+01.00": [ - 1.25, + 1.0, 0.25, - 0, + 90, 30 ], "Drawer|+01.86|+00.79|+01.00": [ - 1.5, - 0.25, + 1.25, + 0.0, 0, - 30 + 0 ], "Drawer|+01.87|+00.79|-00.30": [ 1.5, 0.25, - 180, + 90, 30 ], "Drawer|+02.19|+00.79|+01.00": [ - 1.75, + 2.75, 0.25, - 0, + 270, 30 ], "Drawer|+02.21|+00.79|-00.30": [ - 2.0, - 0.25, + 1.5, + 0.75, 180, - 30 + 0 ], "Drawer|+02.51|+00.79|+01.00": [ - 2.75, + 2.0, 0.25, - 0, + 90, 30 ], "Drawer|+02.84|+00.79|+01.00": [ - 2.25, - 0.5, - 90, - 30 + 2.0, + 0.0, + 0, + 0 ], "Drawer|-00.13|+00.79|+01.00": [ - -0.5, - 0.25, + 0.0, + 0.0, 0, - 30 + 0 ], "Fridge|+03.04|+00.00|-00.71": [ 3.0, @@ -263,22 +263,22 @@ 180, 30 ], - "GarbageCan|-01.99|+00.00|+01.36": [ - -1.0, - 1.0, + "GarbageCan|-01.97|-00.03|+01.36": [ + -1.5, + 0.75, 270, 30 ], "Microwave|+00.53|+01.67|+01.44": [ - 0.5, + 1.0, 0.5, 0, 0 ], "Sink|+00.05|+00.90|-00.65|SinkBasin": [ - 0.25, + -0.5, 0.0, - 180, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/precompute_layout_locations.py b/gen/layouts/precompute_layout_locations.py index 2b5cd9e9f..1038166a0 100644 --- a/gen/layouts/precompute_layout_locations.py +++ b/gen/layouts/precompute_layout_locations.py @@ -2,12 +2,15 @@ import os import threading import time - +import sys +sys.path.append(os.path.join('/home/jiasenl/code/alfred')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) import cv2 import numpy as np import constants from utils import game_util +from env.thor_env import ThorEnv N_PROCS = 40 @@ -18,7 +21,7 @@ def get_obj(env, open_test_objs, reachable_points, agent_height, scene_name, good_obj_point): # Reset the scene to put all the objects back where they started. - game_util.reset(env, scene_name, + env.reset(scene_name, render_image=False, render_depth_image=False, render_class_image=False, @@ -111,7 +114,7 @@ def get_mask_of_obj(env, object_id): def run(): print(all_scene_numbers) # create env and agent - env = game_util.create_env(build_path=constants.BUILD_PATH, + env = ThorEnv(build_path=constants.BUILD_PATH, quality='Low') while len(all_scene_numbers) > 0: lock.acquire() @@ -127,11 +130,11 @@ def run(): scene_name = ('FloorPlan%d') % scene_num print('Running ' + scene_name) - event = game_util.reset(env, scene_name, - render_image=False, - render_depth_image=False, - render_class_image=False, - render_object_image=True) + event = env.reset(scene_name, + render_image=False, + render_depth_image=False, + render_class_image=False, + render_object_image=True) agent_height = event.metadata['agent']['position']['y'] scene_objs = list(set([obj['objectType'] for obj in event.metadata['objects']])) diff --git a/gen/scripts/generate_trajectories.py b/gen/scripts/generate_trajectories.py index 0aa02b4a4..44c70f500 100644 --- a/gen/scripts/generate_trajectories.py +++ b/gen/scripts/generate_trajectories.py @@ -1,7 +1,7 @@ import os import sys -sys.path.append(os.path.join('/home/jiasenl/code/alfred_new')) -sys.path.append(os.path.join('/home/jiasenl/code/alfred_new', 'gen')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) import time import multiprocessing as mp @@ -24,6 +24,7 @@ # params RAW_IMAGES_FOLDER = 'raw_images/' DATA_JSON_FILENAME = 'traj_data.json' +DEPTH_IMAGES_FOLDER = 'depth_images/' # video saver video_saver = VideoSaver() @@ -429,7 +430,7 @@ def main(args): print("Loaded %d known failed tuples" % len(fail_traj)) # create env and agent - env = ThorEnv() + env = ThorEnv(x_display='0.%d' %args.gpu_id) game_state = TaskGameStateFullKnowledge(env) agent = DeterministicPlannerAgent(thread_id=0, game_state=game_state) @@ -647,9 +648,14 @@ def create_dirs(gtype, pickup_obj, movable_obj, receptacle_obj, scene_num): save_name = '%s-%s-%s-%s-%d' % (gtype, pickup_obj, movable_obj, receptacle_obj, scene_num) + '/' + task_id constants.save_path = os.path.join(constants.DATA_SAVE_PATH, save_name, RAW_IMAGES_FOLDER) + constants.save_depth_path = os.path.join(constants.DATA_SAVE_PATH, save_name, DEPTH_IMAGES_FOLDER) + if not os.path.exists(constants.save_path): os.makedirs(constants.save_path) + if not os.path.exists(constants.save_depth_path): + os.makedirs(constants.save_depth_path) + print("Saving images to: " + constants.save_path) return task_id @@ -723,6 +729,7 @@ def parallel_main(args): parser.add_argument("--repeats_per_cond", type=int, default=3) parser.add_argument("--trials_before_fail", type=int, default=5) parser.add_argument("--async_load_every_n_samples", type=int, default=10) + parser.add_argument('--gpu_id', type=int, default=0) parse_args = parser.parse_args() diff --git a/gen/scripts/replay_checks.py b/gen/scripts/replay_checks.py index bbeea08eb..475cd8467 100644 --- a/gen/scripts/replay_checks.py +++ b/gen/scripts/replay_checks.py @@ -2,8 +2,8 @@ import sys # sys.path.append(os.path.join(os.environ['ALFRED_ROOT'])) # sys.path.append(os.path.join(os.environ['ALFRED_ROOT'], 'gen')) -sys.path.append(os.path.join('/home/jiasenl/code/alfred_new')) -sys.path.append(os.path.join('/home/jiasenl/code/alfred_new', 'gen')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) import argparse import json @@ -18,7 +18,7 @@ def replay_check(args): - env = ThorEnv() + env = ThorEnv(x_display='0.%d' %args.gpu_id) # replay certificate filenames replay_certificate_filenames = ["replay.certificate.%d" % idx for idx in range(args.num_replays)] @@ -185,6 +185,7 @@ def replay_check(args): help="whether to run this script with parallel generation scripts in mind") parser.add_argument('--reward_config', default='../models/config/rewards.json') parser.add_argument('--num_replays', type=int, default=2) + parser.add_argument('--gpu_id', type=int, default=0) args = parser.parse_args() replay_check(args) \ No newline at end of file From a4d110e3d9712d9cd13177d69d7bb068041dd641 Mon Sep 17 00:00:00 2001 From: jiasenlu Date: Tue, 19 Jan 2021 20:27:07 -0800 Subject: [PATCH 07/14] update --- env/thor_env.py | 4 +- gen/constants.py | 14 +- gen/game_states/game_state_base.py | 8 +- .../task_game_state_full_knowledge.py | 4 +- gen/scripts/generate_trajectories.py | 394 +++++++++--------- gen/scripts/replay_checks.py | 40 +- 6 files changed, 250 insertions(+), 214 deletions(-) diff --git a/env/thor_env.py b/env/thor_env.py index 1864fb0a5..09cc0454a 100644 --- a/env/thor_env.py +++ b/env/thor_env.py @@ -4,6 +4,7 @@ import numpy as np from collections import Counter, OrderedDict from env.tasks import get_task +import ai2thor from ai2thor.controller import Controller import gen.utils.image_util as image_util from gen.utils import game_util @@ -31,7 +32,8 @@ def __init__(self, x_display=constants.X_DISPLAY, super().__init__(quality=quality, x_display=x_display, height=player_screen_height, - width=player_screen_width) + width=player_screen_width, + depth_format=ai2thor.server.DepthFormat.Normalized) # internal states self.cleaned_objects = set() diff --git a/gen/constants.py b/gen/constants.py index 3db3f0618..10f5dc818 100644 --- a/gen/constants.py +++ b/gen/constants.py @@ -33,14 +33,14 @@ # Goals GOALS = [ - "pick_and_place_simple", - "pick_two_obj_and_place", - "look_at_obj_in_light", + # "pick_and_place_simple", + # "pick_two_obj_and_place", + # "look_at_obj_in_light", "pick_clean_then_place_in_recep", - "pick_heat_then_place_in_recep", - "pick_cool_then_place_in_recep", - "pick_and_place_with_movable_recep"] - # ] + # "pick_heat_then_place_in_recep", + # "pick_cool_then_place_in_recep", + # "pick_and_place_with_movable_recep", + ] GOALS_VALID = {"pick_and_place_simple": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"}, "pick_two_obj_and_place": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"}, "look_at_obj_in_light": {"LivingRoom", "Bedroom"}, diff --git a/gen/game_states/game_state_base.py b/gen/game_states/game_state_base.py index e03d0de6c..8baed33e0 100644 --- a/gen/game_states/game_state_base.py +++ b/gen/game_states/game_state_base.py @@ -12,7 +12,7 @@ from utils.py_util import SetWithGet from utils.image_util import compress_mask -MAX_DEPTH = 5 +MAX_DEPTH = 1 class GameStateBase(object): static_action_space = [ @@ -140,10 +140,10 @@ def reset(self, scene_num=None, use_gt=True, seed=None, max_num_repeats=constant for o, c in objs['empty']: free_per_receptacle.append({'objectType': o, 'count': c}) self.env.step(dict(action='InitialRandomSpawn', randomSeed=seed, forceVisible=False, - numRepeats=[{'objectType': o, 'count': c} + numDuplicatesOfType=[{'objectType': o, 'count': c} for o, c in objs['repeat']] if objs is not None and 'repeat' in objs else None, - minFreePerReceptacleType=free_per_receptacle if objs is not None else None + excludedReceptacles=[obj['objectType'] for obj in free_per_receptacle] )) # if 'clean' action, make everything dirty and empty out fillable things @@ -729,7 +729,7 @@ def step(self, action_or_ind, process_frame=True): # close and cool the object inside the frige cool_action = dict(action='CloseObject', - objectId=action['objectId']) + objectId=action['receptacleObjectId']) self.store_ll_action(cool_action) self.save_act_image(action, dir=constants.BEFORE) self.event = self.env.step(cool_action) diff --git a/gen/game_states/task_game_state_full_knowledge.py b/gen/game_states/task_game_state_full_knowledge.py index 54d7aab7d..84ee48314 100644 --- a/gen/game_states/task_game_state_full_knowledge.py +++ b/gen/game_states/task_game_state_full_knowledge.py @@ -323,12 +323,12 @@ def get_action(self, action_or_ind): action['forceVisible'] = forceVisible should_fail = False elif action['action'] == 'CleanObject': - action['objectId'] = action['receptacleObjectId'] action['cleanObjectId'] = action['objectId'] + # action['objectId'] = action['objectId'] action['forceVisible'] = forceVisible should_fail = False elif action['action'] in {'HeatObject', 'CoolObject'}: - action['objectId'] = action['receptacleObjectId'] + # action['objectId'] = action['receptacleObjectId'] action['forceVisible'] = forceVisible should_fail = False return action, should_fail diff --git a/gen/scripts/generate_trajectories.py b/gen/scripts/generate_trajectories.py index 44c70f500..68ef25981 100644 --- a/gen/scripts/generate_trajectories.py +++ b/gen/scripts/generate_trajectories.py @@ -13,7 +13,7 @@ import pandas as pd from collections import OrderedDict from datetime import datetime - +import glob import constants from agents.deterministic_planner_agent import DeterministicPlannerAgent from env.thor_env import ThorEnv @@ -383,8 +383,12 @@ def print_successes(succ_traj): print("\n##################################") -def main(args): +def main(args, thread_num=0): + + print(thread_num) # settings + alfred_dataset_path = '/home/jiasenl/code/alfred/data/json_2.1.0/valid_seen' + constants.DATA_SAVE_PATH = args.save_path print("Force Unsave Data: %s" % str(args.force_unsave)) @@ -430,7 +434,7 @@ def main(args): print("Loaded %d known failed tuples" % len(fail_traj)) # create env and agent - env = ThorEnv(x_display='0.%d' %args.gpu_id) + env = ThorEnv(x_display='0.%d' %(thread_num % 8)) game_state = TaskGameStateFullKnowledge(env) agent = DeterministicPlannerAgent(thread_id=0, game_state=game_state) @@ -454,193 +458,197 @@ def main(args): n_until_load_successes = args.async_load_every_n_samples print_successes(succ_traj) - task_sampler = sample_task_params(succ_traj, full_traj, fail_traj, - goal_candidates, pickup_candidates, movable_candidates, - receptacle_candidates, scene_candidates) - + # task_sampler = sample_task_params(succ_traj, full_traj, fail_traj, + # goal_candidates, pickup_candidates, movable_candidates, + # receptacle_candidates, scene_candidates) + # main generation loop # keeps trying out new task tuples as trajectories either fail or suceed - # while True: - for _ in range(20): - - sampled_task = next(task_sampler) - print(sampled_task) # DEBUG - if sampled_task is None: - sys.exit("No valid tuples left to sample (all are known to fail or already have %d trajectories" % - args.repeats_per_cond) - gtype, pickup_obj, movable_obj, receptacle_obj, sampled_scene = sampled_task - print("sampled tuple: " + str((gtype, pickup_obj, movable_obj, receptacle_obj, sampled_scene))) - - tries_remaining = args.trials_before_fail - # only try to get the number of trajectories left to make this tuple full. - target_remaining = args.repeats_per_cond - len(succ_traj.loc[(succ_traj['goal'] == gtype) & - (succ_traj['pickup'] == pickup_obj) & - (succ_traj['movable'] == movable_obj) & - (succ_traj['receptacle'] == receptacle_obj) & - (succ_traj['scene'] == str(sampled_scene))]) - num_place_fails = 0 # count of errors related to placement failure for no valid positions. - - # continue until we're (out of tries + have never succeeded) or (have gathered the target number of instances) - while tries_remaining > 0 and target_remaining > 0: - - # environment setup - constants.pddl_goal_type = gtype - print("PDDLGoalType: " + constants.pddl_goal_type) - task_id = create_dirs(gtype, pickup_obj, movable_obj, receptacle_obj, sampled_scene) - - # setup data dictionary - setup_data_dict() - constants.data_dict['task_id'] = task_id - constants.data_dict['task_type'] = constants.pddl_goal_type - constants.data_dict['dataset_params']['video_frame_rate'] = constants.VIDEO_FRAME_RATE - - # plan & execute - try: - # if True: - # Agent reset to new scene. - constraint_objs = {'repeat': [(constants.OBJ_PARENTS[pickup_obj], # Generate multiple parent objs. - np.random.randint(2 if gtype == "pick_two_obj_and_place" else 1, - constants.PICKUP_REPEAT_MAX + 1))], - 'sparse': [(receptacle_obj.replace('Basin', ''), - num_place_fails * constants.RECEPTACLE_SPARSE_POINTS)]} - if movable_obj != "None": - constraint_objs['repeat'].append((movable_obj, - np.random.randint(1, constants.PICKUP_REPEAT_MAX + 1))) - for obj_type in scene_id_to_objs[str(sampled_scene)]: - if (obj_type in pickup_candidates and - obj_type != constants.OBJ_PARENTS[pickup_obj] and obj_type != movable_obj): - constraint_objs['repeat'].append((obj_type, - np.random.randint(1, constants.MAX_NUM_OF_OBJ_INSTANCES + 1))) - if gtype in goal_to_invalid_receptacle: - constraint_objs['empty'] = [(r.replace('Basin', ''), num_place_fails * constants.RECEPTACLE_EMPTY_POINTS) - for r in goal_to_invalid_receptacle[gtype]] - constraint_objs['seton'] = [] - if gtype == 'look_at_obj_in_light': - constraint_objs['seton'].append((receptacle_obj, False)) - if num_place_fails > 0: - print("Failed %d placements in the past; increased free point constraints: " % num_place_fails - + str(constraint_objs)) - scene_info = {'scene_num': sampled_scene, 'random_seed': random.randint(0, 2 ** 32)} - info = agent.reset(scene=scene_info, - objs=constraint_objs) - - # Problem initialization with given constraints. - task_objs = {'pickup': pickup_obj} - if movable_obj != "None": - task_objs['mrecep'] = movable_obj - if gtype == "look_at_obj_in_light": - task_objs['toggle'] = receptacle_obj - else: - task_objs['receptacle'] = receptacle_obj - agent.setup_problem({'info': info}, scene=scene_info, objs=task_objs) - - # Now that objects are in their initial places, record them. - object_poses = [{'objectName': obj['name'].split('(Clone)')[0], - 'position': obj['position'], - 'rotation': obj['rotation']} - for obj in env.last_event.metadata['objects'] if obj['pickupable']] - dirty_and_empty = gtype == 'pick_clean_then_place_in_recep' - object_toggles = [{'objectType': o, 'stateChange': 'toggleable', 'isToggled': v} - for o, v in constraint_objs['seton']] - constants.data_dict['scene']['object_poses'] = object_poses - constants.data_dict['scene']['dirty_and_empty'] = dirty_and_empty - constants.data_dict['scene']['object_toggles'] = object_toggles - - # Pre-restore the scene to cause objects to "jitter" like they will when the episode is replayed - # based on stored object and toggle info. This should put objects closer to the final positions they'll - # be inlay at inference time (e.g., mugs fallen and broken, knives fallen over, etc.). - print("Performing reset via thor_env API") - env.reset(sampled_scene) - print("Performing restore via thor_env API") - env.restore_scene(object_poses, object_toggles, dirty_and_empty) - event = env.step(dict(constants.data_dict['scene']['init_action'])) - - terminal = False - while not terminal and agent.current_frame_count <= constants.MAX_EPISODE_LENGTH: - action_dict = agent.get_action(None) - agent.step(action_dict) - reward, terminal = agent.get_reward() - - dump_data_dict() - save_video() - # else: - except Exception as e: - import traceback - traceback.print_exc() - print("Error: " + repr(e)) - print("Invalid Task: skipping...") - if args.debug: - print(traceback.format_exc()) - - deleted = delete_save(args.in_parallel) - if not deleted: # another thread is filling this task successfully, so leave it alone. - target_remaining = 0 # stop trying to do this task. - else: - if str(e) == "API Action Failed: No valid positions to place object found": - # Try increasing the space available on sparse and empty flagged objects. - num_place_fails += 1 - tries_remaining -= 1 - else: # generic error - tries_remaining -= 1 - - estr = str(e) - if len(estr) > 120: - estr = estr[:120] - if estr not in errors: - errors[estr] = 0 - errors[estr] += 1 - print("%%%%%%%%%%") - es = sum([errors[er] for er in errors]) - print("\terrors (%d):" % es) - for er, v in sorted(errors.items(), key=lambda kv: kv[1], reverse=True): - if v / es < 0.01: # stop showing below 1% of errors. - break - print("\t(%.2f) (%d)\t%s" % (v / es, v, er)) - print("%%%%%%%%%%") - - continue - - if args.force_unsave: - delete_save(args.in_parallel) - - # add to save structure. - succ_traj = succ_traj.append({ - "goal": gtype, - "movable": movable_obj, - "pickup": pickup_obj, - "receptacle": receptacle_obj, - "scene": str(sampled_scene)}, ignore_index=True) - target_remaining -= 1 - tries_remaining += args.trials_before_fail # on success, add more tries for future successes - - # if this combination resulted in a certain number of failures with no successes, flag it as not possible. - if tries_remaining == 0 and target_remaining == args.repeats_per_cond: - new_fails = [(gtype, pickup_obj, movable_obj, receptacle_obj, str(sampled_scene))] - fail_traj = load_fails_from_disk(args.save_path, to_write=new_fails) - print("%%%%%%%%%%") - print("failures (%d)" % len(fail_traj)) - # print("\t" + "\n\t".join([str(ft) for ft in fail_traj])) - print("%%%%%%%%%%") - - # if this combination gave us the repeats we wanted, note it as filled. - if target_remaining == 0: - full_traj.add((gtype, pickup_obj, movable_obj, receptacle_obj, sampled_scene)) - - # if we're sharing with other processes, reload successes from disk to update local copy with others' additions. - if args.in_parallel: - if n_until_load_successes > 0: - n_until_load_successes -= 1 - else: - print("Reloading trajectories from disk because of parallel processes...") - succ_traj = pd.DataFrame(columns=succ_traj.columns) # Drop all rows. - succ_traj, full_traj = load_successes_from_disk(args.save_path, succ_traj, False, args.repeats_per_cond) - print("... Loaded %d trajectories" % len(succ_traj.index)) - n_until_load_successes = args.async_load_every_n_samples - print_successes(succ_traj) - task_sampler = sample_task_params(succ_traj, full_traj, fail_traj, - goal_candidates, pickup_candidates, movable_candidates, - receptacle_candidates, scene_candidates) - print("... Created fresh instance of sample_task_params generator") + while True: + # for _ in range(20): + for ii, json_path in enumerate(glob.iglob(os.path.join(alfred_dataset_path, "**", "traj_data.json"), recursive=True)): + if ii % args.num_threads == thread_num: + sampled_task = json_path.split('/')[-3].split('-') + # sampled_task = next(task_sampler) + print(sampled_task) # DEBUG + if sampled_task is None: + sys.exit("No valid tuples left to sample (all are known to fail or already have %d trajectories" % + args.repeats_per_cond) + gtype, pickup_obj, movable_obj, receptacle_obj, sampled_scene = sampled_task + + sampled_scene = int(sampled_scene) + print("sampled tuple: " + str((gtype, pickup_obj, movable_obj, receptacle_obj, sampled_scene))) + + tries_remaining = args.trials_before_fail + # only try to get the number of trajectories left to make this tuple full. + target_remaining = args.repeats_per_cond - len(succ_traj.loc[(succ_traj['goal'] == gtype) & + (succ_traj['pickup'] == pickup_obj) & + (succ_traj['movable'] == movable_obj) & + (succ_traj['receptacle'] == receptacle_obj) & + (succ_traj['scene'] == str(sampled_scene))]) + num_place_fails = 0 # count of errors related to placement failure for no valid positions. + + # continue until we're (out of tries + have never succeeded) or (have gathered the target number of instances) + while num_place_fails > args.trials_before_fail or target_remaining > 0: + + # environment setup + constants.pddl_goal_type = gtype + print("PDDLGoalType: " + constants.pddl_goal_type) + task_id = create_dirs(gtype, pickup_obj, movable_obj, receptacle_obj, sampled_scene) + + # setup data dictionary + setup_data_dict() + constants.data_dict['task_id'] = task_id + constants.data_dict['task_type'] = constants.pddl_goal_type + constants.data_dict['dataset_params']['video_frame_rate'] = constants.VIDEO_FRAME_RATE + + # plan & execute + try: + # if True: + # Agent reset to new scene. + constraint_objs = {'repeat': [(constants.OBJ_PARENTS[pickup_obj], # Generate multiple parent objs. + np.random.randint(2 if gtype == "pick_two_obj_and_place" else 1, + constants.PICKUP_REPEAT_MAX + 1))], + 'sparse': [(receptacle_obj.replace('Basin', ''), + num_place_fails * constants.RECEPTACLE_SPARSE_POINTS)]} + if movable_obj != "None": + constraint_objs['repeat'].append((movable_obj, + np.random.randint(1, constants.PICKUP_REPEAT_MAX + 1))) + for obj_type in scene_id_to_objs[str(sampled_scene)]: + if (obj_type in pickup_candidates and + obj_type != constants.OBJ_PARENTS[pickup_obj] and obj_type != movable_obj): + constraint_objs['repeat'].append((obj_type, + np.random.randint(1, constants.MAX_NUM_OF_OBJ_INSTANCES + 1))) + if gtype in goal_to_invalid_receptacle: + constraint_objs['empty'] = [(r.replace('Basin', ''), num_place_fails * constants.RECEPTACLE_EMPTY_POINTS) + for r in goal_to_invalid_receptacle[gtype]] + constraint_objs['seton'] = [] + if gtype == 'look_at_obj_in_light': + constraint_objs['seton'].append((receptacle_obj, False)) + if num_place_fails > 0: + print("Failed %d placements in the past; increased free point constraints: " % num_place_fails + + str(constraint_objs)) + scene_info = {'scene_num': sampled_scene, 'random_seed': random.randint(0, 2 ** 32)} + info = agent.reset(scene=scene_info, + objs=constraint_objs) + + # Problem initialization with given constraints. + task_objs = {'pickup': pickup_obj} + if movable_obj != "None": + task_objs['mrecep'] = movable_obj + if gtype == "look_at_obj_in_light": + task_objs['toggle'] = receptacle_obj + else: + task_objs['receptacle'] = receptacle_obj + agent.setup_problem({'info': info}, scene=scene_info, objs=task_objs) + + # Now that objects are in their initial places, record them. + object_poses = [{'objectName': obj['name'].split('(Clone)')[0], + 'position': obj['position'], + 'rotation': obj['rotation']} + for obj in env.last_event.metadata['objects'] if obj['pickupable']] + dirty_and_empty = gtype == 'pick_clean_then_place_in_recep' + object_toggles = [{'objectType': o, 'stateChange': 'toggleable', 'isToggled': v} + for o, v in constraint_objs['seton']] + constants.data_dict['scene']['object_poses'] = object_poses + constants.data_dict['scene']['dirty_and_empty'] = dirty_and_empty + constants.data_dict['scene']['object_toggles'] = object_toggles + + # Pre-restore the scene to cause objects to "jitter" like they will when the episode is replayed + # based on stored object and toggle info. This should put objects closer to the final positions they'll + # be inlay at inference time (e.g., mugs fallen and broken, knives fallen over, etc.). + print("Performing reset via thor_env API") + env.reset(sampled_scene) + print("Performing restore via thor_env API") + env.restore_scene(object_poses, object_toggles, dirty_and_empty) + event = env.step(dict(constants.data_dict['scene']['init_action'])) + + terminal = False + while not terminal and agent.current_frame_count <= constants.MAX_EPISODE_LENGTH: + action_dict = agent.get_action(None) + agent.step(action_dict) + reward, terminal = agent.get_reward() + + dump_data_dict() + save_video() + # else: + except Exception as e: + import traceback + traceback.print_exc() + print("Error: " + repr(e)) + print("Invalid Task: skipping...") + if args.debug: + print(traceback.format_exc()) + + deleted = delete_save(args.in_parallel) + if not deleted: # another thread is filling this task successfully, so leave it alone. + target_remaining = 0 # stop trying to do this task. + else: + if str(e) == "API Action Failed: No valid positions to place object found": + # Try increasing the space available on sparse and empty flagged objects. + num_place_fails += 1 + tries_remaining -= 1 + else: # generic error + tries_remaining -= 1 + + estr = str(e) + if len(estr) > 120: + estr = estr[:120] + if estr not in errors: + errors[estr] = 0 + errors[estr] += 1 + print("%%%%%%%%%%") + es = sum([errors[er] for er in errors]) + print("\terrors (%d):" % es) + for er, v in sorted(errors.items(), key=lambda kv: kv[1], reverse=True): + if v / es < 0.01: # stop showing below 1% of errors. + break + print("\t(%.2f) (%d)\t%s" % (v / es, v, er)) + print("%%%%%%%%%%") + + continue + + if args.force_unsave: + delete_save(args.in_parallel) + + # add to save structure. + succ_traj = succ_traj.append({ + "goal": gtype, + "movable": movable_obj, + "pickup": pickup_obj, + "receptacle": receptacle_obj, + "scene": str(sampled_scene)}, ignore_index=True) + target_remaining -= 1 + tries_remaining += args.trials_before_fail # on success, add more tries for future successes + + # if this combination resulted in a certain number of failures with no successes, flag it as not possible. + if tries_remaining == 0 and target_remaining == args.repeats_per_cond: + new_fails = [(gtype, pickup_obj, movable_obj, receptacle_obj, str(sampled_scene))] + fail_traj = load_fails_from_disk(args.save_path, to_write=new_fails) + print("%%%%%%%%%%") + print("failures (%d)" % len(fail_traj)) + # print("\t" + "\n\t".join([str(ft) for ft in fail_traj])) + print("%%%%%%%%%%") + + # if this combination gave us the repeats we wanted, note it as filled. + if target_remaining == 0: + full_traj.add((gtype, pickup_obj, movable_obj, receptacle_obj, sampled_scene)) + + # if we're sharing with other processes, reload successes from disk to update local copy with others' additions. + if args.in_parallel: + if n_until_load_successes > 0: + n_until_load_successes -= 1 + else: + print("Reloading trajectories from disk because of parallel processes...") + succ_traj = pd.DataFrame(columns=succ_traj.columns) # Drop all rows. + succ_traj, full_traj = load_successes_from_disk(args.save_path, succ_traj, False, args.repeats_per_cond) + print("... Loaded %d trajectories" % len(succ_traj.index)) + n_until_load_successes = args.async_load_every_n_samples + print_successes(succ_traj) + task_sampler = sample_task_params(succ_traj, full_traj, fail_traj, + goal_candidates, pickup_candidates, movable_candidates, + receptacle_candidates, scene_candidates) + print("... Created fresh instance of sample_task_params generator") def create_dirs(gtype, pickup_obj, movable_obj, receptacle_obj, scene_num): @@ -702,7 +710,7 @@ def delete_save(in_parallel): def parallel_main(args): - procs = [mp.Process(target=main, args=(args,)) for _ in range(args.num_threads)] + procs = [mp.Process(target=main, args=(args,thread_num)) for thread_num in range(args.num_threads)] try: for proc in procs: proc.start() @@ -718,19 +726,19 @@ def parallel_main(args): # settings parser.add_argument('--force_unsave', action='store_true', help="don't save any data (for debugging purposes)") parser.add_argument('--debug', action='store_true') - parser.add_argument('--save_path', type=str, default="dataset/new_trajectories", help="where to save the generated data") + parser.add_argument('--save_path', type=str, default="dataset/new_trajectories_valid_seen", help="where to save the generated data") parser.add_argument('--x_display', type=str, required=False, default=constants.X_DISPLAY, help="x_display id") parser.add_argument("--just_examine", action='store_true', help="just examine what data is gathered; don't gather more") parser.add_argument("--in_parallel", action='store_true', help="this collection will run in parallel with others, so load from disk on every new sample") - parser.add_argument("-n", "--num_threads", type=int, default=0, help="number of processes for parallel mode") + parser.add_argument("-n", "--num_threads", type=int, default=1, help="number of processes for parallel mode") parser.add_argument('--json_file', type=str, default="", help="path to json file with trajectory dump") # params parser.add_argument("--repeats_per_cond", type=int, default=3) - parser.add_argument("--trials_before_fail", type=int, default=5) + parser.add_argument("--trials_before_fail", type=int, default=10) parser.add_argument("--async_load_every_n_samples", type=int, default=10) parser.add_argument('--gpu_id', type=int, default=0) - + parse_args = parser.parse_args() if parse_args.in_parallel and parse_args.num_threads > 1: diff --git a/gen/scripts/replay_checks.py b/gen/scripts/replay_checks.py index 475cd8467..636e1afcf 100644 --- a/gen/scripts/replay_checks.py +++ b/gen/scripts/replay_checks.py @@ -12,12 +12,24 @@ import time from env.thor_env import ThorEnv from utils.replay_json import replay_json +import multiprocessing as mp +import time JSON_FILENAME = "traj_data.json" -def replay_check(args): +def parallel_replay_check(args): + procs = [mp.Process(target=replay_check, args=(args, thread_num)) for thread_num in range(args.num_threads)] + try: + for proc in procs: + proc.start() + time.sleep(0.1) + finally: + for proc in procs: + proc.join() + +def replay_check(args, thread_num=0): env = ThorEnv(x_display='0.%d' %args.gpu_id) # replay certificate filenames @@ -31,11 +43,15 @@ def replay_check(args): continue_check = True total_checks, total_failures, crash_fails, unsat_fails, json_fails, nondet_fails = 0, 0, 0, 0, 0, 0 errors = {} # map from error strings to counts, to be shown after every failure. + total_threads = args.total_gpu * args.num_threads + current_threads = args.gpu_id * args.num_threads + thread_num + while continue_check: # Crawl the directory of trajectories and vet ones with no certificate. failure_list = [] valid_dirs = [] + count = 0 for dir_name, subdir_list, file_list in os.walk(args.data_path): if "trial_" in dir_name and (not "raw_images" in dir_name) and (not "pddl_states" in dir_name): json_file = os.path.join(dir_name, JSON_FILENAME) @@ -50,10 +66,13 @@ def replay_check(args): os.system("rm %s" % certificate_file) continue - valid_dirs.append(dir_name) - + if count % total_threads == current_threads: + valid_dirs.append(dir_name) + count += 1 + + print(len(valid_dirs)) np.random.shuffle(valid_dirs) - for dir_name in valid_dirs: + for ii, dir_name in enumerate(valid_dirs): if not os.path.exists(dir_name): continue @@ -74,6 +93,7 @@ def replay_check(args): if already_checked: continue + print(ii) if not os.path.isfile(certificate_file): total_checks += 1. / args.num_replays failed = False @@ -184,8 +204,14 @@ def replay_check(args): parser.add_argument("--in_parallel", dest='in_parallel', action='store_true', help="whether to run this script with parallel generation scripts in mind") parser.add_argument('--reward_config', default='../models/config/rewards.json') - parser.add_argument('--num_replays', type=int, default=2) + parser.add_argument('--num_replays', type=int, default=1) parser.add_argument('--gpu_id', type=int, default=0) - + parser.add_argument('--total_gpu', type=int, default=8) + parser.add_argument('--num_threads', type=int, default=0) args = parser.parse_args() - replay_check(args) \ No newline at end of file + + if args.num_threads > 1: + parallel_replay_check(args) + else: + replay_check(args) + From 7be9de5ae45bc4cd582f217d67f828b677448773 Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Thu, 21 Jan 2021 14:47:48 -0800 Subject: [PATCH 08/14] update alfred with 2.5.1 --- .../traj_data.json | 3242 ------ .../traj_data.json | 3743 ------- .../traj_data.json | 3612 ------ .../traj_data.json | 3331 ------ .../traj_data.json | 2549 ----- .../traj_data.json | 2730 ----- .../traj_data.json | 3023 ----- .../traj_data.json | 3218 ------ .../traj_data.json | 3199 ------ .../traj_data.json | 3643 ------- .../traj_data.json | 3119 ------ .../traj_data.json | 2593 ----- .../traj_data.json | 2726 ----- .../traj_data.json | 2890 ----- .../traj_data.json | 3102 ------ .../traj_data.json | 2880 ----- .../traj_data.json | 2891 ----- .../traj_data.json | 2955 ----- .../traj_data.json | 3246 ------ .../traj_data.json | 3123 ------ .../traj_data.json | 2475 ----- .../traj_data.json | 2276 ---- .../traj_data.json | 2633 ----- .../traj_data.json | 3141 ------ .../traj_data.json | 2751 ----- .../traj_data.json | 2779 ----- .../traj_data.json | 3210 ------ .../traj_data.json | 2656 ----- .../traj_data.json | 3359 ------ .../traj_data.json | 2859 ----- .../traj_data.json | 3023 ----- .../traj_data.json | 2697 ----- .../traj_data.json | 3465 ------ .../traj_data.json | 3348 ------ .../traj_data.json | 3509 ------ .../traj_data.json | 2933 ----- .../traj_data.json | 3767 ------- .../traj_data.json | 3565 ------ .../traj_data.json | 4180 ------- .../traj_data.json | 2872 ----- .../traj_data.json | 2513 ----- .../traj_data.json | 3156 ------ .../traj_data.json | 3342 ------ .../traj_data.json | 3085 ------ .../traj_data.json | 3642 ------- .../traj_data.json | 3865 ------- .../traj_data.json | 3345 ------ .../traj_data.json | 3428 ------ .../traj_data.json | 5181 --------- .../traj_data.json | 4682 -------- .../traj_data.json | 5409 --------- .../traj_data.json | 4707 -------- .../traj_data.json | 3477 ------ .../traj_data.json | 4632 -------- .../traj_data.json | 4338 -------- .../traj_data.json | 3177 ------ .../traj_data.json | 3533 ------ .../traj_data.json | 3209 ------ .../traj_data.json | 3858 ------- .../traj_data.json | 3665 ------- .../traj_data.json | 4913 --------- .../traj_data.json | 5004 --------- .../traj_data.json | 5313 --------- .../traj_data.json | 5833 ---------- .../traj_data.json | 5615 ---------- .../traj_data.json | 6358 ----------- .../traj_data.json | 5047 --------- .../traj_data.json | 4871 --------- .../traj_data.json | 4575 -------- .../traj_data.json | 4439 -------- .../traj_data.json | 5476 ---------- .../traj_data.json | 4329 -------- .../traj_data.json | 4782 -------- .../traj_data.json | 3467 ------ .../traj_data.json | 4139 ------- .../traj_data.json | 4230 ------- .../traj_data.json | 4717 -------- .../traj_data.json | 3914 ------- .../traj_data.json | 3706 ------- .../traj_data.json | 3308 ------ .../traj_data.json | 5057 --------- .../traj_data.json | 4732 -------- .../traj_data.json | 5756 ---------- .../traj_data.json | 5531 ---------- .../traj_data.json | 4185 ------- .../traj_data.json | 3971 ------- .../traj_data.json | 6537 ----------- .../traj_data.json | 4647 -------- .../traj_data.json | 5121 --------- .../traj_data.json | 3707 ------- .../traj_data.json | 3614 ------ .../traj_data.json | 4598 -------- .../traj_data.json | 4196 ------- .../traj_data.json | 4783 -------- .../traj_data.json | 3099 ------ .../traj_data.json | 3694 ------- .../traj_data.json | 3637 ------- .../traj_data.json | 3674 ------- .../traj_data.json | 4148 ------- .../traj_data.json | 3847 ------- .../traj_data.json | 3318 ------ .../traj_data.json | 4052 ------- .../traj_data.json | 3546 ------ .../traj_data.json | 4756 -------- .../traj_data.json | 3826 ------- .../traj_data.json | 3964 ------- .../traj_data.json | 3795 ------- .../traj_data.json | 5409 --------- .../traj_data.json | 6543 ----------- .../traj_data.json | 5632 ---------- .../traj_data.json | 4484 -------- .../traj_data.json | 4072 ------- .../traj_data.json | 3835 ------- .../traj_data.json | 5597 ---------- .../traj_data.json | 5557 ---------- .../traj_data.json | 5573 ---------- .../traj_data.json | 5482 ---------- .../traj_data.json | 6285 ----------- .../traj_data.json | 5247 --------- .../traj_data.json | 5218 --------- .../traj_data.json | 5784 ---------- .../traj_data.json | 5191 --------- .../traj_data.json | 5273 --------- .../traj_data.json | 3838 ------- .../traj_data.json | 5380 --------- .../traj_data.json | 4510 -------- .../traj_data.json | 5076 --------- .../traj_data.json | 5048 --------- .../traj_data.json | 6562 ----------- .../traj_data.json | 6962 ------------ .../traj_data.json | 6792 ------------ .../traj_data.json | 6900 ------------ .../traj_data.json | 5486 ---------- .../traj_data.json | 7489 ------------- .../traj_data.json | 6580 ----------- .../traj_data.json | 6261 ----------- .../traj_data.json | 6517 ----------- .../traj_data.json | 6780 ------------ .../traj_data.json | 6288 ----------- .../traj_data.json | 6329 ----------- .../traj_data.json | 6839 ------------ .../traj_data.json | 5679 ---------- .../traj_data.json | 6077 ----------- .../traj_data.json | 5591 ---------- .../traj_data.json | 5757 ---------- .../traj_data.json | 5713 ---------- .../traj_data.json | 5971 ---------- .../traj_data.json | 6590 ----------- .../traj_data.json | 5080 --------- .../traj_data.json | 5341 --------- .../traj_data.json | 5612 ---------- .../traj_data.json | 9123 ---------------- .../traj_data.json | 9680 ----------------- .../traj_data.json | 9268 ---------------- .../traj_data.json | 7179 ------------ .../traj_data.json | 6167 ----------- .../traj_data.json | 7144 ------------ .../traj_data.json | 6185 ----------- .../traj_data.json | 6866 ------------ .../traj_data.json | 6747 ------------ .../traj_data.json | 4724 -------- .../traj_data.json | 5567 ---------- .../traj_data.json | 5005 --------- .../traj_data.json | 6023 ---------- .../traj_data.json | 7195 ------------ .../traj_data.json | 5872 ---------- .../traj_data.json | 6371 ----------- .../traj_data.json | 6574 ----------- .../traj_data.json | 7301 ------------- .../traj_data.json | 6353 ----------- .../traj_data.json | 8042 -------------- .../traj_data.json | 7239 ------------ .../traj_data.json | 7396 ------------- .../traj_data.json | 6174 ----------- .../traj_data.json | 7257 ------------ .../traj_data.json | 8089 -------------- .../traj_data.json | 3036 ------ .../traj_data.json | 3329 ------ .../traj_data.json | 3771 ------- .../traj_data.json | 3902 ------- .../traj_data.json | 3862 ------- .../traj_data.json | 5861 ---------- .../traj_data.json | 7271 ------------- .../traj_data.json | 6764 ------------ gen/constants.py | 16 +- gen/game_states/game_state_base.py | 14 +- .../task_game_state_full_knowledge.py | 2 +- gen/graph/graph_obj.py | 4 +- gen/layouts/FloorPlan1-layout.npy | Bin 2080 -> 2080 bytes gen/layouts/FloorPlan1-objects.json | 78 +- gen/layouts/FloorPlan1-openable.json | 58 +- gen/layouts/FloorPlan10-layout.npy | Bin 3408 -> 3792 bytes gen/layouts/FloorPlan10-objects.json | 74 +- gen/layouts/FloorPlan10-openable.json | 46 +- gen/layouts/FloorPlan11-layout.npy | Bin 1168 -> 1104 bytes gen/layouts/FloorPlan11-objects.json | 62 +- gen/layouts/FloorPlan11-openable.json | 34 +- gen/layouts/FloorPlan12-layout.npy | Bin 1392 -> 1376 bytes gen/layouts/FloorPlan12-objects.json | 56 +- gen/layouts/FloorPlan12-openable.json | 32 +- gen/layouts/FloorPlan13-layout.npy | Bin 2976 -> 3008 bytes gen/layouts/FloorPlan13-objects.json | 62 +- gen/layouts/FloorPlan13-openable.json | 114 +- gen/layouts/FloorPlan14-objects.json | 56 +- gen/layouts/FloorPlan14-openable.json | 26 +- gen/layouts/FloorPlan15-layout.npy | Bin 1584 -> 1616 bytes gen/layouts/FloorPlan15-objects.json | 66 +- gen/layouts/FloorPlan15-openable.json | 64 +- gen/layouts/FloorPlan16-layout.npy | Bin 3312 -> 3312 bytes gen/layouts/FloorPlan16-objects.json | 68 +- gen/layouts/FloorPlan16-openable.json | 60 +- gen/layouts/FloorPlan17-layout.npy | Bin 1168 -> 1168 bytes gen/layouts/FloorPlan17-objects.json | 70 +- gen/layouts/FloorPlan17-openable.json | 62 +- gen/layouts/FloorPlan18-layout.npy | Bin 3568 -> 3600 bytes gen/layouts/FloorPlan18-objects.json | 70 +- gen/layouts/FloorPlan18-openable.json | 48 +- gen/layouts/FloorPlan19-objects.json | 56 +- gen/layouts/FloorPlan19-openable.json | 30 +- gen/layouts/FloorPlan2-objects.json | 62 +- gen/layouts/FloorPlan2-openable.json | 24 +- gen/layouts/FloorPlan20-layout.npy | Bin 1376 -> 1392 bytes gen/layouts/FloorPlan20-objects.json | 66 +- gen/layouts/FloorPlan20-openable.json | 44 +- gen/layouts/FloorPlan201-layout.npy | Bin 3232 -> 3232 bytes gen/layouts/FloorPlan201-objects.json | 52 +- gen/layouts/FloorPlan201-openable.json | 22 +- gen/layouts/FloorPlan202-layout.npy | Bin 2528 -> 2496 bytes gen/layouts/FloorPlan202-objects.json | 36 +- gen/layouts/FloorPlan202-openable.json | 14 +- gen/layouts/FloorPlan203-layout.npy | Bin 8480 -> 8512 bytes gen/layouts/FloorPlan203-objects.json | 46 +- gen/layouts/FloorPlan204-layout.npy | Bin 3072 -> 2960 bytes gen/layouts/FloorPlan204-objects.json | 42 +- gen/layouts/FloorPlan204-openable.json | 40 +- gen/layouts/FloorPlan205-layout.npy | Bin 4128 -> 4112 bytes gen/layouts/FloorPlan205-objects.json | 38 +- gen/layouts/FloorPlan205-openable.json | 8 +- gen/layouts/FloorPlan206-layout.npy | Bin 1952 -> 1904 bytes gen/layouts/FloorPlan206-objects.json | 32 +- gen/layouts/FloorPlan206-openable.json | 16 +- gen/layouts/FloorPlan207-objects.json | 36 +- gen/layouts/FloorPlan207-openable.json | 14 +- gen/layouts/FloorPlan208-layout.npy | Bin 3440 -> 3376 bytes gen/layouts/FloorPlan208-objects.json | 32 +- gen/layouts/FloorPlan208-openable.json | 18 +- gen/layouts/FloorPlan209-layout.npy | Bin 4912 -> 4816 bytes gen/layouts/FloorPlan209-objects.json | 42 +- gen/layouts/FloorPlan209-openable.json | 22 +- gen/layouts/FloorPlan21-objects.json | 70 +- gen/layouts/FloorPlan21-openable.json | 20 +- gen/layouts/FloorPlan210-objects.json | 40 +- gen/layouts/FloorPlan210-openable.json | 2 +- gen/layouts/FloorPlan211-layout.npy | Bin 2240 -> 2240 bytes gen/layouts/FloorPlan211-objects.json | 40 +- gen/layouts/FloorPlan211-openable.json | 16 +- gen/layouts/FloorPlan212-objects.json | 40 +- gen/layouts/FloorPlan212-openable.json | 4 +- gen/layouts/FloorPlan213-layout.npy | Bin 4784 -> 4736 bytes gen/layouts/FloorPlan213-objects.json | 34 +- gen/layouts/FloorPlan213-openable.json | 16 +- gen/layouts/FloorPlan214-objects.json | 42 +- gen/layouts/FloorPlan214-openable.json | 6 +- gen/layouts/FloorPlan215-layout.npy | Bin 6208 -> 6208 bytes gen/layouts/FloorPlan215-objects.json | 44 +- gen/layouts/FloorPlan215-openable.json | 26 +- gen/layouts/FloorPlan216-layout.npy | Bin 2448 -> 2560 bytes gen/layouts/FloorPlan216-objects.json | 34 +- gen/layouts/FloorPlan216-openable.json | 18 +- gen/layouts/FloorPlan217-objects.json | 38 +- gen/layouts/FloorPlan217-openable.json | 12 +- gen/layouts/FloorPlan218-layout.npy | Bin 6752 -> 6384 bytes gen/layouts/FloorPlan218-objects.json | 42 +- gen/layouts/FloorPlan218-openable.json | 2 +- gen/layouts/FloorPlan219-objects.json | 40 +- gen/layouts/FloorPlan219-openable.json | 40 +- gen/layouts/FloorPlan22-objects.json | 60 +- gen/layouts/FloorPlan22-openable.json | 42 +- gen/layouts/FloorPlan220-objects.json | 36 +- gen/layouts/FloorPlan220-openable.json | 4 +- gen/layouts/FloorPlan221-layout.npy | Bin 1920 -> 1904 bytes gen/layouts/FloorPlan221-objects.json | 36 +- gen/layouts/FloorPlan221-openable.json | 6 +- gen/layouts/FloorPlan222-objects.json | 34 +- gen/layouts/FloorPlan222-openable.json | 12 +- gen/layouts/FloorPlan223-layout.npy | Bin 3408 -> 3344 bytes gen/layouts/FloorPlan223-objects.json | 36 +- gen/layouts/FloorPlan223-openable.json | 22 +- gen/layouts/FloorPlan224-layout.npy | Bin 4704 -> 4688 bytes gen/layouts/FloorPlan224-objects.json | 42 +- gen/layouts/FloorPlan224-openable.json | 12 +- gen/layouts/FloorPlan225-objects.json | 40 +- gen/layouts/FloorPlan225-openable.json | 12 +- gen/layouts/FloorPlan226-layout.npy | Bin 1424 -> 1392 bytes gen/layouts/FloorPlan226-objects.json | 32 +- gen/layouts/FloorPlan226-openable.json | 12 +- gen/layouts/FloorPlan227-layout.npy | Bin 3232 -> 3232 bytes gen/layouts/FloorPlan227-objects.json | 36 +- gen/layouts/FloorPlan227-openable.json | 52 +- gen/layouts/FloorPlan228-objects.json | 36 +- gen/layouts/FloorPlan228-openable.json | 6 +- gen/layouts/FloorPlan229-layout.npy | Bin 3184 -> 3088 bytes gen/layouts/FloorPlan229-objects.json | 42 +- gen/layouts/FloorPlan229-openable.json | 18 +- gen/layouts/FloorPlan23-objects.json | 68 +- gen/layouts/FloorPlan23-openable.json | 64 +- gen/layouts/FloorPlan230-objects.json | 40 +- gen/layouts/FloorPlan230-openable.json | 4 +- gen/layouts/FloorPlan24-layout.npy | Bin 1120 -> 1152 bytes gen/layouts/FloorPlan24-objects.json | 58 +- gen/layouts/FloorPlan24-openable.json | 96 +- gen/layouts/FloorPlan25-layout.npy | Bin 528 -> 560 bytes gen/layouts/FloorPlan25-objects.json | 58 +- gen/layouts/FloorPlan25-openable.json | 32 +- gen/layouts/FloorPlan26-layout.npy | Bin 1328 -> 1344 bytes gen/layouts/FloorPlan26-objects.json | 56 +- gen/layouts/FloorPlan26-openable.json | 10 +- gen/layouts/FloorPlan27-layout.npy | Bin 832 -> 784 bytes gen/layouts/FloorPlan27-objects.json | 62 +- gen/layouts/FloorPlan27-openable.json | 24 +- gen/layouts/FloorPlan28-objects.json | 62 +- gen/layouts/FloorPlan28-openable.json | 36 +- gen/layouts/FloorPlan29-layout.npy | Bin 1136 -> 1168 bytes gen/layouts/FloorPlan29-objects.json | 54 +- gen/layouts/FloorPlan29-openable.json | 16 +- gen/layouts/FloorPlan3-layout.npy | Bin 1792 -> 1856 bytes gen/layouts/FloorPlan3-objects.json | 66 +- gen/layouts/FloorPlan3-openable.json | 52 +- gen/layouts/FloorPlan30-layout.npy | Bin 992 -> 1296 bytes gen/layouts/FloorPlan30-objects.json | 66 +- gen/layouts/FloorPlan30-openable.json | 108 +- gen/layouts/FloorPlan301-layout.npy | Bin 1440 -> 1392 bytes gen/layouts/FloorPlan301-objects.json | 50 +- gen/layouts/FloorPlan301-openable.json | 76 +- gen/layouts/FloorPlan302-objects.json | 42 +- gen/layouts/FloorPlan302-openable.json | 32 +- gen/layouts/FloorPlan303-layout.npy | Bin 1280 -> 1184 bytes gen/layouts/FloorPlan303-objects.json | 52 +- gen/layouts/FloorPlan303-openable.json | 36 +- gen/layouts/FloorPlan304-layout.npy | Bin 1824 -> 1808 bytes gen/layouts/FloorPlan304-objects.json | 40 +- gen/layouts/FloorPlan304-openable.json | 20 +- gen/layouts/FloorPlan305-objects.json | 44 +- gen/layouts/FloorPlan305-openable.json | 18 +- gen/layouts/FloorPlan306-objects.json | 36 +- gen/layouts/FloorPlan306-openable.json | 10 +- gen/layouts/FloorPlan307-layout.npy | Bin 1536 -> 1424 bytes gen/layouts/FloorPlan307-objects.json | 48 +- gen/layouts/FloorPlan307-openable.json | 22 +- gen/layouts/FloorPlan308-layout.npy | Bin 1712 -> 1744 bytes gen/layouts/FloorPlan308-objects.json | 40 +- gen/layouts/FloorPlan308-openable.json | 42 +- gen/layouts/FloorPlan309-layout.npy | Bin 5744 -> 5760 bytes gen/layouts/FloorPlan309-objects.json | 46 +- gen/layouts/FloorPlan309-openable.json | 20 +- gen/layouts/FloorPlan310-objects.json | 42 +- gen/layouts/FloorPlan310-openable.json | 28 +- gen/layouts/FloorPlan311-layout.npy | Bin 3616 -> 3760 bytes gen/layouts/FloorPlan311-objects.json | 42 +- gen/layouts/FloorPlan311-openable.json | 20 +- gen/layouts/FloorPlan312-layout.npy | Bin 1568 -> 1440 bytes gen/layouts/FloorPlan312-objects.json | 34 +- gen/layouts/FloorPlan312-openable.json | 18 +- gen/layouts/FloorPlan313-layout.npy | Bin 912 -> 880 bytes gen/layouts/FloorPlan313-objects.json | 46 +- gen/layouts/FloorPlan313-openable.json | 6 +- gen/layouts/FloorPlan314-objects.json | 32 +- gen/layouts/FloorPlan314-openable.json | 2 +- gen/layouts/FloorPlan315-layout.npy | Bin 1744 -> 1712 bytes gen/layouts/FloorPlan315-objects.json | 38 +- gen/layouts/FloorPlan315-openable.json | 18 +- gen/layouts/FloorPlan316-objects.json | 42 +- gen/layouts/FloorPlan316-openable.json | 18 +- gen/layouts/FloorPlan317-layout.npy | Bin 2112 -> 1680 bytes gen/layouts/FloorPlan317-objects.json | 44 +- gen/layouts/FloorPlan317-openable.json | 24 +- gen/layouts/FloorPlan318-layout.npy | Bin 1584 -> 1632 bytes gen/layouts/FloorPlan318-objects.json | 40 +- gen/layouts/FloorPlan318-openable.json | 62 +- gen/layouts/FloorPlan319-layout.npy | Bin 1568 -> 1680 bytes gen/layouts/FloorPlan319-objects.json | 38 +- gen/layouts/FloorPlan319-openable.json | 36 +- gen/layouts/FloorPlan320-layout.npy | Bin 1104 -> 1200 bytes gen/layouts/FloorPlan320-objects.json | 40 +- gen/layouts/FloorPlan320-openable.json | 12 +- gen/layouts/FloorPlan321-layout.npy | Bin 1600 -> 1600 bytes gen/layouts/FloorPlan321-objects.json | 32 +- gen/layouts/FloorPlan321-openable.json | 14 +- gen/layouts/FloorPlan322-layout.npy | Bin 1808 -> 1792 bytes gen/layouts/FloorPlan322-objects.json | 40 +- gen/layouts/FloorPlan322-openable.json | 26 +- gen/layouts/FloorPlan323-layout.npy | Bin 3120 -> 3184 bytes gen/layouts/FloorPlan323-objects.json | 42 +- gen/layouts/FloorPlan323-openable.json | 32 +- gen/layouts/FloorPlan324-layout.npy | Bin 1632 -> 1552 bytes gen/layouts/FloorPlan324-objects.json | 40 +- gen/layouts/FloorPlan324-openable.json | 14 +- gen/layouts/FloorPlan325-layout.npy | Bin 3072 -> 3040 bytes gen/layouts/FloorPlan325-objects.json | 38 +- gen/layouts/FloorPlan325-openable.json | 64 +- gen/layouts/FloorPlan326-layout.npy | Bin 1760 -> 1728 bytes gen/layouts/FloorPlan326-objects.json | 50 +- gen/layouts/FloorPlan326-openable.json | 28 +- gen/layouts/FloorPlan327-layout.npy | Bin 1392 -> 1392 bytes gen/layouts/FloorPlan327-objects.json | 38 +- gen/layouts/FloorPlan327-openable.json | 24 +- gen/layouts/FloorPlan328-objects.json | 42 +- gen/layouts/FloorPlan329-objects.json | 38 +- gen/layouts/FloorPlan329-openable.json | 24 +- gen/layouts/FloorPlan330-layout.npy | Bin 2208 -> 2240 bytes gen/layouts/FloorPlan330-objects.json | 42 +- gen/layouts/FloorPlan330-openable.json | 12 +- gen/layouts/FloorPlan4-objects.json | 60 +- gen/layouts/FloorPlan4-openable.json | 10 +- gen/layouts/FloorPlan401-layout.npy | Bin 1760 -> 1616 bytes gen/layouts/FloorPlan401-objects.json | 44 +- gen/layouts/FloorPlan401-openable.json | 14 +- gen/layouts/FloorPlan402-objects.json | 46 +- gen/layouts/FloorPlan403-layout.npy | Bin 1152 -> 1008 bytes gen/layouts/FloorPlan403-objects.json | 48 +- gen/layouts/FloorPlan403-openable.json | 32 +- gen/layouts/FloorPlan404-objects.json | 42 +- gen/layouts/FloorPlan404-openable.json | 8 +- gen/layouts/FloorPlan405-objects.json | 38 +- gen/layouts/FloorPlan405-openable.json | 8 +- gen/layouts/FloorPlan406-objects.json | 38 +- gen/layouts/FloorPlan406-openable.json | 22 +- gen/layouts/FloorPlan407-objects.json | 44 +- gen/layouts/FloorPlan407-openable.json | 16 +- gen/layouts/FloorPlan408-layout.npy | Bin 736 -> 704 bytes gen/layouts/FloorPlan408-objects.json | 38 +- gen/layouts/FloorPlan408-openable.json | 24 +- gen/layouts/FloorPlan409-objects.json | 38 +- gen/layouts/FloorPlan410-objects.json | 40 +- gen/layouts/FloorPlan411-layout.npy | Bin 1136 -> 1104 bytes gen/layouts/FloorPlan411-objects.json | 42 +- gen/layouts/FloorPlan411-openable.json | 8 +- gen/layouts/FloorPlan412-layout.npy | Bin 816 -> 784 bytes gen/layouts/FloorPlan412-objects.json | 40 +- gen/layouts/FloorPlan412-openable.json | 8 +- gen/layouts/FloorPlan413-layout.npy | Bin 1136 -> 1216 bytes gen/layouts/FloorPlan413-objects.json | 44 +- gen/layouts/FloorPlan413-openable.json | 34 +- gen/layouts/FloorPlan414-layout.npy | Bin 896 -> 800 bytes gen/layouts/FloorPlan414-objects.json | 44 +- gen/layouts/FloorPlan414-openable.json | 24 +- gen/layouts/FloorPlan415-layout.npy | Bin 976 -> 880 bytes gen/layouts/FloorPlan415-objects.json | 44 +- gen/layouts/FloorPlan415-openable.json | 10 +- gen/layouts/FloorPlan416-layout.npy | Bin 1136 -> 992 bytes gen/layouts/FloorPlan416-objects.json | 38 +- gen/layouts/FloorPlan416-openable.json | 2 +- gen/layouts/FloorPlan417-objects.json | 38 +- gen/layouts/FloorPlan417-openable.json | 8 +- gen/layouts/FloorPlan418-layout.npy | Bin 848 -> 864 bytes gen/layouts/FloorPlan418-objects.json | 40 +- gen/layouts/FloorPlan418-openable.json | 10 +- gen/layouts/FloorPlan419-layout.npy | Bin 528 -> 608 bytes gen/layouts/FloorPlan419-objects.json | 40 +- gen/layouts/FloorPlan419-openable.json | 14 +- gen/layouts/FloorPlan420-objects.json | 38 +- gen/layouts/FloorPlan421-objects.json | 40 +- gen/layouts/FloorPlan421-openable.json | 4 +- gen/layouts/FloorPlan422-layout.npy | Bin 656 -> 672 bytes gen/layouts/FloorPlan422-objects.json | 46 +- gen/layouts/FloorPlan422-openable.json | 4 +- gen/layouts/FloorPlan423-layout.npy | Bin 1040 -> 1008 bytes gen/layouts/FloorPlan423-objects.json | 44 +- gen/layouts/FloorPlan423-openable.json | 4 +- gen/layouts/FloorPlan424-objects.json | 36 +- gen/layouts/FloorPlan424-openable.json | 24 +- gen/layouts/FloorPlan425-layout.npy | Bin 528 -> 512 bytes gen/layouts/FloorPlan425-objects.json | 40 +- gen/layouts/FloorPlan425-openable.json | 2 +- gen/layouts/FloorPlan426-objects.json | 42 +- gen/layouts/FloorPlan426-openable.json | 6 +- gen/layouts/FloorPlan427-layout.npy | Bin 976 -> 992 bytes gen/layouts/FloorPlan427-objects.json | 46 +- gen/layouts/FloorPlan427-openable.json | 14 +- gen/layouts/FloorPlan428-layout.npy | Bin 864 -> 992 bytes gen/layouts/FloorPlan428-objects.json | 38 +- gen/layouts/FloorPlan428-openable.json | 14 +- gen/layouts/FloorPlan429-layout.npy | Bin 1184 -> 1152 bytes gen/layouts/FloorPlan429-objects.json | 40 +- gen/layouts/FloorPlan430-objects.json | 50 +- gen/layouts/FloorPlan430-openable.json | 6 +- gen/layouts/FloorPlan5-layout.npy | Bin 1696 -> 1680 bytes gen/layouts/FloorPlan5-objects.json | 68 +- gen/layouts/FloorPlan5-openable.json | 18 +- gen/layouts/FloorPlan6-layout.npy | Bin 2128 -> 2176 bytes gen/layouts/FloorPlan6-objects.json | 58 +- gen/layouts/FloorPlan6-openable.json | 46 +- gen/layouts/FloorPlan7-layout.npy | Bin 4304 -> 4352 bytes gen/layouts/FloorPlan7-objects.json | 74 +- gen/layouts/FloorPlan7-openable.json | 68 +- gen/layouts/FloorPlan8-layout.npy | Bin 2864 -> 2768 bytes gen/layouts/FloorPlan8-objects.json | 66 +- gen/layouts/FloorPlan8-openable.json | 82 +- gen/layouts/FloorPlan9-layout.npy | Bin 1312 -> 1360 bytes gen/layouts/FloorPlan9-objects.json | 60 +- gen/layouts/FloorPlan9-openable.json | 86 +- gen/layouts/precompute_layout_locations.py | 14 +- gen/scripts/generate_trajectories.py | 15 +- gen/scripts/replay_checks.py | 8 +- 504 files changed, 4182 insertions(+), 877384 deletions(-) delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190908_002730_200712/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190908_002747_623437/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190910_195319_108102/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213211_644003/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213228_282325/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213239_957946/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204235_124843/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204305_696118/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204338_649353/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_163906_753897/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164025_332377/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190229_164232/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190246_917982/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190322_270194/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005459_168199/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005514_476729/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005542_694744/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040614_977988/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040630_667438/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040707_760902/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033450_287042/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033503_132415/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033554_295049/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_052323_195252/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_064340_559511/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_064424_789194/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190908_133414_664426/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190910_203234_912024/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190910_203316_646156/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190908_062357_662469/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190910_183541_490131/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190910_184933_511149/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152854_416951/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152910_413839/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071051_120393/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071208_686774/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013508_041432/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013555_841038/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013614_368009/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053720_916417/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053743_317534/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053839_725206/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154740_977701/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154756_629170/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154851_086393/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122415_877633/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122723_912052/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122754_357020/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031758_208825/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031811_820988/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031822_994450/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015035_153821/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015104_862652/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015129_566328/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014224_474324/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014240_025318/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014348_157302/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165605_913043/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165637_469378/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165700_160617/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200453_215248/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200527_066733/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200605_664317/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072034_448545/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072110_247281/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072141_716322/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190907_035059_143638/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190909_192407_939684/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190909_192750_830230/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190907_171322_825653/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190908_025113_751548/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190908_174345_546124/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_021552_669816/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_081801_821508/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_190207_387917/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-305/trial_T20190909_012047_412780/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-305/trial_T20190909_012128_375274/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170754_628123/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170820_174380/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170842_682996/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_033306_082625/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_033345_561751/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_102323_673895/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_022553_890007/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_022706_734543/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_062011_223446/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020711_573457/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020734_453750/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020814_247238/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190908_052714_004152/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190909_152355_259303/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_083114_148001/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_083127_735120/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_104602_593753/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190906_190334_250149/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190906_190353_820051/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190909_145723_528863/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_002641_567647/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_010619_527487/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_010816_319992/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002224_438116/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002323_289327/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-330/trial_T20190907_163542_485383/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-330/trial_T20190907_163716_768151/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044544_187398/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044602_801023/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044657_737864/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022633_257511/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022708_274581/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022729_383819/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194640_510340/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194709_189668/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194730_320895/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165731_066415/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165758_902037/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085245_031882/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085337_381415/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085544_633388/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_195833_033721/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_195918_167799/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_235202_045025/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085703_053950/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085759_424304/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085826_396748/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190908_122634_511704/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190911_131442_170447/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190911_131523_783089/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042509_028087/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042553_191155/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042648_141419/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060924_095249/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_043229_211174/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_043257_624123/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_102018_685821/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CreditCard-None-Dresser-217/trial_T20190909_082036_407168/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201834_073281/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190907_181205_590674/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190910_122758_510336/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190910_175451_266121/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051029_553111/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051114_312895/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051200_050277/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_132529_662268/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_135832_399583/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_140011_258829/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043544_600540/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043626_173426/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043711_689596/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190908_063003_015125/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190910_101622_375359/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190912_171559_010465/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190907_212826_574375/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190912_025637_251961/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190912_025720_775535/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193324_684519/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193350_794065/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193429_044662/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065309_623947/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065343_750913/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065419_372851/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_181954_161870/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182257_096741/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180154_425245/traj_data.json delete mode 100644 data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180223_908386/traj_data.json delete mode 100644 data/json_2.1.0/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json delete mode 100644 data/json_2.1.0/valid_seen/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152837_739016/traj_data.json delete mode 100644 data/json_2.1.0/valid_seen/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071128_012892/traj_data.json delete mode 100644 data/json_2.1.0/valid_seen/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190909_154212_097094/traj_data.json delete mode 100644 data/json_2.1.0/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/traj_data.json delete mode 100644 data/json_2.1.0/valid_seen/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165826_194855/traj_data.json delete mode 100644 data/json_2.1.0/valid_seen/pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201917_045715/traj_data.json delete mode 100644 data/json_2.1.0/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/traj_data.json diff --git a/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190908_002730_200712/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190908_002730_200712/traj_data.json deleted file mode 100644 index 689077440..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190908_002730_200712/traj_data.json +++ /dev/null @@ -1,3242 +0,0 @@ -{ - "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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 19 - }, - { - "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": 1, - "image_name": "000000093.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "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": 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": 25 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 25 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 40 - }, - { - "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": 44 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|-5|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -2.0121292, - -2.0121292, - -6.89624308, - -6.89624308, - 2.832726, - 2.832726 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -1.7984, - -1.7984, - -7.008, - -7.008, - 2.8024, - 2.8024 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.50|+00.71|-01.72" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -2.0121292, - -2.0121292, - -6.89624308, - -6.89624308, - 2.832726, - 2.832726 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.50|+00.71|-01.72", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - } - ], - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|-00.50|+00.71|-01.72" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 126, - 135, - 193, - 167 - ], - "mask": [ - [ - 40328, - 36 - ], - [ - 40627, - 37 - ], - [ - 40927, - 37 - ], - [ - 41227, - 37 - ], - [ - 41527, - 37 - ], - [ - 41827, - 37 - ], - [ - 42126, - 39 - ], - [ - 42426, - 39 - ], - [ - 42726, - 39 - ], - [ - 43026, - 40 - ], - [ - 43326, - 67 - ], - [ - 43626, - 67 - ], - [ - 43926, - 67 - ], - [ - 44226, - 68 - ], - [ - 44526, - 68 - ], - [ - 44826, - 68 - ], - [ - 45126, - 68 - ], - [ - 45426, - 68 - ], - [ - 45726, - 68 - ], - [ - 46026, - 68 - ], - [ - 46326, - 68 - ], - [ - 46626, - 68 - ], - [ - 46926, - 68 - ], - [ - 47226, - 68 - ], - [ - 47526, - 67 - ], - [ - 47826, - 67 - ], - [ - 48126, - 67 - ], - [ - 48427, - 65 - ], - [ - 48727, - 65 - ], - [ - 49027, - 65 - ], - [ - 49327, - 64 - ], - [ - 49629, - 61 - ], - [ - 49953, - 35 - ] - ], - "point": [ - 159, - 150 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|-00.50|+00.71|-01.72", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 153 - ], - [ - 9531, - 222 - ], - [ - 9831, - 222 - ], - [ - 10132, - 221 - ], - [ - 10432, - 68 - ], - [ - 10501, - 152 - ], - [ - 10732, - 68 - ], - [ - 10802, - 151 - ], - [ - 11032, - 68 - ], - [ - 11103, - 150 - ], - [ - 11333, - 67 - ], - [ - 11404, - 149 - ], - [ - 11633, - 67 - ], - [ - 11705, - 148 - ], - [ - 11933, - 67 - ], - [ - 12007, - 146 - ], - [ - 12233, - 67 - ], - [ - 12308, - 145 - ], - [ - 12534, - 66 - ], - [ - 12613, - 117 - ], - [ - 12734, - 19 - ], - [ - 12834, - 66 - ], - [ - 12915, - 113 - ], - [ - 13044, - 9 - ], - [ - 13134, - 66 - ], - [ - 13217, - 115 - ], - [ - 13434, - 66 - ], - [ - 13518, - 124 - ], - [ - 13735, - 65 - ], - [ - 13819, - 133 - ], - [ - 14035, - 65 - ], - [ - 14119, - 134 - ], - [ - 14335, - 65 - ], - [ - 14420, - 133 - ], - [ - 14635, - 65 - ], - [ - 14720, - 133 - ], - [ - 14936, - 64 - ], - [ - 15020, - 133 - ], - [ - 15236, - 64 - ], - [ - 15320, - 133 - ], - [ - 15536, - 64 - ], - [ - 15619, - 134 - ], - [ - 15836, - 64 - ], - [ - 15919, - 134 - ], - [ - 16136, - 64 - ], - [ - 16218, - 135 - ], - [ - 16437, - 63 - ], - [ - 16517, - 136 - ], - [ - 16737, - 63 - ], - [ - 16817, - 136 - ], - [ - 17037, - 63 - ], - [ - 17115, - 138 - ], - [ - 17337, - 63 - ], - [ - 17414, - 139 - ], - [ - 17638, - 62 - ], - [ - 17713, - 140 - ], - [ - 17938, - 62 - ], - [ - 18010, - 143 - ], - [ - 18238, - 62 - ], - [ - 18308, - 145 - ], - [ - 18538, - 62 - ], - [ - 18602, - 151 - ], - [ - 18839, - 214 - ], - [ - 19139, - 214 - ], - [ - 19439, - 214 - ], - [ - 19739, - 214 - ], - [ - 20040, - 214 - ], - [ - 20340, - 214 - ], - [ - 20640, - 214 - ], - [ - 20940, - 214 - ], - [ - 21241, - 213 - ], - [ - 21541, - 213 - ], - [ - 21841, - 213 - ], - [ - 22141, - 213 - ], - [ - 22442, - 212 - ], - [ - 22742, - 212 - ], - [ - 23042, - 212 - ], - [ - 23342, - 212 - ], - [ - 23643, - 211 - ], - [ - 23943, - 211 - ], - [ - 24243, - 211 - ], - [ - 24543, - 211 - ], - [ - 24844, - 210 - ], - [ - 25144, - 210 - ], - [ - 25444, - 210 - ], - [ - 25744, - 210 - ], - [ - 26045, - 209 - ], - [ - 26345, - 209 - ], - [ - 26645, - 55 - ], - [ - 26715, - 78 - ], - [ - 26813, - 41 - ], - [ - 26945, - 55 - ], - [ - 27015, - 77 - ], - [ - 27113, - 41 - ], - [ - 27246, - 208 - ], - [ - 27546, - 208 - ], - [ - 27846, - 208 - ], - [ - 28146, - 208 - ], - [ - 28446, - 208 - ], - [ - 28747, - 207 - ], - [ - 29047, - 207 - ], - [ - 29347, - 177 - ], - [ - 29542, - 12 - ], - [ - 29647, - 180 - ], - [ - 29948, - 189 - ], - [ - 30248, - 78 - ], - [ - 30371, - 79 - ], - [ - 30548, - 76 - ], - [ - 30675, - 80 - ], - [ - 30848, - 110 - ], - [ - 30971, - 84 - ], - [ - 31148, - 208 - ], - [ - 31448, - 209 - ], - [ - 31748, - 212 - ], - [ - 32047, - 213 - ], - [ - 32346, - 216 - ], - [ - 32643, - 2457 - ], - [ - 35250, - 2 - ], - [ - 35550, - 2 - ], - [ - 35850, - 2 - ], - [ - 36150, - 2 - ], - [ - 36450, - 2 - ], - [ - 36750, - 2 - ], - [ - 37050, - 2 - ], - [ - 37350, - 2 - ], - [ - 37650, - 2 - ], - [ - 37950, - 2 - ], - [ - 38250, - 2 - ], - [ - 38550, - 2 - ], - [ - 38850, - 2 - ], - [ - 39150, - 2 - ], - [ - 39450, - 2 - ], - [ - 39750, - 2 - ], - [ - 40050, - 2 - ], - [ - 40350, - 2 - ], - [ - 40650, - 2 - ], - [ - 40950, - 2 - ], - [ - 41250, - 2 - ], - [ - 41550, - 2 - ], - [ - 41850, - 2 - ], - [ - 42150, - 2 - ], - [ - 42450, - 2 - ], - [ - 42750, - 2 - ], - [ - 43050, - 2 - ], - [ - 43350, - 2 - ], - [ - 43650, - 2 - ], - [ - 43950, - 2 - ], - [ - 44250, - 2 - ], - [ - 44550, - 2 - ], - [ - 44850, - 2 - ], - [ - 45150, - 2 - ], - [ - 45450, - 2 - ], - [ - 45750, - 2 - ], - [ - 46050, - 2 - ], - [ - 46350, - 2 - ], - [ - 46650, - 2 - ], - [ - 46950, - 3 - ], - [ - 47250, - 2 - ], - [ - 47550, - 2 - ], - [ - 47850, - 2 - ], - [ - 48150, - 2 - ], - [ - 48450, - 2 - ], - [ - 48600, - 1 - ], - [ - 48750, - 2 - ], - [ - 48900, - 2 - ], - [ - 49050, - 2 - ], - [ - 49200, - 3 - ], - [ - 49350, - 2 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49650, - 2 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 49950, - 2 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50250, - 2 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50550, - 2 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50850, - 2 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51150, - 2 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51450, - 2 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51750, - 2 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52050, - 2 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52350, - 2 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52650, - 2 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 52950, - 2 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53250, - 2 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53550, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53850, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54150, - 2 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54450, - 2 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54750, - 2 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55050, - 1 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55350, - 1 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55650, - 1 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 55950, - 1 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56250, - 1 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56550, - 1 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56850, - 1 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57150, - 1 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57450, - 1 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57750, - 1 - ], - [ - 57868, - 3 - ], - [ - 57932, - 238 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 1.5, - "y": 0.9020015, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "Statue_77031df3", - "position": { - "x": 0.4180629, - "y": 0.838830948, - "z": -2.414 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.39424515, - "y": 0.827185452, - "z": 0.244202033 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.70356059, - "y": 0.827185452, - "z": 0.244201213 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.456109, - "y": 0.8233492, - "z": 0.43364796 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 0.147182137, - "y": 0.8329391, - "z": -2.322849 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.507845, - "y": 0.191314667, - "z": 0.8808118 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.5954236, - "y": 0.7308113, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.209483683, - "y": 0.7308113, - "z": 0.7027061 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": 2.579834, - "y": 0.818, - "z": 0.0547554642 - }, - "rotation": { - "x": 0.0, - "y": 180.000153, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": 2.554471, - "y": 0.19110778, - "z": 0.5315961 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": -0.315769732, - "y": 0.714333653, - "z": -1.752 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.5954236, - "y": 0.7309317, - "z": 0.17262423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": 0.148, - "y": 0.744, - "z": 1.738 - }, - "rotation": { - "x": 0.0, - "y": 195.27034, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.5954236, - "y": 0.809355736, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.46121883, - "y": 0.353515148, - "z": 0.356988132 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": -0.4273469, - "y": 0.047281567, - "z": -1.80787826 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.45611, - "y": 0.8248818, - "z": 0.812540054 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": -0.5030323, - "y": 0.7081815, - "z": -1.72406077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": 0.1764562, - "y": 0.7290222, - "z": 1.23278809 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": -0.5654532, - "y": 0.427552521, - "z": -1.77993917 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.39424658, - "y": 0.827185452, - "z": 0.623094141 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2321950277, - "scene_num": 319 - }, - "task_id": "trial_T20190908_002730_200712", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A38Z99XF4NDNH0_3EICBYG647DGF1OEMT9DWXEMM7AJCS", - "high_descs": [ - "Turn left then head to the back right wood shelving", - "Pick up the clock sitting on the shelf", - "Carry the clock over to the dresser against the wall", - "Move the clock to the left of the computer on top of the dresser" - ], - "task_desc": "Move a clock to the dresser", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3TAYZSBPLOPWGMF2CUTLCLWN6ZHS2F", - "high_descs": [ - "Go to the left and then right and then turn to the left to face the shelving unit.", - "Pick the clock up from the shelf.", - "Go left and cross the room and stand in front of the dresser.", - "Put the clock down on the left side of the dresser." - ], - "task_desc": "Put a clock on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3R19ZA45J8915_3VD82FOHKT5UGCFB261I4TV8L17COR", - "high_descs": [ - "Turn left and move across the room to the shelving that sits across from the foot of the bed.", - "Pick up the alarm clock that is on the shelf.", - "Turn left and walk across the room to the dresser. ", - "Place the alarm clock on the dresser to the left of the laptop. " - ], - "task_desc": "Move an alarm clock to the dresser. ", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190908_002747_623437/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190908_002747_623437/traj_data.json deleted file mode 100644 index ad07d02a7..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190908_002747_623437/traj_data.json +++ /dev/null @@ -1,3743 +0,0 @@ -{ - "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": 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": 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": 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": 12 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 12 - }, - { - "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": 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": 1, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 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": 28 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 40 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 2.2140132, - 2.2140132, - -9.41293144, - -9.41293144, - 3.3307152, - 3.3307152 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 2.136, - 2.136, - -9.656, - -9.656, - 3.300673008, - 3.300673008 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+00.55|+00.83|-02.35" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 2.2140132, - 2.2140132, - -9.41293144, - -9.41293144, - 3.3307152, - 3.3307152 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+00.55|+00.83|-02.35", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - } - ], - "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": "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": "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": "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": "AlarmClock|+00.55|+00.83|-02.35" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 98, - 83, - 169, - 118 - ], - "mask": [ - [ - 24702, - 65 - ], - [ - 25001, - 67 - ], - [ - 25300, - 69 - ], - [ - 25600, - 69 - ], - [ - 25900, - 69 - ], - [ - 26200, - 69 - ], - [ - 26499, - 70 - ], - [ - 26799, - 70 - ], - [ - 27099, - 70 - ], - [ - 27399, - 70 - ], - [ - 27699, - 70 - ], - [ - 27999, - 71 - ], - [ - 28299, - 71 - ], - [ - 28599, - 71 - ], - [ - 28898, - 72 - ], - [ - 29198, - 72 - ], - [ - 29498, - 72 - ], - [ - 29798, - 72 - ], - [ - 30098, - 72 - ], - [ - 30398, - 72 - ], - [ - 30698, - 72 - ], - [ - 30998, - 72 - ], - [ - 31298, - 72 - ], - [ - 31598, - 72 - ], - [ - 31899, - 71 - ], - [ - 32199, - 71 - ], - [ - 32499, - 70 - ], - [ - 32799, - 70 - ], - [ - 33100, - 69 - ], - [ - 33400, - 69 - ], - [ - 33700, - 69 - ], - [ - 34000, - 69 - ], - [ - 34301, - 68 - ], - [ - 34601, - 67 - ], - [ - 34902, - 66 - ], - [ - 35203, - 64 - ] - ], - "point": [ - 133, - 99 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|+00.55|+00.83|-02.35", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 89 - ], - [ - 9398, - 1 - ], - [ - 9408, - 148 - ], - [ - 9600, - 89 - ], - [ - 9698, - 2 - ], - [ - 9708, - 148 - ], - [ - 9900, - 89 - ], - [ - 9998, - 3 - ], - [ - 10008, - 148 - ], - [ - 10200, - 90 - ], - [ - 10297, - 4 - ], - [ - 10308, - 149 - ], - [ - 10501, - 89 - ], - [ - 10597, - 5 - ], - [ - 10608, - 149 - ], - [ - 10802, - 88 - ], - [ - 10897, - 5 - ], - [ - 10910, - 147 - ], - [ - 11103, - 88 - ], - [ - 11197, - 6 - ], - [ - 11212, - 146 - ], - [ - 11404, - 87 - ], - [ - 11497, - 7 - ], - [ - 11512, - 146 - ], - [ - 11705, - 86 - ], - [ - 11797, - 7 - ], - [ - 11812, - 146 - ], - [ - 12007, - 85 - ], - [ - 12097, - 9 - ], - [ - 12112, - 147 - ], - [ - 12308, - 84 - ], - [ - 12397, - 11 - ], - [ - 12413, - 146 - ], - [ - 12613, - 43 - ], - [ - 12674, - 18 - ], - [ - 12697, - 12 - ], - [ - 12713, - 146 - ], - [ - 12915, - 40 - ], - [ - 12975, - 17 - ], - [ - 12997, - 13 - ], - [ - 13014, - 146 - ], - [ - 13217, - 38 - ], - [ - 13274, - 18 - ], - [ - 13297, - 14 - ], - [ - 13314, - 146 - ], - [ - 13518, - 37 - ], - [ - 13574, - 18 - ], - [ - 13597, - 14 - ], - [ - 13614, - 56 - ], - [ - 13722, - 38 - ], - [ - 13819, - 35 - ], - [ - 13874, - 13 - ], - [ - 13925, - 45 - ], - [ - 14056, - 4 - ], - [ - 14119, - 35 - ], - [ - 14174, - 12 - ], - [ - 14225, - 45 - ], - [ - 14359, - 2 - ], - [ - 14420, - 34 - ], - [ - 14473, - 11 - ], - [ - 14530, - 40 - ], - [ - 14623, - 22 - ], - [ - 14656, - 5 - ], - [ - 14720, - 34 - ], - [ - 14773, - 10 - ], - [ - 14830, - 41 - ], - [ - 14923, - 38 - ], - [ - 15020, - 34 - ], - [ - 15073, - 10 - ], - [ - 15130, - 41 - ], - [ - 15224, - 38 - ], - [ - 15320, - 63 - ], - [ - 15430, - 41 - ], - [ - 15524, - 38 - ], - [ - 15619, - 64 - ], - [ - 15730, - 40 - ], - [ - 15824, - 38 - ], - [ - 15919, - 64 - ], - [ - 16030, - 40 - ], - [ - 16124, - 39 - ], - [ - 16218, - 64 - ], - [ - 16330, - 40 - ], - [ - 16424, - 39 - ], - [ - 16517, - 65 - ], - [ - 16629, - 41 - ], - [ - 16725, - 38 - ], - [ - 16817, - 65 - ], - [ - 16929, - 41 - ], - [ - 17025, - 39 - ], - [ - 17115, - 67 - ], - [ - 17229, - 41 - ], - [ - 17325, - 39 - ], - [ - 17414, - 68 - ], - [ - 17529, - 41 - ], - [ - 17625, - 39 - ], - [ - 17713, - 69 - ], - [ - 17829, - 41 - ], - [ - 17926, - 39 - ], - [ - 18010, - 71 - ], - [ - 18129, - 41 - ], - [ - 18226, - 39 - ], - [ - 18308, - 73 - ], - [ - 18429, - 41 - ], - [ - 18526, - 74 - ], - [ - 18602, - 79 - ], - [ - 18729, - 41 - ], - [ - 18826, - 155 - ], - [ - 19029, - 41 - ], - [ - 19126, - 155 - ], - [ - 19329, - 41 - ], - [ - 19427, - 153 - ], - [ - 19629, - 41 - ], - [ - 19727, - 153 - ], - [ - 19929, - 41 - ], - [ - 20027, - 153 - ], - [ - 20229, - 42 - ], - [ - 20327, - 51 - ], - [ - 20400, - 80 - ], - [ - 20529, - 42 - ], - [ - 20627, - 42 - ], - [ - 20700, - 80 - ], - [ - 20829, - 42 - ], - [ - 20928, - 41 - ], - [ - 21000, - 79 - ], - [ - 21129, - 42 - ], - [ - 21228, - 40 - ], - [ - 21300, - 79 - ], - [ - 21429, - 42 - ], - [ - 21528, - 40 - ], - [ - 21600, - 79 - ], - [ - 21729, - 42 - ], - [ - 21828, - 41 - ], - [ - 21900, - 79 - ], - [ - 22028, - 43 - ], - [ - 22128, - 41 - ], - [ - 22200, - 79 - ], - [ - 22328, - 43 - ], - [ - 22429, - 40 - ], - [ - 22500, - 78 - ], - [ - 22628, - 43 - ], - [ - 22729, - 40 - ], - [ - 22800, - 78 - ], - [ - 22928, - 43 - ], - [ - 23029, - 41 - ], - [ - 23100, - 78 - ], - [ - 23228, - 43 - ], - [ - 23329, - 41 - ], - [ - 23400, - 78 - ], - [ - 23528, - 43 - ], - [ - 23630, - 40 - ], - [ - 23700, - 78 - ], - [ - 23828, - 43 - ], - [ - 23930, - 41 - ], - [ - 24000, - 54 - ], - [ - 24059, - 19 - ], - [ - 24128, - 43 - ], - [ - 24230, - 41 - ], - [ - 24300, - 50 - ], - [ - 24363, - 15 - ], - [ - 24428, - 43 - ], - [ - 24530, - 41 - ], - [ - 24600, - 47 - ], - [ - 24665, - 13 - ], - [ - 24728, - 43 - ], - [ - 24830, - 42 - ], - [ - 24900, - 46 - ], - [ - 24966, - 13 - ], - [ - 25027, - 44 - ], - [ - 25131, - 41 - ], - [ - 25200, - 44 - ], - [ - 25267, - 104 - ], - [ - 25431, - 41 - ], - [ - 25500, - 43 - ], - [ - 25568, - 104 - ], - [ - 25731, - 42 - ], - [ - 25800, - 42 - ], - [ - 25868, - 104 - ], - [ - 26031, - 42 - ], - [ - 26100, - 42 - ], - [ - 26168, - 104 - ], - [ - 26331, - 42 - ], - [ - 26400, - 41 - ], - [ - 26469, - 103 - ], - [ - 26632, - 42 - ], - [ - 26700, - 40 - ], - [ - 26753, - 3 - ], - [ - 26769, - 103 - ], - [ - 26932, - 42 - ], - [ - 27000, - 40 - ], - [ - 27052, - 5 - ], - [ - 27069, - 103 - ], - [ - 27232, - 42 - ], - [ - 27300, - 40 - ], - [ - 27352, - 4 - ], - [ - 27368, - 104 - ], - [ - 27532, - 43 - ], - [ - 27600, - 40 - ], - [ - 27668, - 104 - ], - [ - 27832, - 43 - ], - [ - 27900, - 40 - ], - [ - 27967, - 105 - ], - [ - 28133, - 42 - ], - [ - 28200, - 40 - ], - [ - 28267, - 105 - ], - [ - 28433, - 43 - ], - [ - 28500, - 40 - ], - [ - 28566, - 106 - ], - [ - 28733, - 43 - ], - [ - 28800, - 41 - ], - [ - 28865, - 107 - ], - [ - 29033, - 43 - ], - [ - 29100, - 41 - ], - [ - 29164, - 108 - ], - [ - 29334, - 42 - ], - [ - 29400, - 42 - ], - [ - 29463, - 109 - ], - [ - 29634, - 43 - ], - [ - 29700, - 44 - ], - [ - 29761, - 111 - ], - [ - 29934, - 43 - ], - [ - 30000, - 45 - ], - [ - 30058, - 114 - ], - [ - 30234, - 43 - ], - [ - 30300, - 49 - ], - [ - 30354, - 118 - ], - [ - 30534, - 44 - ], - [ - 30600, - 172 - ], - [ - 30834, - 44 - ], - [ - 30900, - 173 - ], - [ - 31134, - 44 - ], - [ - 31200, - 173 - ], - [ - 31434, - 45 - ], - [ - 31500, - 173 - ], - [ - 31733, - 46 - ], - [ - 31800, - 173 - ], - [ - 32032, - 47 - ], - [ - 32100, - 173 - ], - [ - 32331, - 49 - ], - [ - 32400, - 2700 - ], - [ - 35250, - 2 - ], - [ - 35550, - 2 - ], - [ - 35850, - 2 - ], - [ - 36150, - 2 - ], - [ - 36450, - 2 - ], - [ - 36750, - 2 - ], - [ - 37050, - 2 - ], - [ - 37350, - 2 - ], - [ - 37650, - 2 - ], - [ - 37950, - 2 - ], - [ - 38250, - 2 - ], - [ - 38550, - 2 - ], - [ - 38850, - 2 - ], - [ - 39150, - 2 - ], - [ - 39450, - 2 - ], - [ - 39750, - 2 - ], - [ - 40050, - 2 - ], - [ - 40350, - 2 - ], - [ - 40650, - 2 - ], - [ - 40950, - 2 - ], - [ - 41250, - 2 - ], - [ - 41550, - 2 - ], - [ - 41850, - 2 - ], - [ - 42150, - 2 - ], - [ - 42450, - 2 - ], - [ - 42750, - 2 - ], - [ - 43050, - 2 - ], - [ - 43350, - 2 - ], - [ - 43650, - 2 - ], - [ - 43950, - 2 - ], - [ - 44250, - 2 - ], - [ - 44550, - 2 - ], - [ - 44850, - 2 - ], - [ - 45150, - 2 - ], - [ - 45450, - 2 - ], - [ - 45750, - 2 - ], - [ - 46050, - 2 - ], - [ - 46350, - 2 - ], - [ - 46650, - 2 - ], - [ - 46950, - 3 - ], - [ - 47250, - 2 - ], - [ - 47550, - 2 - ], - [ - 47850, - 2 - ], - [ - 48150, - 2 - ], - [ - 48450, - 2 - ], - [ - 48600, - 1 - ], - [ - 48750, - 2 - ], - [ - 48900, - 2 - ], - [ - 49050, - 2 - ], - [ - 49200, - 3 - ], - [ - 49350, - 2 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49650, - 2 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 49950, - 2 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50250, - 2 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50550, - 2 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50850, - 2 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51150, - 2 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51450, - 2 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51750, - 2 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52050, - 2 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52350, - 2 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52650, - 2 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 52950, - 2 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53250, - 2 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53550, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53850, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54150, - 2 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54450, - 2 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54750, - 2 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55050, - 1 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55350, - 1 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55650, - 1 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 55950, - 1 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56250, - 1 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56550, - 1 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56850, - 1 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57150, - 1 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57450, - 1 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57750, - 1 - ], - [ - 57868, - 3 - ], - [ - 57932, - 238 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 1.25, - "y": 0.9020015, - "z": 1.0 - }, - "object_poses": [ - { - "objectName": "Statue_77031df3", - "position": { - "x": 2.70355916, - "y": 0.8274205, - "z": -0.324137 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": 2.456107, - "y": 0.825887859, - "z": -0.324136347 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": -0.904741764, - "y": 0.7080525, - "z": -1.752 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.554471, - "y": 0.5196255, - "z": -0.1285488 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.402453631, - "y": 0.7309317, - "z": 0.17262423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": -0.8189645, - "y": 0.0497949757, - "z": -1.72406077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.601097, - "y": 0.353515148, - "z": 0.356988132 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.601097, - "y": 0.353515148, - "z": -0.3904607 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.554471, - "y": 0.6770185, - "z": 0.5315961 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.6477232, - "y": 0.3552187, - "z": 0.444292068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": 2.517971, - "y": 0.8197891, - "z": 0.0547556281 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.209483683, - "y": 0.7308113, - "z": 1.23278809 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": 2.57983518, - "y": 0.825887859, - "z": 0.433647633 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": 2.6477232, - "y": 0.676092267, - "z": 0.0460591 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": 0.148, - "y": 0.744, - "z": 1.738 - }, - "rotation": { - "x": 0.0, - "y": 195.27034, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.441, - "y": 0.738, - "z": 1.64 - }, - "rotation": { - "x": 0.0, - "y": 348.951324, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.70356178, - "y": 0.8215286, - "z": 0.623093367 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.6477232, - "y": 0.03458074, - "z": 0.8808118 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": -0.8585042, - "y": 0.430504143, - "z": -1.77993917 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 0.5535033, - "y": 0.8326788, - "z": -2.35323286 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": -0.535, - "y": 0.7818872, - "z": 0.402 - }, - "rotation": { - "x": 0.0, - "y": 59.9998932, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.45610952, - "y": 0.8196067, - "z": 0.623093963 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.70355964, - "y": 0.825652838, - "z": -0.13469094 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4140952870, - "scene_num": 319 - }, - "task_id": "trial_T20190908_002747_623437", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1ELPYAFO7MANS_37QW5D2ZRJ3721HRSB2MMC9QSXWS81", - "high_descs": [ - "Turn left and walk straight ahead to the alarm clock.", - "Pick up the alarm clock.", - "Turn around and veer right to the dresser.", - "Place the alarm clock on middle of the dresser, all the way forward to the ledge." - ], - "task_desc": "Place an alarm clock on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F51C49T9A34D_3N4BPTXIOB97CFBWQ5UPRI058V0KUJ", - "high_descs": [ - "step to the bed and turn to the left and go forward past the bed and turn to the right and take a few steps and turn to the left and go to the window", - "pick up the clock from the window sill", - "turn to the left twice and go to the bed and turn to the right and take a few steps and turn to the left and take a few steps and turn to the right and go to the dresser", - "put the clock on the dresser" - ], - "task_desc": "Place a clock on a dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3QY5DC2MXU1WWTJIPU3SB5800ZCFU5", - "high_descs": [ - "turn to the left, walk to the window and shelf opposite the bed, face the window and sill with an alarm clock", - "pick up the alarm clock from the window sill", - "turn left, walk to the dresser drawers, face the dresser drawers", - "put the alarm clock on top of the dresser drawers to the left of the book" - ], - "task_desc": "move an alarm clock to dresser drawers", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190910_195319_108102/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190910_195319_108102/traj_data.json deleted file mode 100644 index b1a06f1f6..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-AlarmClock-None-Dresser-319/trial_T20190910_195319_108102/traj_data.json +++ /dev/null @@ -1,3612 +0,0 @@ -{ - "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": 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": 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": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 22 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 25 - }, - { - "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": 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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 33 - }, - { - "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": 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": 40 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-5|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -3.4340168, - -3.4340168, - -7.008, - -7.008, - 1.707562684, - 1.707562684 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -3.6456, - -3.6456, - -7.008, - -7.008, - 1.676912188, - 1.676912188 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.86|+00.43|-01.75" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -3.4340168, - -3.4340168, - -7.008, - -7.008, - 1.707562684, - 1.707562684 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.86|+00.43|-01.75", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - } - ], - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|-00.86|+00.43|-01.75" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 147, - 181, - 200, - 188 - ], - "mask": [ - [ - 54147, - 54 - ], - [ - 54447, - 54 - ], - [ - 54747, - 53 - ], - [ - 55048, - 52 - ], - [ - 55348, - 51 - ], - [ - 55648, - 51 - ], - [ - 55948, - 50 - ], - [ - 56252, - 42 - ] - ], - "point": [ - 173, - 183 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|-00.86|+00.43|-01.75", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 82 - ], - [ - 9398, - 8 - ], - [ - 9411, - 42 - ], - [ - 9532, - 150 - ], - [ - 9698, - 8 - ], - [ - 9711, - 42 - ], - [ - 9832, - 150 - ], - [ - 9997, - 9 - ], - [ - 10011, - 42 - ], - [ - 10132, - 151 - ], - [ - 10297, - 9 - ], - [ - 10311, - 42 - ], - [ - 10432, - 68 - ], - [ - 10501, - 82 - ], - [ - 10598, - 7 - ], - [ - 10610, - 43 - ], - [ - 10733, - 67 - ], - [ - 10802, - 81 - ], - [ - 10898, - 7 - ], - [ - 10910, - 43 - ], - [ - 11033, - 67 - ], - [ - 11103, - 80 - ], - [ - 11199, - 6 - ], - [ - 11209, - 44 - ], - [ - 11333, - 67 - ], - [ - 11404, - 79 - ], - [ - 11499, - 6 - ], - [ - 11509, - 44 - ], - [ - 11633, - 67 - ], - [ - 11705, - 78 - ], - [ - 11799, - 6 - ], - [ - 11808, - 45 - ], - [ - 11934, - 66 - ], - [ - 12007, - 76 - ], - [ - 12100, - 4 - ], - [ - 12108, - 45 - ], - [ - 12234, - 66 - ], - [ - 12308, - 75 - ], - [ - 12400, - 4 - ], - [ - 12407, - 46 - ], - [ - 12534, - 66 - ], - [ - 12613, - 70 - ], - [ - 12700, - 4 - ], - [ - 12707, - 46 - ], - [ - 12834, - 66 - ], - [ - 12915, - 68 - ], - [ - 13000, - 3 - ], - [ - 13007, - 46 - ], - [ - 13135, - 65 - ], - [ - 13217, - 66 - ], - [ - 13301, - 1 - ], - [ - 13306, - 47 - ], - [ - 13435, - 65 - ], - [ - 13518, - 65 - ], - [ - 13606, - 47 - ], - [ - 13735, - 65 - ], - [ - 13819, - 64 - ], - [ - 13906, - 47 - ], - [ - 14035, - 65 - ], - [ - 14119, - 65 - ], - [ - 14206, - 47 - ], - [ - 14336, - 64 - ], - [ - 14420, - 64 - ], - [ - 14506, - 47 - ], - [ - 14636, - 64 - ], - [ - 14720, - 40 - ], - [ - 14768, - 16 - ], - [ - 14806, - 47 - ], - [ - 14936, - 64 - ], - [ - 15020, - 37 - ], - [ - 15071, - 13 - ], - [ - 15106, - 47 - ], - [ - 15236, - 64 - ], - [ - 15320, - 35 - ], - [ - 15373, - 11 - ], - [ - 15393, - 1 - ], - [ - 15406, - 47 - ], - [ - 15537, - 63 - ], - [ - 15619, - 34 - ], - [ - 15674, - 10 - ], - [ - 15693, - 2 - ], - [ - 15717, - 36 - ], - [ - 15837, - 63 - ], - [ - 15919, - 33 - ], - [ - 15974, - 10 - ], - [ - 15994, - 1 - ], - [ - 16017, - 36 - ], - [ - 16137, - 63 - ], - [ - 16218, - 33 - ], - [ - 16275, - 9 - ], - [ - 16294, - 1 - ], - [ - 16317, - 36 - ], - [ - 16437, - 63 - ], - [ - 16517, - 33 - ], - [ - 16575, - 9 - ], - [ - 16594, - 2 - ], - [ - 16617, - 36 - ], - [ - 16738, - 62 - ], - [ - 16817, - 33 - ], - [ - 16862, - 1 - ], - [ - 16875, - 10 - ], - [ - 16894, - 2 - ], - [ - 16917, - 36 - ], - [ - 17038, - 62 - ], - [ - 17115, - 34 - ], - [ - 17160, - 4 - ], - [ - 17175, - 10 - ], - [ - 17194, - 2 - ], - [ - 17216, - 37 - ], - [ - 17338, - 62 - ], - [ - 17414, - 35 - ], - [ - 17460, - 4 - ], - [ - 17475, - 10 - ], - [ - 17494, - 2 - ], - [ - 17516, - 37 - ], - [ - 17638, - 62 - ], - [ - 17713, - 36 - ], - [ - 17775, - 11 - ], - [ - 17794, - 2 - ], - [ - 17816, - 37 - ], - [ - 17939, - 61 - ], - [ - 18010, - 39 - ], - [ - 18074, - 12 - ], - [ - 18094, - 2 - ], - [ - 18116, - 37 - ], - [ - 18239, - 61 - ], - [ - 18308, - 41 - ], - [ - 18374, - 12 - ], - [ - 18393, - 7 - ], - [ - 18410, - 43 - ], - [ - 18539, - 61 - ], - [ - 18602, - 48 - ], - [ - 18672, - 15 - ], - [ - 18693, - 8 - ], - [ - 18710, - 43 - ], - [ - 18839, - 112 - ], - [ - 18971, - 16 - ], - [ - 18993, - 10 - ], - [ - 19010, - 43 - ], - [ - 19140, - 111 - ], - [ - 19270, - 18 - ], - [ - 19293, - 13 - ], - [ - 19311, - 43 - ], - [ - 19440, - 113 - ], - [ - 19568, - 20 - ], - [ - 19593, - 15 - ], - [ - 19611, - 43 - ], - [ - 19740, - 115 - ], - [ - 19865, - 23 - ], - [ - 19893, - 16 - ], - [ - 19912, - 42 - ], - [ - 20040, - 143 - ], - [ - 20223, - 31 - ], - [ - 20341, - 139 - ], - [ - 20528, - 26 - ], - [ - 20641, - 138 - ], - [ - 20828, - 26 - ], - [ - 20941, - 138 - ], - [ - 21129, - 25 - ], - [ - 21241, - 138 - ], - [ - 21429, - 25 - ], - [ - 21542, - 137 - ], - [ - 21728, - 26 - ], - [ - 21842, - 137 - ], - [ - 22028, - 26 - ], - [ - 22142, - 137 - ], - [ - 22328, - 26 - ], - [ - 22442, - 136 - ], - [ - 22628, - 26 - ], - [ - 22742, - 136 - ], - [ - 22928, - 26 - ], - [ - 23043, - 135 - ], - [ - 23228, - 26 - ], - [ - 23343, - 135 - ], - [ - 23528, - 26 - ], - [ - 23643, - 135 - ], - [ - 23828, - 26 - ], - [ - 23943, - 134 - ], - [ - 24128, - 26 - ], - [ - 24244, - 133 - ], - [ - 24428, - 26 - ], - [ - 24544, - 133 - ], - [ - 24728, - 26 - ], - [ - 24844, - 133 - ], - [ - 25028, - 26 - ], - [ - 25144, - 133 - ], - [ - 25328, - 26 - ], - [ - 25445, - 131 - ], - [ - 25628, - 26 - ], - [ - 25745, - 131 - ], - [ - 25928, - 26 - ], - [ - 26045, - 131 - ], - [ - 26228, - 26 - ], - [ - 26345, - 131 - ], - [ - 26528, - 26 - ], - [ - 26646, - 130 - ], - [ - 26827, - 27 - ], - [ - 26946, - 129 - ], - [ - 27127, - 27 - ], - [ - 27246, - 129 - ], - [ - 27427, - 27 - ], - [ - 27546, - 129 - ], - [ - 27727, - 27 - ], - [ - 27847, - 128 - ], - [ - 28027, - 27 - ], - [ - 28147, - 128 - ], - [ - 28327, - 27 - ], - [ - 28447, - 128 - ], - [ - 28627, - 27 - ], - [ - 28747, - 127 - ], - [ - 28927, - 27 - ], - [ - 29048, - 126 - ], - [ - 29227, - 27 - ], - [ - 29348, - 126 - ], - [ - 29527, - 27 - ], - [ - 29648, - 126 - ], - [ - 29827, - 27 - ], - [ - 29948, - 126 - ], - [ - 30127, - 27 - ], - [ - 30249, - 124 - ], - [ - 30427, - 28 - ], - [ - 30549, - 124 - ], - [ - 30727, - 28 - ], - [ - 30849, - 124 - ], - [ - 31027, - 29 - ], - [ - 31148, - 125 - ], - [ - 31327, - 30 - ], - [ - 31448, - 125 - ], - [ - 31627, - 33 - ], - [ - 31748, - 125 - ], - [ - 31926, - 34 - ], - [ - 32047, - 126 - ], - [ - 32226, - 36 - ], - [ - 32344, - 2756 - ], - [ - 35250, - 2 - ], - [ - 35550, - 2 - ], - [ - 35850, - 2 - ], - [ - 36150, - 2 - ], - [ - 36450, - 2 - ], - [ - 36750, - 2 - ], - [ - 37050, - 2 - ], - [ - 37350, - 2 - ], - [ - 37650, - 2 - ], - [ - 37950, - 2 - ], - [ - 38250, - 2 - ], - [ - 38550, - 2 - ], - [ - 38850, - 2 - ], - [ - 39150, - 2 - ], - [ - 39450, - 2 - ], - [ - 39750, - 2 - ], - [ - 40050, - 2 - ], - [ - 40350, - 2 - ], - [ - 40650, - 2 - ], - [ - 40950, - 2 - ], - [ - 41250, - 2 - ], - [ - 41550, - 2 - ], - [ - 41850, - 2 - ], - [ - 42150, - 2 - ], - [ - 42450, - 2 - ], - [ - 42750, - 2 - ], - [ - 43050, - 2 - ], - [ - 43350, - 2 - ], - [ - 43650, - 2 - ], - [ - 43950, - 2 - ], - [ - 44250, - 2 - ], - [ - 44550, - 2 - ], - [ - 44850, - 2 - ], - [ - 45150, - 2 - ], - [ - 45450, - 2 - ], - [ - 45750, - 2 - ], - [ - 46050, - 2 - ], - [ - 46350, - 2 - ], - [ - 46650, - 2 - ], - [ - 46950, - 3 - ], - [ - 47250, - 2 - ], - [ - 47550, - 2 - ], - [ - 47850, - 2 - ], - [ - 48150, - 2 - ], - [ - 48450, - 2 - ], - [ - 48600, - 1 - ], - [ - 48750, - 2 - ], - [ - 48900, - 2 - ], - [ - 49050, - 2 - ], - [ - 49200, - 3 - ], - [ - 49350, - 2 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49650, - 2 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 49950, - 2 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50250, - 2 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50550, - 2 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50850, - 2 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51150, - 2 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51450, - 2 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51750, - 2 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52050, - 2 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52350, - 2 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52650, - 2 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 52950, - 2 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53250, - 2 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53550, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53850, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54150, - 2 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54450, - 2 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54750, - 2 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55050, - 1 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55350, - 1 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55650, - 1 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 55950, - 1 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56250, - 1 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56550, - 1 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56850, - 1 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57150, - 1 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57450, - 1 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57750, - 1 - ], - [ - 57868, - 3 - ], - [ - 57932, - 238 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 2.0, - "y": 0.9020015, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "Statue_77031df3", - "position": { - "x": 2.456109, - "y": 0.8274205, - "z": 0.43364796 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.5954236, - "y": 0.7309317, - "z": 0.7027061 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.46121883, - "y": 0.0346047767, - "z": 0.706204 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.6477232, - "y": 0.5217184, - "z": 0.706204 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": 0.3694262, - "y": 0.7308113, - "z": 0.17262423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": 2.579834, - "y": 0.819532633, - "z": 0.0547554642 - }, - "rotation": { - "x": 0.0, - "y": 180.000153, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.5954236, - "y": 0.7308113, - "z": 1.23278809 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": 1.377949, - "y": 1.45422, - "z": -1.758622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.7883935, - "y": 0.7309317, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": 0.148, - "y": 0.744, - "z": 1.738 - }, - "rotation": { - "x": 0.0, - "y": 195.27034, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.441, - "y": 0.738, - "z": 1.64 - }, - "rotation": { - "x": 0.0, - "y": 348.951324, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.64169836, - "y": 0.8215286, - "z": 0.433647454 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.554471, - "y": 0.0354445465, - "z": 0.356988251 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": -0.440611482, - "y": 0.431294978, - "z": -1.66818249 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": -0.8585042, - "y": 0.426890671, - "z": -1.752 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": -0.209483683, - "y": 0.7290222, - "z": 1.23278809 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.64169884, - "y": 0.821139336, - "z": 0.6230935 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.507845, - "y": 0.1969715, - "z": 0.793507934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2378986362, - "scene_num": 319 - }, - "task_id": "trial_T20190910_195319_108102", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A38Z99XF4NDNH0_37XITHEISZQXDP7RUYIMYO0DWPCCRN", - "high_descs": [ - "Move to the left then go straight back to the brown shelving unit against the wall", - "Pick up the alarm clock on top of the shelf", - "Carry the alarm clock to the brown and white dresser facing the top left side", - "Place the alarm clock on top of the dresser to the left of the statue" - ], - "task_desc": "Move an alarm clock to the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3SFPSMFRSRTB3_3CFVK00FWO2XUA3DFN8NQCZ4UBBL6D", - "high_descs": [ - "Turn left, proceed to bed. Move around bed, proceed to window. Turn left, proceed to shelf.", - "Pick up alarm clock from right third shelf down.", - "Turn left, proceed to end of bed. Turn left then right and proceed to dresser.", - "Place alarm clock directly to the left of the statue." - ], - "task_desc": "Move alarm clock from shelf to dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3M1CVSFP63M989VTX5XVN30K00KQAT", - "high_descs": [ - "Turn left and veer left to the shelves opposite the foot of the bed.", - "Pick up the red alarm clock.", - "Turn left and veer left to the dresser.", - "Put the alarm clock on the dresser to the left of the trophy." - ], - "task_desc": "Place an alarm clock on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213211_644003/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213211_644003/traj_data.json deleted file mode 100644 index 0cfb6210e..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213211_644003/traj_data.json +++ /dev/null @@ -1,3331 +0,0 @@ -{ - "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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 11 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "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 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "BasketBall", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "basketball" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|0|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "basketball" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "BasketBall", - [ - -0.940000056, - -0.940000056, - 0.664, - 0.664, - 0.480001388, - 0.480001388 - ] - ], - "forceVisible": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|-2|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "basketball", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "BasketBall", - [ - -0.940000056, - -0.940000056, - 0.664, - 0.664, - 0.480001388, - 0.480001388 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 8.628, - 8.628, - -1.936, - -1.936, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17", - "receptacleObjectId": "Dresser|+02.16|+00.57|-00.48" - } - } - ], - "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": "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": "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": "BasketBall|-00.24|+00.12|+00.17" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 159, - 184, - 199, - 225 - ], - "mask": [ - [ - 55072, - 12 - ], - [ - 55370, - 17 - ], - [ - 55668, - 21 - ], - [ - 55966, - 25 - ], - [ - 56265, - 27 - ], - [ - 56564, - 29 - ], - [ - 56863, - 31 - ], - [ - 57162, - 33 - ], - [ - 57462, - 34 - ], - [ - 57761, - 35 - ], - [ - 58061, - 36 - ], - [ - 58361, - 36 - ], - [ - 58661, - 37 - ], - [ - 58961, - 37 - ], - [ - 59260, - 39 - ], - [ - 59560, - 39 - ], - [ - 59860, - 39 - ], - [ - 60160, - 39 - ], - [ - 60460, - 39 - ], - [ - 60760, - 40 - ], - [ - 61060, - 40 - ], - [ - 61360, - 40 - ], - [ - 61660, - 40 - ], - [ - 61960, - 39 - ], - [ - 62259, - 40 - ], - [ - 62559, - 40 - ], - [ - 62859, - 40 - ], - [ - 63159, - 40 - ], - [ - 63460, - 38 - ], - [ - 63760, - 38 - ], - [ - 64061, - 36 - ], - [ - 64361, - 36 - ], - [ - 64662, - 34 - ], - [ - 64963, - 32 - ], - [ - 65264, - 31 - ], - [ - 65565, - 29 - ], - [ - 65866, - 27 - ], - [ - 66167, - 24 - ], - [ - 66469, - 21 - ], - [ - 66770, - 18 - ], - [ - 67073, - 13 - ], - [ - 67378, - 2 - ] - ], - "point": [ - 179, - 203 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.16|+00.57|-00.48" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 50, - 294, - 199 - ], - "mask": [ - [ - 14723, - 152 - ], - [ - 14896, - 74 - ], - [ - 15022, - 153 - ], - [ - 15196, - 75 - ], - [ - 15322, - 153 - ], - [ - 15496, - 75 - ], - [ - 15621, - 153 - ], - [ - 15796, - 75 - ], - [ - 15921, - 153 - ], - [ - 16096, - 76 - ], - [ - 16221, - 153 - ], - [ - 16396, - 45 - ], - [ - 16442, - 30 - ], - [ - 16520, - 154 - ], - [ - 16696, - 45 - ], - [ - 16742, - 30 - ], - [ - 16820, - 154 - ], - [ - 16996, - 45 - ], - [ - 17043, - 30 - ], - [ - 17120, - 154 - ], - [ - 17296, - 45 - ], - [ - 17343, - 30 - ], - [ - 17419, - 155 - ], - [ - 17596, - 45 - ], - [ - 17643, - 30 - ], - [ - 17719, - 155 - ], - [ - 17897, - 44 - ], - [ - 17944, - 30 - ], - [ - 18018, - 156 - ], - [ - 18197, - 44 - ], - [ - 18244, - 30 - ], - [ - 18318, - 156 - ], - [ - 18497, - 45 - ], - [ - 18544, - 30 - ], - [ - 18618, - 156 - ], - [ - 18797, - 45 - ], - [ - 18844, - 31 - ], - [ - 18917, - 157 - ], - [ - 19097, - 45 - ], - [ - 19145, - 30 - ], - [ - 19217, - 157 - ], - [ - 19397, - 45 - ], - [ - 19445, - 30 - ], - [ - 19517, - 157 - ], - [ - 19697, - 46 - ], - [ - 19745, - 31 - ], - [ - 19816, - 158 - ], - [ - 19997, - 46 - ], - [ - 20046, - 30 - ], - [ - 20116, - 158 - ], - [ - 20297, - 46 - ], - [ - 20346, - 31 - ], - [ - 20416, - 158 - ], - [ - 20597, - 47 - ], - [ - 20646, - 31 - ], - [ - 20715, - 158 - ], - [ - 20897, - 47 - ], - [ - 20946, - 31 - ], - [ - 21015, - 158 - ], - [ - 21197, - 47 - ], - [ - 21247, - 31 - ], - [ - 21314, - 155 - ], - [ - 21496, - 48 - ], - [ - 21547, - 31 - ], - [ - 21614, - 31 - ], - [ - 21650, - 118 - ], - [ - 21796, - 49 - ], - [ - 21847, - 31 - ], - [ - 21914, - 30 - ], - [ - 21952, - 116 - ], - [ - 22096, - 49 - ], - [ - 22147, - 32 - ], - [ - 22213, - 30 - ], - [ - 22252, - 116 - ], - [ - 22396, - 49 - ], - [ - 22448, - 31 - ], - [ - 22513, - 30 - ], - [ - 22552, - 116 - ], - [ - 22696, - 49 - ], - [ - 22748, - 31 - ], - [ - 22813, - 30 - ], - [ - 22852, - 116 - ], - [ - 22996, - 49 - ], - [ - 23048, - 32 - ], - [ - 23112, - 30 - ], - [ - 23152, - 116 - ], - [ - 23296, - 49 - ], - [ - 23348, - 32 - ], - [ - 23412, - 30 - ], - [ - 23451, - 117 - ], - [ - 23596, - 49 - ], - [ - 23649, - 31 - ], - [ - 23711, - 31 - ], - [ - 23751, - 117 - ], - [ - 23896, - 50 - ], - [ - 23949, - 32 - ], - [ - 24011, - 31 - ], - [ - 24050, - 118 - ], - [ - 24196, - 50 - ], - [ - 24249, - 32 - ], - [ - 24311, - 31 - ], - [ - 24350, - 118 - ], - [ - 24495, - 51 - ], - [ - 24549, - 32 - ], - [ - 24610, - 32 - ], - [ - 24650, - 118 - ], - [ - 24795, - 51 - ], - [ - 24850, - 32 - ], - [ - 24910, - 32 - ], - [ - 24949, - 119 - ], - [ - 25095, - 52 - ], - [ - 25150, - 32 - ], - [ - 25210, - 32 - ], - [ - 25248, - 120 - ], - [ - 25394, - 53 - ], - [ - 25450, - 32 - ], - [ - 25509, - 32 - ], - [ - 25542, - 2 - ], - [ - 25546, - 122 - ], - [ - 25694, - 53 - ], - [ - 25750, - 33 - ], - [ - 25809, - 32 - ], - [ - 25842, - 2 - ], - [ - 25847, - 121 - ], - [ - 25993, - 56 - ], - [ - 26050, - 33 - ], - [ - 26109, - 32 - ], - [ - 26147, - 121 - ], - [ - 26293, - 56 - ], - [ - 26350, - 33 - ], - [ - 26408, - 32 - ], - [ - 26448, - 120 - ], - [ - 26593, - 91 - ], - [ - 26708, - 32 - ], - [ - 26749, - 119 - ], - [ - 26893, - 51 - ], - [ - 26958, - 26 - ], - [ - 27007, - 34 - ], - [ - 27048, - 120 - ], - [ - 27193, - 51 - ], - [ - 27258, - 26 - ], - [ - 27307, - 34 - ], - [ - 27342, - 2 - ], - [ - 27347, - 121 - ], - [ - 27494, - 50 - ], - [ - 27558, - 27 - ], - [ - 27607, - 33 - ], - [ - 27642, - 2 - ], - [ - 27647, - 121 - ], - [ - 27794, - 50 - ], - [ - 27859, - 26 - ], - [ - 27906, - 33 - ], - [ - 27941, - 3 - ], - [ - 27947, - 121 - ], - [ - 28094, - 51 - ], - [ - 28159, - 26 - ], - [ - 28206, - 32 - ], - [ - 28240, - 4 - ], - [ - 28247, - 121 - ], - [ - 28394, - 51 - ], - [ - 28459, - 27 - ], - [ - 28506, - 32 - ], - [ - 28540, - 4 - ], - [ - 28547, - 122 - ], - [ - 28694, - 51 - ], - [ - 28759, - 27 - ], - [ - 28805, - 32 - ], - [ - 28839, - 5 - ], - [ - 28847, - 122 - ], - [ - 28994, - 51 - ], - [ - 29060, - 26 - ], - [ - 29105, - 32 - ], - [ - 29138, - 131 - ], - [ - 29294, - 51 - ], - [ - 29360, - 27 - ], - [ - 29405, - 31 - ], - [ - 29437, - 132 - ], - [ - 29594, - 52 - ], - [ - 29660, - 27 - ], - [ - 29704, - 165 - ], - [ - 29894, - 52 - ], - [ - 29961, - 27 - ], - [ - 30004, - 165 - ], - [ - 30195, - 51 - ], - [ - 30261, - 27 - ], - [ - 30303, - 166 - ], - [ - 30495, - 51 - ], - [ - 30561, - 27 - ], - [ - 30603, - 166 - ], - [ - 30795, - 52 - ], - [ - 30861, - 28 - ], - [ - 30903, - 166 - ], - [ - 31095, - 52 - ], - [ - 31162, - 27 - ], - [ - 31202, - 167 - ], - [ - 31395, - 52 - ], - [ - 31462, - 27 - ], - [ - 31502, - 167 - ], - [ - 31694, - 53 - ], - [ - 31762, - 28 - ], - [ - 31802, - 246 - ], - [ - 32062, - 28 - ], - [ - 32101, - 289 - ], - [ - 32401, - 290 - ], - [ - 32701, - 290 - ], - [ - 33000, - 291 - ], - [ - 33300, - 292 - ], - [ - 33600, - 292 - ], - [ - 33900, - 292 - ], - [ - 34200, - 293 - ], - [ - 34500, - 293 - ], - [ - 34800, - 293 - ], - [ - 35100, - 294 - ], - [ - 35400, - 294 - ], - [ - 35700, - 294 - ], - [ - 36000, - 295 - ], - [ - 36300, - 294 - ], - [ - 36600, - 293 - ], - [ - 36900, - 292 - ], - [ - 37200, - 292 - ], - [ - 37501, - 290 - ], - [ - 37802, - 288 - ], - [ - 38102, - 287 - ], - [ - 38406, - 280 - ], - [ - 38707, - 278 - ], - [ - 39007, - 20 - ], - [ - 39264, - 20 - ], - [ - 39308, - 18 - ], - [ - 39565, - 19 - ], - [ - 39609, - 17 - ], - [ - 39866, - 17 - ], - [ - 39910, - 15 - ], - [ - 40166, - 16 - ], - [ - 40211, - 14 - ], - [ - 40466, - 15 - ], - [ - 40512, - 14 - ], - [ - 40765, - 15 - ], - [ - 40812, - 15 - ], - [ - 41065, - 15 - ], - [ - 41113, - 15 - ], - [ - 41364, - 15 - ], - [ - 41414, - 14 - ], - [ - 41663, - 15 - ], - [ - 41715, - 14 - ], - [ - 41962, - 15 - ], - [ - 42016, - 14 - ], - [ - 42262, - 14 - ], - [ - 42317, - 14 - ], - [ - 42561, - 15 - ], - [ - 42617, - 14 - ], - [ - 42860, - 15 - ], - [ - 42918, - 14 - ], - [ - 43160, - 14 - ], - [ - 43219, - 14 - ], - [ - 43459, - 14 - ], - [ - 43520, - 14 - ], - [ - 43758, - 14 - ], - [ - 43821, - 13 - ], - [ - 44058, - 14 - ], - [ - 44122, - 13 - ], - [ - 44357, - 14 - ], - [ - 44423, - 13 - ], - [ - 44656, - 14 - ], - [ - 44723, - 14 - ], - [ - 44955, - 14 - ], - [ - 45024, - 13 - ], - [ - 45255, - 13 - ], - [ - 45325, - 13 - ], - [ - 45554, - 14 - ], - [ - 45626, - 13 - ], - [ - 45853, - 14 - ], - [ - 45927, - 13 - ], - [ - 46153, - 13 - ], - [ - 46228, - 13 - ], - [ - 46452, - 13 - ], - [ - 46528, - 13 - ], - [ - 46751, - 14 - ], - [ - 46829, - 13 - ], - [ - 47051, - 13 - ], - [ - 47130, - 13 - ], - [ - 47350, - 13 - ], - [ - 47431, - 13 - ], - [ - 47649, - 13 - ], - [ - 47732, - 12 - ], - [ - 47948, - 13 - ], - [ - 48033, - 12 - ], - [ - 48248, - 13 - ], - [ - 48333, - 13 - ], - [ - 48547, - 13 - ], - [ - 48634, - 13 - ], - [ - 48846, - 13 - ], - [ - 48935, - 12 - ], - [ - 49146, - 12 - ], - [ - 49236, - 12 - ], - [ - 49445, - 12 - ], - [ - 49537, - 12 - ], - [ - 49744, - 13 - ], - [ - 49838, - 12 - ], - [ - 50044, - 12 - ], - [ - 50139, - 11 - ], - [ - 50343, - 12 - ], - [ - 50439, - 12 - ], - [ - 50642, - 12 - ], - [ - 50740, - 12 - ], - [ - 50941, - 12 - ], - [ - 51041, - 12 - ], - [ - 51241, - 12 - ], - [ - 51342, - 11 - ], - [ - 51540, - 12 - ], - [ - 51643, - 11 - ], - [ - 51839, - 12 - ], - [ - 51944, - 11 - ], - [ - 52139, - 11 - ], - [ - 52244, - 12 - ], - [ - 52437, - 12 - ], - [ - 52545, - 11 - ], - [ - 52737, - 12 - ], - [ - 52846, - 11 - ], - [ - 53037, - 11 - ], - [ - 53147, - 11 - ], - [ - 53336, - 11 - ], - [ - 53448, - 11 - ], - [ - 53635, - 11 - ], - [ - 53749, - 10 - ], - [ - 53934, - 12 - ], - [ - 54049, - 11 - ], - [ - 54234, - 11 - ], - [ - 54350, - 11 - ], - [ - 54533, - 11 - ], - [ - 54651, - 11 - ], - [ - 54832, - 11 - ], - [ - 54952, - 10 - ], - [ - 55132, - 10 - ], - [ - 55253, - 10 - ], - [ - 55431, - 11 - ], - [ - 55554, - 10 - ], - [ - 55730, - 11 - ], - [ - 55854, - 11 - ], - [ - 56030, - 10 - ], - [ - 56155, - 10 - ], - [ - 56329, - 10 - ], - [ - 56456, - 10 - ], - [ - 56628, - 10 - ], - [ - 56757, - 10 - ], - [ - 56927, - 11 - ], - [ - 57058, - 10 - ], - [ - 57227, - 10 - ], - [ - 57359, - 9 - ], - [ - 57526, - 10 - ], - [ - 57660, - 9 - ], - [ - 57825, - 10 - ], - [ - 57960, - 10 - ], - [ - 58125, - 9 - ], - [ - 58261, - 10 - ], - [ - 58424, - 10 - ], - [ - 58562, - 9 - ], - [ - 58723, - 10 - ], - [ - 58863, - 9 - ], - [ - 59022, - 10 - ], - [ - 59164, - 9 - ], - [ - 59322, - 9 - ], - [ - 59465, - 9 - ], - [ - 59621, - 9 - ] - ], - "point": [ - 147, - 123 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan314", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 1.75, - "y": 0.9009992, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "CD_c03efa1f", - "position": { - "x": -0.320195347, - "y": 0.9248575, - "z": -0.391014516 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_c03efa1f", - "position": { - "x": -0.320195347, - "y": 0.9248575, - "z": -0.177312613 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_56b6ac64", - "position": { - "x": -0.320195347, - "y": 0.9270889, - "z": -0.6047164 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_56b6ac64", - "position": { - "x": -0.131166667, - "y": 0.92683816, - "z": -0.391014516 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_226fa37e", - "position": { - "x": 2.14541388, - "y": 0.0946913958, - "z": -0.6798403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_226fa37e", - "position": { - "x": -0.603738368, - "y": 0.924996, - "z": -1.45952392 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_2d133511", - "position": { - "x": 2.238016, - "y": 0.8431471, - "z": -0.0905793 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7857d014", - "position": { - "x": 2.19051266, - "y": 0.843333662, - "z": -0.6151402 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_4f283178", - "position": { - "x": 2.15, - "y": 0.14, - "z": 0.494 - }, - "rotation": { - "x": 0.0, - "y": 12.2437363, - "z": 0.0 - } - }, - { - "objectName": "Book_c376c5e5", - "position": { - "x": 0.494070262, - "y": 0.551665068, - "z": 1.848421 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_09f01e5f", - "position": { - "x": -0.235000014, - "y": 0.120000347, - "z": 0.166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 9.82057554e-06 - } - }, - { - "objectName": "Pen_0ee61c22", - "position": { - "x": 2.28551912, - "y": 0.84865284, - "z": -0.877420664 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_a466dd98", - "position": { - "x": 0.172705919, - "y": 0.617360532, - "z": 1.263513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_4fa82016", - "position": { - "x": -0.603738368, - "y": 0.928599954, - "z": -1.24582207 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_56b6ac64", - "position": { - "x": -0.509224057, - "y": 0.9270889, - "z": -0.6047164 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_2d133511", - "position": { - "x": -0.131166667, - "y": 0.9253979, - "z": -1.03212011 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_226fa37e", - "position": { - "x": 2.14300966, - "y": 0.842996, - "z": -0.877420664 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7857d014", - "position": { - "x": -0.4147097, - "y": 0.9253337, - "z": -1.24582207 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_c03efa1f", - "position": { - "x": 2.22563434, - "y": 0.049730543, - "z": 2.579044 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_3a6a5101", - "position": { - "x": 0.012023747, - "y": 0.548538864, - "z": 2.433329 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3564912732, - "scene_num": 314 - }, - "task_id": "trial_T20190907_213211_644003", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A38Z99XF4NDNH0_3E4GGUZ1TB8YS32U7LKJLZ5DPV52KP", - "high_descs": [ - "Move towards the wooden dresser on the side closest to the bed", - "Pick up the basketball on the floor between the bed and the dresser", - "Carry the basketball to the green side table", - "Place the basketball on top of the green table between the red item and the keys" - ], - "task_desc": "Move a basketball from the floor to a table", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A272X64FOZFYLB_3NLZY2D53S6Q4SMXUWMLWHGVU00QL4", - "high_descs": [ - "Turn around and walk to the basketball on the floor by the bed.", - "Pick up the basketball from the floor.", - "Turn around and walk to the green dresser by the wall.", - "Put the basketball on the dresser, to the right of the keys." - ], - "task_desc": "Move a basketball from the floor to a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3QIYRE09Y6YSBO51LUCL88CCRKP1N5", - "high_descs": [ - "Turn around and go to the right to face the desk.", - "Pick the basketball up from the floor to the right of the desk.", - "Turn around and face the green dresser.", - "Put the basketball down on the dresser." - ], - "task_desc": "Put a basketball on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213228_282325/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213228_282325/traj_data.json deleted file mode 100644 index 064e9c77a..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213228_282325/traj_data.json +++ /dev/null @@ -1,2549 +0,0 @@ -{ - "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": 1, - "image_name": "000000033.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000034.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000035.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000036.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000037.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 3 - }, - { - "high_idx": 2, - "image_name": "000000048.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000049.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000050.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000051.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000052.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000053.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000054.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000062.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000063.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 5 - }, - { - "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": 8 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 8 - }, - { - "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": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 15 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "BasketBall", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "basketball" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|0|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "basketball" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "BasketBall", - [ - -0.940000056, - -0.940000056, - 0.664, - 0.664, - 0.480001388, - 0.480001388 - ] - ], - "forceVisible": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|-2|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "basketball", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "BasketBall", - [ - -0.940000056, - -0.940000056, - 0.664, - 0.664, - 0.480001388, - 0.480001388 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 8.628, - 8.628, - -1.936, - -1.936, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17", - "receptacleObjectId": "Dresser|+02.16|+00.57|-00.48" - } - } - ], - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "BasketBall|-00.24|+00.12|+00.17" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 159, - 184, - 199, - 225 - ], - "mask": [ - [ - 55072, - 12 - ], - [ - 55370, - 17 - ], - [ - 55668, - 21 - ], - [ - 55966, - 25 - ], - [ - 56265, - 27 - ], - [ - 56564, - 29 - ], - [ - 56863, - 31 - ], - [ - 57162, - 33 - ], - [ - 57462, - 34 - ], - [ - 57761, - 35 - ], - [ - 58061, - 36 - ], - [ - 58361, - 36 - ], - [ - 58661, - 37 - ], - [ - 58961, - 37 - ], - [ - 59260, - 39 - ], - [ - 59560, - 39 - ], - [ - 59860, - 39 - ], - [ - 60160, - 39 - ], - [ - 60460, - 39 - ], - [ - 60760, - 40 - ], - [ - 61060, - 40 - ], - [ - 61360, - 40 - ], - [ - 61660, - 40 - ], - [ - 61960, - 39 - ], - [ - 62259, - 40 - ], - [ - 62559, - 40 - ], - [ - 62859, - 40 - ], - [ - 63159, - 40 - ], - [ - 63460, - 38 - ], - [ - 63760, - 38 - ], - [ - 64061, - 36 - ], - [ - 64361, - 36 - ], - [ - 64662, - 34 - ], - [ - 64963, - 32 - ], - [ - 65264, - 31 - ], - [ - 65565, - 29 - ], - [ - 65866, - 27 - ], - [ - 66167, - 24 - ], - [ - 66469, - 21 - ], - [ - 66770, - 18 - ], - [ - 67073, - 13 - ], - [ - 67378, - 2 - ] - ], - "point": [ - 179, - 203 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.16|+00.57|-00.48" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 50, - 294, - 199 - ], - "mask": [ - [ - 14723, - 247 - ], - [ - 15022, - 249 - ], - [ - 15322, - 249 - ], - [ - 15621, - 250 - ], - [ - 15921, - 251 - ], - [ - 16221, - 251 - ], - [ - 16520, - 252 - ], - [ - 16820, - 156 - ], - [ - 16984, - 89 - ], - [ - 17120, - 156 - ], - [ - 17284, - 89 - ], - [ - 17419, - 157 - ], - [ - 17584, - 89 - ], - [ - 17719, - 157 - ], - [ - 17884, - 90 - ], - [ - 18018, - 158 - ], - [ - 18184, - 90 - ], - [ - 18318, - 158 - ], - [ - 18484, - 90 - ], - [ - 18618, - 159 - ], - [ - 18784, - 91 - ], - [ - 18917, - 160 - ], - [ - 19084, - 91 - ], - [ - 19217, - 160 - ], - [ - 19384, - 91 - ], - [ - 19517, - 160 - ], - [ - 19684, - 92 - ], - [ - 19816, - 162 - ], - [ - 19984, - 92 - ], - [ - 20116, - 162 - ], - [ - 20283, - 94 - ], - [ - 20416, - 165 - ], - [ - 20583, - 94 - ], - [ - 20715, - 163 - ], - [ - 20883, - 94 - ], - [ - 21015, - 163 - ], - [ - 21185, - 93 - ], - [ - 21314, - 164 - ], - [ - 21486, - 92 - ], - [ - 21614, - 165 - ], - [ - 21786, - 92 - ], - [ - 21914, - 165 - ], - [ - 22081, - 1 - ], - [ - 22085, - 94 - ], - [ - 22213, - 166 - ], - [ - 22380, - 2 - ], - [ - 22385, - 94 - ], - [ - 22513, - 165 - ], - [ - 22680, - 2 - ], - [ - 22685, - 94 - ], - [ - 22813, - 165 - ], - [ - 22979, - 4 - ], - [ - 22985, - 95 - ], - [ - 23112, - 165 - ], - [ - 23279, - 4 - ], - [ - 23286, - 94 - ], - [ - 23412, - 165 - ], - [ - 23578, - 102 - ], - [ - 23711, - 166 - ], - [ - 23878, - 103 - ], - [ - 24011, - 270 - ], - [ - 24311, - 134 - ], - [ - 24451, - 130 - ], - [ - 24610, - 134 - ], - [ - 24752, - 130 - ], - [ - 24910, - 134 - ], - [ - 25053, - 129 - ], - [ - 25210, - 134 - ], - [ - 25352, - 130 - ], - [ - 25509, - 135 - ], - [ - 25652, - 131 - ], - [ - 25809, - 135 - ], - [ - 25952, - 131 - ], - [ - 26109, - 135 - ], - [ - 26252, - 131 - ], - [ - 26408, - 136 - ], - [ - 26552, - 132 - ], - [ - 26708, - 136 - ], - [ - 26852, - 132 - ], - [ - 27007, - 137 - ], - [ - 27152, - 132 - ], - [ - 27307, - 137 - ], - [ - 27452, - 133 - ], - [ - 27607, - 137 - ], - [ - 27752, - 133 - ], - [ - 27906, - 139 - ], - [ - 28051, - 134 - ], - [ - 28206, - 139 - ], - [ - 28350, - 136 - ], - [ - 28506, - 139 - ], - [ - 28646, - 2 - ], - [ - 28649, - 137 - ], - [ - 28805, - 140 - ], - [ - 28949, - 137 - ], - [ - 29105, - 140 - ], - [ - 29251, - 136 - ], - [ - 29405, - 139 - ], - [ - 29552, - 135 - ], - [ - 29704, - 141 - ], - [ - 29853, - 135 - ], - [ - 30004, - 142 - ], - [ - 30152, - 136 - ], - [ - 30303, - 142 - ], - [ - 30447, - 2 - ], - [ - 30451, - 137 - ], - [ - 30603, - 142 - ], - [ - 30747, - 2 - ], - [ - 30752, - 137 - ], - [ - 30903, - 141 - ], - [ - 31046, - 3 - ], - [ - 31052, - 137 - ], - [ - 31202, - 142 - ], - [ - 31346, - 3 - ], - [ - 31352, - 137 - ], - [ - 31502, - 142 - ], - [ - 31645, - 5 - ], - [ - 31652, - 138 - ], - [ - 31802, - 141 - ], - [ - 31945, - 5 - ], - [ - 31952, - 138 - ], - [ - 32101, - 142 - ], - [ - 32244, - 146 - ], - [ - 32401, - 141 - ], - [ - 32544, - 147 - ], - [ - 32701, - 290 - ], - [ - 33000, - 291 - ], - [ - 33300, - 292 - ], - [ - 33600, - 292 - ], - [ - 33900, - 292 - ], - [ - 34200, - 293 - ], - [ - 34500, - 293 - ], - [ - 34800, - 293 - ], - [ - 35100, - 294 - ], - [ - 35400, - 294 - ], - [ - 35700, - 294 - ], - [ - 36000, - 295 - ], - [ - 36300, - 294 - ], - [ - 36600, - 293 - ], - [ - 36900, - 292 - ], - [ - 37200, - 292 - ], - [ - 37501, - 290 - ], - [ - 37802, - 288 - ], - [ - 38102, - 287 - ], - [ - 38406, - 280 - ], - [ - 38707, - 278 - ], - [ - 39007, - 20 - ], - [ - 39264, - 20 - ], - [ - 39308, - 18 - ], - [ - 39565, - 19 - ], - [ - 39609, - 17 - ], - [ - 39866, - 17 - ], - [ - 39910, - 15 - ], - [ - 40166, - 16 - ], - [ - 40211, - 14 - ], - [ - 40466, - 15 - ], - [ - 40512, - 14 - ], - [ - 40765, - 15 - ], - [ - 40812, - 15 - ], - [ - 41065, - 15 - ], - [ - 41113, - 15 - ], - [ - 41364, - 15 - ], - [ - 41414, - 14 - ], - [ - 41663, - 15 - ], - [ - 41715, - 14 - ], - [ - 41962, - 15 - ], - [ - 42016, - 14 - ], - [ - 42262, - 14 - ], - [ - 42317, - 14 - ], - [ - 42561, - 15 - ], - [ - 42617, - 14 - ], - [ - 42860, - 15 - ], - [ - 42918, - 14 - ], - [ - 43160, - 14 - ], - [ - 43219, - 14 - ], - [ - 43459, - 14 - ], - [ - 43520, - 14 - ], - [ - 43758, - 14 - ], - [ - 43821, - 13 - ], - [ - 44058, - 14 - ], - [ - 44122, - 13 - ], - [ - 44357, - 14 - ], - [ - 44423, - 13 - ], - [ - 44656, - 14 - ], - [ - 44723, - 14 - ], - [ - 44955, - 14 - ], - [ - 45024, - 13 - ], - [ - 45255, - 13 - ], - [ - 45325, - 13 - ], - [ - 45554, - 14 - ], - [ - 45626, - 13 - ], - [ - 45853, - 14 - ], - [ - 45927, - 13 - ], - [ - 46153, - 13 - ], - [ - 46228, - 13 - ], - [ - 46452, - 13 - ], - [ - 46528, - 13 - ], - [ - 46751, - 14 - ], - [ - 46829, - 13 - ], - [ - 47051, - 13 - ], - [ - 47130, - 13 - ], - [ - 47350, - 13 - ], - [ - 47431, - 13 - ], - [ - 47649, - 13 - ], - [ - 47732, - 12 - ], - [ - 47948, - 13 - ], - [ - 48033, - 12 - ], - [ - 48248, - 13 - ], - [ - 48333, - 13 - ], - [ - 48547, - 13 - ], - [ - 48634, - 13 - ], - [ - 48846, - 13 - ], - [ - 48935, - 12 - ], - [ - 49146, - 12 - ], - [ - 49236, - 12 - ], - [ - 49445, - 12 - ], - [ - 49537, - 12 - ], - [ - 49744, - 13 - ], - [ - 49838, - 12 - ], - [ - 50044, - 12 - ], - [ - 50139, - 11 - ], - [ - 50343, - 12 - ], - [ - 50439, - 12 - ], - [ - 50642, - 12 - ], - [ - 50740, - 12 - ], - [ - 50941, - 12 - ], - [ - 51041, - 12 - ], - [ - 51241, - 12 - ], - [ - 51342, - 11 - ], - [ - 51540, - 12 - ], - [ - 51643, - 11 - ], - [ - 51839, - 12 - ], - [ - 51944, - 11 - ], - [ - 52139, - 11 - ], - [ - 52244, - 12 - ], - [ - 52437, - 12 - ], - [ - 52545, - 11 - ], - [ - 52737, - 12 - ], - [ - 52846, - 11 - ], - [ - 53037, - 11 - ], - [ - 53147, - 11 - ], - [ - 53336, - 11 - ], - [ - 53448, - 11 - ], - [ - 53635, - 11 - ], - [ - 53749, - 10 - ], - [ - 53934, - 12 - ], - [ - 54049, - 11 - ], - [ - 54234, - 11 - ], - [ - 54350, - 11 - ], - [ - 54533, - 11 - ], - [ - 54651, - 11 - ], - [ - 54832, - 11 - ], - [ - 54952, - 10 - ], - [ - 55132, - 10 - ], - [ - 55253, - 10 - ], - [ - 55431, - 11 - ], - [ - 55554, - 10 - ], - [ - 55730, - 11 - ], - [ - 55854, - 11 - ], - [ - 56030, - 10 - ], - [ - 56155, - 10 - ], - [ - 56329, - 10 - ], - [ - 56456, - 10 - ], - [ - 56628, - 10 - ], - [ - 56757, - 10 - ], - [ - 56927, - 11 - ], - [ - 57058, - 10 - ], - [ - 57227, - 10 - ], - [ - 57359, - 9 - ], - [ - 57526, - 10 - ], - [ - 57660, - 9 - ], - [ - 57825, - 10 - ], - [ - 57960, - 10 - ], - [ - 58125, - 9 - ], - [ - 58261, - 10 - ], - [ - 58424, - 10 - ], - [ - 58562, - 9 - ], - [ - 58723, - 10 - ], - [ - 58863, - 9 - ], - [ - 59022, - 10 - ], - [ - 59164, - 9 - ], - [ - 59322, - 9 - ], - [ - 59465, - 9 - ], - [ - 59621, - 9 - ] - ], - "point": [ - 147, - 123 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan314", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.25, - "y": 0.9009992, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "Pen_0ee61c22", - "position": { - "x": -0.40429762, - "y": 0.673200965, - "z": -0.28447175 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_4fa82016", - "position": { - "x": 2.31059265, - "y": 0.05266482, - "z": 2.66289282 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_4fa82016", - "position": { - "x": 2.17050314, - "y": 0.100676179, - "z": -0.484 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_226fa37e", - "position": { - "x": 2.17050314, - "y": 0.097323, - "z": -0.190239578 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_2d133511", - "position": { - "x": 2.19051266, - "y": 0.8431471, - "z": -0.484 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c376c5e5", - "position": { - "x": -0.4147097, - "y": 0.9261262, - "z": -0.6047164 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_3a6a5101", - "position": { - "x": -0.4147095, - "y": 0.9182508, - "z": -0.177312613 - }, - "rotation": { - "x": -1.366038e-05, - "y": -2.07596313e-05, - "z": -1.50172741e-06 - } - }, - { - "objectName": "Pillow_a466dd98", - "position": { - "x": -0.3093406, - "y": 0.617360532, - "z": 1.848421 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_4f283178", - "position": { - "x": 2.15, - "y": 0.14, - "z": 0.494 - }, - "rotation": { - "x": 0.0, - "y": 12.2437363, - "z": 0.0 - } - }, - { - "objectName": "Book_c376c5e5", - "position": { - "x": 0.494070262, - "y": 0.551665068, - "z": 1.263513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_09f01e5f", - "position": { - "x": -0.235000014, - "y": 0.120000347, - "z": 0.166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 4.09869426e-06 - } - }, - { - "objectName": "Pen_0ee61c22", - "position": { - "x": -0.225681, - "y": 0.9309036, - "z": -1.24582207 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_a466dd98", - "position": { - "x": 0.172705919, - "y": 0.617360532, - "z": 1.848421 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_4fa82016", - "position": { - "x": -0.225681, - "y": 0.928599954, - "z": -1.45952392 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_56b6ac64", - "position": { - "x": -0.148658425, - "y": 0.552377045, - "z": 2.433329 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_2d133511", - "position": { - "x": 2.333022, - "y": 0.8431471, - "z": -0.6151402 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_226fa37e", - "position": { - "x": -0.131166667, - "y": 0.924996, - "z": -1.24582207 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7857d014", - "position": { - "x": -0.509224057, - "y": 0.925584435, - "z": -1.45952392 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_c03efa1f", - "position": { - "x": 2.282273, - "y": 0.0489223637, - "z": 2.579044 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_3a6a5101", - "position": { - "x": -0.4283195, - "y": 0.91942656, - "z": -0.9010472 - }, - "rotation": { - "x": 0.0, - "y": 20.9597816, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3676496290, - "scene_num": 314 - }, - "task_id": "trial_T20190907_213228_282325", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_31LM9EDVOO9Z65L5BJIRC88YL28JNC", - "high_descs": [ - "Turn to the right and face the basketball on the floor to the right of the desk.", - "Pick the basketball up from the floor.", - "Turn around and stand in front of the green dresser.", - "Put the basketball down on the green dresser." - ], - "task_desc": "Put a basketball on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3RWE2M8QWKRS4ZKJPB8LU3T2MT8N0F", - "high_descs": [ - "Move to the dresser to the left of the bed", - "Pick up a basketball from the floor", - "Move to the dresser behind you", - "Place the ball on the dresser" - ], - "task_desc": "Put a basket ball on the grey dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A38Z99XF4NDNH0_3S3AMIZX3XM3CFOMCXN2TZJ9HD6CDG", - "high_descs": [ - "Move to the wood night stand next to the bed", - "Pick up the basketball between the bed and the night stand on the floor", - "Carry the basketball to the green table with two drawers", - "Place the basketball to the left on top of the green table" - ], - "task_desc": "Move a basketball to the green table", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213239_957946/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213239_957946/traj_data.json deleted file mode 100644 index ce785a02a..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-BasketBall-None-Dresser-314/trial_T20190907_213239_957946/traj_data.json +++ /dev/null @@ -1,2730 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 7 - }, - { - "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": 12 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 25 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "BasketBall", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "basketball" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|0|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "basketball" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "BasketBall", - [ - -0.940000056, - -0.940000056, - 0.664, - 0.664, - 0.480001388, - 0.480001388 - ] - ], - "forceVisible": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|-2|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "basketball", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "BasketBall", - [ - -0.940000056, - -0.940000056, - 0.664, - 0.664, - 0.480001388, - 0.480001388 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 8.628, - 8.628, - -1.936, - -1.936, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17", - "receptacleObjectId": "Dresser|+02.16|+00.57|-00.48" - } - } - ], - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "BasketBall|-00.24|+00.12|+00.17" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 159, - 184, - 199, - 225 - ], - "mask": [ - [ - 55072, - 12 - ], - [ - 55370, - 17 - ], - [ - 55668, - 21 - ], - [ - 55966, - 25 - ], - [ - 56265, - 27 - ], - [ - 56564, - 29 - ], - [ - 56863, - 31 - ], - [ - 57162, - 33 - ], - [ - 57462, - 34 - ], - [ - 57761, - 35 - ], - [ - 58061, - 36 - ], - [ - 58361, - 36 - ], - [ - 58661, - 37 - ], - [ - 58961, - 37 - ], - [ - 59260, - 39 - ], - [ - 59560, - 39 - ], - [ - 59860, - 39 - ], - [ - 60160, - 39 - ], - [ - 60460, - 39 - ], - [ - 60760, - 40 - ], - [ - 61060, - 40 - ], - [ - 61360, - 40 - ], - [ - 61660, - 40 - ], - [ - 61960, - 39 - ], - [ - 62259, - 40 - ], - [ - 62559, - 40 - ], - [ - 62859, - 40 - ], - [ - 63159, - 40 - ], - [ - 63460, - 38 - ], - [ - 63760, - 38 - ], - [ - 64061, - 36 - ], - [ - 64361, - 36 - ], - [ - 64662, - 34 - ], - [ - 64963, - 32 - ], - [ - 65264, - 31 - ], - [ - 65565, - 29 - ], - [ - 65866, - 27 - ], - [ - 66167, - 24 - ], - [ - 66469, - 21 - ], - [ - 66770, - 18 - ], - [ - 67073, - 13 - ], - [ - 67378, - 2 - ] - ], - "point": [ - 179, - 203 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "BasketBall|-00.24|+00.12|+00.17", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.16|+00.57|-00.48" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 50, - 294, - 199 - ], - "mask": [ - [ - 14723, - 247 - ], - [ - 15022, - 249 - ], - [ - 15322, - 249 - ], - [ - 15621, - 250 - ], - [ - 15921, - 251 - ], - [ - 16221, - 251 - ], - [ - 16520, - 252 - ], - [ - 16820, - 30 - ], - [ - 16851, - 222 - ], - [ - 17120, - 30 - ], - [ - 17151, - 222 - ], - [ - 17419, - 30 - ], - [ - 17451, - 222 - ], - [ - 17719, - 30 - ], - [ - 17751, - 223 - ], - [ - 18018, - 31 - ], - [ - 18051, - 223 - ], - [ - 18318, - 30 - ], - [ - 18350, - 224 - ], - [ - 18618, - 30 - ], - [ - 18650, - 225 - ], - [ - 18917, - 31 - ], - [ - 18950, - 225 - ], - [ - 19217, - 31 - ], - [ - 19250, - 225 - ], - [ - 19517, - 30 - ], - [ - 19549, - 227 - ], - [ - 19816, - 31 - ], - [ - 19849, - 227 - ], - [ - 20116, - 31 - ], - [ - 20149, - 228 - ], - [ - 20416, - 30 - ], - [ - 20448, - 229 - ], - [ - 20715, - 31 - ], - [ - 20748, - 229 - ], - [ - 21015, - 263 - ], - [ - 21314, - 264 - ], - [ - 21614, - 264 - ], - [ - 21914, - 265 - ], - [ - 22213, - 266 - ], - [ - 22513, - 266 - ], - [ - 22813, - 267 - ], - [ - 23112, - 268 - ], - [ - 23412, - 268 - ], - [ - 23711, - 33 - ], - [ - 23745, - 236 - ], - [ - 24011, - 32 - ], - [ - 24045, - 236 - ], - [ - 24311, - 32 - ], - [ - 24345, - 236 - ], - [ - 24610, - 32 - ], - [ - 24645, - 237 - ], - [ - 24910, - 32 - ], - [ - 24945, - 237 - ], - [ - 25210, - 32 - ], - [ - 25244, - 238 - ], - [ - 25509, - 32 - ], - [ - 25544, - 239 - ], - [ - 25809, - 32 - ], - [ - 25844, - 239 - ], - [ - 26109, - 32 - ], - [ - 26144, - 239 - ], - [ - 26408, - 33 - ], - [ - 26443, - 241 - ], - [ - 26708, - 32 - ], - [ - 26743, - 241 - ], - [ - 27007, - 33 - ], - [ - 27043, - 241 - ], - [ - 27307, - 33 - ], - [ - 27342, - 243 - ], - [ - 27607, - 32 - ], - [ - 27642, - 243 - ], - [ - 27906, - 33 - ], - [ - 27942, - 243 - ], - [ - 28206, - 33 - ], - [ - 28242, - 244 - ], - [ - 28506, - 33 - ], - [ - 28541, - 245 - ], - [ - 28805, - 33 - ], - [ - 28841, - 245 - ], - [ - 29105, - 33 - ], - [ - 29141, - 246 - ], - [ - 29405, - 33 - ], - [ - 29441, - 246 - ], - [ - 29704, - 33 - ], - [ - 29740, - 248 - ], - [ - 30004, - 33 - ], - [ - 30040, - 248 - ], - [ - 30303, - 34 - ], - [ - 30340, - 248 - ], - [ - 30603, - 34 - ], - [ - 30639, - 250 - ], - [ - 30903, - 33 - ], - [ - 30939, - 250 - ], - [ - 31202, - 34 - ], - [ - 31239, - 250 - ], - [ - 31502, - 33 - ], - [ - 31539, - 251 - ], - [ - 31802, - 33 - ], - [ - 31838, - 252 - ], - [ - 32101, - 34 - ], - [ - 32138, - 252 - ], - [ - 32401, - 33 - ], - [ - 32438, - 253 - ], - [ - 32701, - 33 - ], - [ - 32738, - 253 - ], - [ - 33000, - 34 - ], - [ - 33037, - 254 - ], - [ - 33300, - 33 - ], - [ - 33337, - 255 - ], - [ - 33600, - 33 - ], - [ - 33637, - 255 - ], - [ - 33900, - 33 - ], - [ - 33936, - 256 - ], - [ - 34200, - 33 - ], - [ - 34236, - 257 - ], - [ - 34500, - 33 - ], - [ - 34536, - 257 - ], - [ - 34800, - 34 - ], - [ - 34835, - 258 - ], - [ - 35100, - 33 - ], - [ - 35134, - 260 - ], - [ - 35400, - 294 - ], - [ - 35700, - 294 - ], - [ - 36000, - 295 - ], - [ - 36300, - 294 - ], - [ - 36600, - 293 - ], - [ - 36900, - 292 - ], - [ - 37200, - 292 - ], - [ - 37501, - 290 - ], - [ - 37802, - 288 - ], - [ - 38102, - 287 - ], - [ - 38406, - 280 - ], - [ - 38707, - 278 - ], - [ - 39007, - 20 - ], - [ - 39264, - 20 - ], - [ - 39308, - 18 - ], - [ - 39565, - 19 - ], - [ - 39609, - 17 - ], - [ - 39866, - 17 - ], - [ - 39910, - 15 - ], - [ - 40166, - 16 - ], - [ - 40211, - 14 - ], - [ - 40466, - 15 - ], - [ - 40512, - 14 - ], - [ - 40765, - 15 - ], - [ - 40812, - 15 - ], - [ - 41065, - 15 - ], - [ - 41113, - 15 - ], - [ - 41364, - 15 - ], - [ - 41414, - 14 - ], - [ - 41663, - 15 - ], - [ - 41715, - 14 - ], - [ - 41962, - 15 - ], - [ - 42016, - 14 - ], - [ - 42262, - 14 - ], - [ - 42317, - 14 - ], - [ - 42561, - 15 - ], - [ - 42617, - 14 - ], - [ - 42860, - 15 - ], - [ - 42918, - 14 - ], - [ - 43160, - 14 - ], - [ - 43219, - 14 - ], - [ - 43459, - 14 - ], - [ - 43520, - 14 - ], - [ - 43758, - 14 - ], - [ - 43821, - 13 - ], - [ - 44058, - 14 - ], - [ - 44122, - 13 - ], - [ - 44357, - 14 - ], - [ - 44423, - 13 - ], - [ - 44656, - 14 - ], - [ - 44723, - 14 - ], - [ - 44955, - 14 - ], - [ - 45024, - 13 - ], - [ - 45255, - 13 - ], - [ - 45325, - 13 - ], - [ - 45554, - 14 - ], - [ - 45626, - 13 - ], - [ - 45853, - 14 - ], - [ - 45927, - 13 - ], - [ - 46153, - 13 - ], - [ - 46228, - 13 - ], - [ - 46452, - 13 - ], - [ - 46528, - 13 - ], - [ - 46751, - 14 - ], - [ - 46829, - 13 - ], - [ - 47051, - 13 - ], - [ - 47130, - 13 - ], - [ - 47350, - 13 - ], - [ - 47431, - 13 - ], - [ - 47649, - 13 - ], - [ - 47732, - 12 - ], - [ - 47948, - 13 - ], - [ - 48033, - 12 - ], - [ - 48248, - 13 - ], - [ - 48333, - 13 - ], - [ - 48547, - 13 - ], - [ - 48634, - 13 - ], - [ - 48846, - 13 - ], - [ - 48935, - 12 - ], - [ - 49146, - 12 - ], - [ - 49236, - 12 - ], - [ - 49445, - 12 - ], - [ - 49537, - 12 - ], - [ - 49744, - 13 - ], - [ - 49838, - 12 - ], - [ - 50044, - 12 - ], - [ - 50139, - 11 - ], - [ - 50343, - 12 - ], - [ - 50439, - 12 - ], - [ - 50642, - 12 - ], - [ - 50740, - 12 - ], - [ - 50941, - 12 - ], - [ - 51041, - 12 - ], - [ - 51241, - 12 - ], - [ - 51342, - 11 - ], - [ - 51540, - 12 - ], - [ - 51643, - 11 - ], - [ - 51839, - 12 - ], - [ - 51944, - 11 - ], - [ - 52139, - 11 - ], - [ - 52244, - 12 - ], - [ - 52437, - 12 - ], - [ - 52545, - 11 - ], - [ - 52737, - 12 - ], - [ - 52846, - 11 - ], - [ - 53037, - 11 - ], - [ - 53147, - 11 - ], - [ - 53336, - 11 - ], - [ - 53448, - 11 - ], - [ - 53635, - 11 - ], - [ - 53749, - 10 - ], - [ - 53934, - 12 - ], - [ - 54049, - 11 - ], - [ - 54234, - 11 - ], - [ - 54350, - 11 - ], - [ - 54533, - 11 - ], - [ - 54651, - 11 - ], - [ - 54832, - 11 - ], - [ - 54952, - 10 - ], - [ - 55132, - 10 - ], - [ - 55253, - 10 - ], - [ - 55431, - 11 - ], - [ - 55554, - 10 - ], - [ - 55730, - 11 - ], - [ - 55854, - 11 - ], - [ - 56030, - 10 - ], - [ - 56155, - 10 - ], - [ - 56329, - 10 - ], - [ - 56456, - 10 - ], - [ - 56628, - 10 - ], - [ - 56757, - 10 - ], - [ - 56927, - 11 - ], - [ - 57058, - 10 - ], - [ - 57227, - 10 - ], - [ - 57359, - 9 - ], - [ - 57526, - 10 - ], - [ - 57660, - 9 - ], - [ - 57825, - 10 - ], - [ - 57960, - 10 - ], - [ - 58125, - 9 - ], - [ - 58261, - 10 - ], - [ - 58424, - 10 - ], - [ - 58562, - 9 - ], - [ - 58723, - 10 - ], - [ - 58863, - 9 - ], - [ - 59022, - 10 - ], - [ - 59164, - 9 - ], - [ - 59322, - 9 - ], - [ - 59465, - 9 - ], - [ - 59621, - 9 - ] - ], - "point": [ - 147, - 123 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan314", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 1.25, - "y": 0.9009992, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "CD_c03efa1f", - "position": { - "x": -0.40429762, - "y": 0.667154849, - "z": -0.469293952 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_226fa37e", - "position": { - "x": -0.131166667, - "y": 0.924996, - "z": -1.24582207 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7857d014", - "position": { - "x": -0.603738368, - "y": 0.925584435, - "z": -0.391014516 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7857d014", - "position": { - "x": -0.603738368, - "y": 0.925584435, - "z": -1.24582207 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_a466dd98", - "position": { - "x": 0.3333881, - "y": 0.617360532, - "z": 0.971058846 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_4f283178", - "position": { - "x": 2.15, - "y": 0.14, - "z": 0.494 - }, - "rotation": { - "x": 0.0, - "y": 12.2437363, - "z": 0.0 - } - }, - { - "objectName": "Book_c376c5e5", - "position": { - "x": -0.4022511, - "y": 0.3774975, - "z": -0.561313331 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_09f01e5f", - "position": { - "x": -0.235000014, - "y": 0.120000347, - "z": 0.166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 6.68125267e-06 - } - }, - { - "objectName": "Pen_0ee61c22", - "position": { - "x": 2.14300966, - "y": 0.84865284, - "z": -0.0905793 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_a466dd98", - "position": { - "x": 0.012023747, - "y": 0.617360532, - "z": 1.555967 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_4fa82016", - "position": { - "x": 2.333022, - "y": 0.8463492, - "z": -0.0905793 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_56b6ac64", - "position": { - "x": -0.4022511, - "y": 0.378209472, - "z": -0.37724638 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_2d133511", - "position": { - "x": -0.509224057, - "y": 0.9251471, - "z": -0.177312613 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_226fa37e", - "position": { - "x": -0.245279774, - "y": 0.3765643, - "z": -0.193179488 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7857d014", - "position": { - "x": -0.320195347, - "y": 0.925584435, - "z": -1.24582207 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_c03efa1f", - "position": { - "x": -0.131166667, - "y": 0.92460674, - "z": -1.45952392 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_3a6a5101", - "position": { - "x": 0.3333881, - "y": 0.548538864, - "z": 2.140875 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3727643317, - "scene_num": 314 - }, - "task_id": "trial_T20190907_213239_957946", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A38Z99XF4NDNH0_3483FV8BEH0RTOH55HQIBG0VO2M62T", - "high_descs": [ - "Move across the room between the bed and the night stand", - "Pick up the basketball on the floor to the left of the bed", - "Carry the basketball to the green table", - "Place the basketball on top of the green table" - ], - "task_desc": "Move the basketball to the green table", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3G2UL9A02GVYFPEBBT7D77H3ZIN76P", - "high_descs": [ - "Turn around and walk to the desk by the bed. ", - "Pick up the basketball on the floor, between the bed and the desk. ", - "Turn around and walk to the green dresser against the wall. ", - "Place the basketball on top of the green dresser. " - ], - "task_desc": "Put a basketball on the green dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3R19ZA45J8915_3GM6G9ZBKQEN2QWABCHV1Z67EF2MTZ", - "high_descs": [ - "Turn to your right, move forward, and walk over to the desk that is to the right of you. ", - "Pick up the basketball that is on the floor between the desk and the bed. ", - "Turn around and walk over to the green dresser in front of you. ", - "Place the basketball on top of the green dresser. " - ], - "task_desc": "Move a basketball to the top of the dresser. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204235_124843/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204235_124843/traj_data.json deleted file mode 100644 index 37acede1d..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204235_124843/traj_data.json +++ /dev/null @@ -1,3023 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 9 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 36 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|-2|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - -2.3816944, - -2.3816944, - 0.69049692, - 0.69049692, - 2.9232452, - 2.9232452 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -0.8379348, - -0.8379348, - 3.936, - 3.936, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.60|+00.73|+00.17" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - -2.3816944, - -2.3816944, - 0.69049692, - 0.69049692, - 2.9232452, - 2.9232452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.60|+00.73|+00.17", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - } - ], - "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": "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": "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": "Book|-00.60|+00.73|+00.17" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 95, - 79, - 153, - 142 - ], - "mask": [ - [ - 23503, - 51 - ], - [ - 23802, - 52 - ], - [ - 24102, - 52 - ], - [ - 24402, - 52 - ], - [ - 24702, - 52 - ], - [ - 25002, - 52 - ], - [ - 25302, - 52 - ], - [ - 25602, - 52 - ], - [ - 25901, - 53 - ], - [ - 26201, - 53 - ], - [ - 26501, - 53 - ], - [ - 26801, - 53 - ], - [ - 27101, - 53 - ], - [ - 27401, - 53 - ], - [ - 27701, - 53 - ], - [ - 28001, - 53 - ], - [ - 28300, - 54 - ], - [ - 28600, - 54 - ], - [ - 28900, - 54 - ], - [ - 29200, - 54 - ], - [ - 29500, - 54 - ], - [ - 29800, - 54 - ], - [ - 30100, - 54 - ], - [ - 30400, - 54 - ], - [ - 30699, - 55 - ], - [ - 30999, - 55 - ], - [ - 31299, - 55 - ], - [ - 31599, - 55 - ], - [ - 31899, - 55 - ], - [ - 32199, - 55 - ], - [ - 32499, - 55 - ], - [ - 32799, - 55 - ], - [ - 33098, - 56 - ], - [ - 33398, - 56 - ], - [ - 33698, - 56 - ], - [ - 33998, - 56 - ], - [ - 34298, - 56 - ], - [ - 34598, - 56 - ], - [ - 34898, - 56 - ], - [ - 35198, - 56 - ], - [ - 35497, - 57 - ], - [ - 35797, - 57 - ], - [ - 36097, - 57 - ], - [ - 36397, - 57 - ], - [ - 36697, - 57 - ], - [ - 36997, - 57 - ], - [ - 37297, - 57 - ], - [ - 37597, - 57 - ], - [ - 37896, - 58 - ], - [ - 38196, - 58 - ], - [ - 38496, - 58 - ], - [ - 38796, - 58 - ], - [ - 39096, - 58 - ], - [ - 39396, - 58 - ], - [ - 39696, - 58 - ], - [ - 39996, - 58 - ], - [ - 40295, - 59 - ], - [ - 40595, - 59 - ], - [ - 40895, - 59 - ], - [ - 41195, - 59 - ], - [ - 41495, - 59 - ], - [ - 41795, - 59 - ], - [ - 42096, - 58 - ], - [ - 42397, - 57 - ] - ], - "point": [ - 124, - 109 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|-00.60|+00.73|+00.17", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 1200 - ], - [ - 10501, - 156 - ], - [ - 10660, - 2 - ], - [ - 10663, - 1 - ], - [ - 10666, - 134 - ], - [ - 10802, - 143 - ], - [ - 10954, - 1 - ], - [ - 10966, - 134 - ], - [ - 11103, - 141 - ], - [ - 11245, - 7 - ], - [ - 11253, - 2 - ], - [ - 11261, - 139 - ], - [ - 11404, - 140 - ], - [ - 11545, - 7 - ], - [ - 11553, - 2 - ], - [ - 11557, - 1 - ], - [ - 11562, - 138 - ], - [ - 11705, - 147 - ], - [ - 11858, - 5 - ], - [ - 11864, - 136 - ], - [ - 12007, - 138 - ], - [ - 12147, - 4 - ], - [ - 12152, - 12 - ], - [ - 12168, - 132 - ], - [ - 12308, - 141 - ], - [ - 12455, - 9 - ], - [ - 12468, - 132 - ], - [ - 12613, - 136 - ], - [ - 12756, - 8 - ], - [ - 12770, - 130 - ], - [ - 12915, - 134 - ], - [ - 13056, - 12 - ], - [ - 13072, - 128 - ], - [ - 13217, - 132 - ], - [ - 13355, - 16 - ], - [ - 13373, - 127 - ], - [ - 13518, - 132 - ], - [ - 13654, - 146 - ], - [ - 13819, - 281 - ], - [ - 14119, - 281 - ], - [ - 14420, - 280 - ], - [ - 14720, - 214 - ], - [ - 14942, - 58 - ], - [ - 15020, - 212 - ], - [ - 15246, - 54 - ], - [ - 15320, - 210 - ], - [ - 15548, - 52 - ], - [ - 15619, - 210 - ], - [ - 15849, - 51 - ], - [ - 15919, - 209 - ], - [ - 16151, - 49 - ], - [ - 16218, - 39 - ], - [ - 16259, - 6 - ], - [ - 16267, - 2 - ], - [ - 16279, - 149 - ], - [ - 16452, - 48 - ], - [ - 16517, - 38 - ], - [ - 16557, - 5 - ], - [ - 16566, - 1 - ], - [ - 16576, - 151 - ], - [ - 16752, - 48 - ], - [ - 16817, - 38 - ], - [ - 16856, - 7 - ], - [ - 16864, - 2 - ], - [ - 16873, - 100 - ], - [ - 17014, - 13 - ], - [ - 17053, - 47 - ], - [ - 17115, - 40 - ], - [ - 17156, - 7 - ], - [ - 17165, - 1 - ], - [ - 17168, - 4 - ], - [ - 17174, - 99 - ], - [ - 17314, - 13 - ], - [ - 17338, - 4 - ], - [ - 17353, - 47 - ], - [ - 17414, - 41 - ], - [ - 17456, - 7 - ], - [ - 17470, - 4 - ], - [ - 17475, - 153 - ], - [ - 17639, - 4 - ], - [ - 17654, - 46 - ], - [ - 17713, - 42 - ], - [ - 17759, - 3 - ], - [ - 17764, - 11 - ], - [ - 17779, - 149 - ], - [ - 17954, - 46 - ], - [ - 18010, - 50 - ], - [ - 18065, - 10 - ], - [ - 18079, - 150 - ], - [ - 18254, - 46 - ], - [ - 18308, - 51 - ], - [ - 18366, - 9 - ], - [ - 18380, - 149 - ], - [ - 18554, - 46 - ], - [ - 18602, - 56 - ], - [ - 18666, - 9 - ], - [ - 18682, - 148 - ], - [ - 18853, - 105 - ], - [ - 18966, - 13 - ], - [ - 18984, - 147 - ], - [ - 19152, - 106 - ], - [ - 19265, - 16 - ], - [ - 19283, - 150 - ], - [ - 19451, - 109 - ], - [ - 19562, - 173 - ], - [ - 19750, - 288 - ], - [ - 20048, - 663 - ], - [ - 20716, - 290 - ], - [ - 21020, - 284 - ], - [ - 21321, - 281 - ], - [ - 21623, - 278 - ], - [ - 21923, - 277 - ], - [ - 22224, - 276 - ], - [ - 22524, - 276 - ], - [ - 22824, - 276 - ], - [ - 23124, - 276 - ], - [ - 23408, - 4 - ], - [ - 23424, - 276 - ], - [ - 23708, - 4 - ], - [ - 23724, - 276 - ], - [ - 24008, - 2 - ], - [ - 24023, - 277 - ], - [ - 24322, - 278 - ], - [ - 24622, - 278 - ], - [ - 24921, - 279 - ], - [ - 25220, - 280 - ], - [ - 25518, - 282 - ], - [ - 25817, - 283 - ], - [ - 26115, - 285 - ], - [ - 26412, - 293 - ], - [ - 26707, - 3593 - ], - [ - 30321, - 279 - ], - [ - 30624, - 284 - ], - [ - 30921, - 4179 - ], - [ - 35250, - 2 - ], - [ - 35550, - 2 - ], - [ - 35850, - 2 - ], - [ - 36150, - 2 - ], - [ - 36450, - 2 - ], - [ - 36750, - 2 - ], - [ - 37050, - 2 - ], - [ - 37350, - 2 - ], - [ - 37650, - 2 - ], - [ - 37950, - 2 - ], - [ - 38250, - 2 - ], - [ - 38550, - 2 - ], - [ - 38850, - 2 - ], - [ - 39150, - 2 - ], - [ - 39450, - 2 - ], - [ - 39750, - 2 - ], - [ - 40050, - 2 - ], - [ - 40350, - 2 - ], - [ - 40650, - 2 - ], - [ - 40950, - 2 - ], - [ - 41250, - 2 - ], - [ - 41550, - 2 - ], - [ - 41850, - 2 - ], - [ - 42150, - 2 - ], - [ - 42450, - 2 - ], - [ - 42750, - 2 - ], - [ - 43050, - 2 - ], - [ - 43350, - 2 - ], - [ - 43650, - 2 - ], - [ - 43950, - 2 - ], - [ - 44250, - 2 - ], - [ - 44550, - 2 - ], - [ - 44850, - 2 - ], - [ - 45150, - 2 - ], - [ - 45450, - 2 - ], - [ - 45750, - 2 - ], - [ - 46050, - 2 - ], - [ - 46350, - 2 - ], - [ - 46650, - 2 - ], - [ - 46950, - 3 - ], - [ - 48600, - 1 - ], - [ - 48900, - 2 - ], - [ - 49200, - 3 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57868, - 3 - ], - [ - 57932, - 47 - ], - [ - 58124, - 46 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 1.0, - "y": 0.9020015, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": -0.763488, - "y": 0.04605252, - "z": -1.77993917 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.64169645, - "y": 0.8196067, - "z": -0.134690791 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.5954236, - "y": 0.7309317, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.394247, - "y": 0.827185452, - "z": 0.8125402 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.46121883, - "y": 0.679531932, - "z": 0.706204 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.64169884, - "y": 0.8223684, - "z": 0.6230935 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": -0.7660289, - "y": 0.709281564, - "z": -1.69612169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.5954236, - "y": 0.7308113, - "z": 0.17262423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": 0.282622516, - "y": 0.838830948, - "z": -2.414 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": 2.6477232, - "y": 0.192091987, - "z": -0.0412448645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": 0.148, - "y": 0.744, - "z": 1.738 - }, - "rotation": { - "x": 0.0, - "y": 195.27034, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.0165137351, - "y": 0.809355736, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": -0.7660289, - "y": 0.7084418, - "z": -1.77993917 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.76542377, - "y": 0.820835769, - "z": 0.244201049 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": -0.5030323, - "y": 0.431294978, - "z": -1.752 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": -0.6525349, - "y": 0.0461815037, - "z": -1.72406077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": 0.1764562, - "y": 0.7290222, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.517973, - "y": 0.821139336, - "z": 0.812539935 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.641697, - "y": 0.827185452, - "z": 0.0547553 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2309767883, - "scene_num": 319 - }, - "task_id": "trial_T20190906_204235_124843", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AITP2LUW8GPB_33UKMF931C1RFLMUK9I7ND1Z7IOTTM", - "high_descs": [ - "Go straight, turn right near bed.", - "Go to bed, pick up magazine.", - "Grab magazine, turn right, turn left.", - "Walk towards desk and place magazine onto desk." - ], - "task_desc": "Grab magazine from bed, place onto desk. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1QDQU3TJHQYAU_3DIP6YHAPF96SIC9RGIHXV5BQV1E8D", - "high_descs": [ - "turn right and walk around the side of the bed", - "pick up the book titled C++ Data structures from scratch", - "turn right again and go to the white and brown drawers", - "place the book on the top of the drawers near the keys" - ], - "task_desc": "move a book from the bed to the drawers", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A272X64FOZFYLB_3DPNQGW4LOW1W2WS9V964VXT7CK64I", - "high_descs": [ - "Move forward and turn right to go to the bottom left corner of the bed.", - "Pick up the textbook from the bed.", - "Turn right and walk to the dresser.", - "Place the textbook on the center of the dresser." - ], - "task_desc": "Put a textbook on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204305_696118/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204305_696118/traj_data.json deleted file mode 100644 index d00be4184..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204305_696118/traj_data.json +++ /dev/null @@ -1,3218 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 11 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "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": 19 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "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": 29 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 33 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|5|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - 1.4777048, - 1.4777048, - 4.93115236, - 4.93115236, - 2.9232452, - 2.9232452 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -0.8379348, - -0.8379348, - 3.936, - 3.936, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.37|+00.73|+01.23" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - 1.4777048, - 1.4777048, - 4.93115236, - 4.93115236, - 2.9232452, - 2.9232452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.37|+00.73|+01.23", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|+00.37|+00.73|+01.23" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 105, - 94, - 185, - 143 - ], - "mask": [ - [ - 28009, - 73 - ], - [ - 28309, - 73 - ], - [ - 28609, - 73 - ], - [ - 28909, - 73 - ], - [ - 29209, - 74 - ], - [ - 29509, - 74 - ], - [ - 29809, - 74 - ], - [ - 30109, - 74 - ], - [ - 30409, - 74 - ], - [ - 30708, - 75 - ], - [ - 31008, - 75 - ], - [ - 31308, - 75 - ], - [ - 31608, - 75 - ], - [ - 31908, - 75 - ], - [ - 32208, - 75 - ], - [ - 32508, - 75 - ], - [ - 32808, - 75 - ], - [ - 33108, - 76 - ], - [ - 33408, - 76 - ], - [ - 33707, - 77 - ], - [ - 34007, - 77 - ], - [ - 34307, - 77 - ], - [ - 34607, - 77 - ], - [ - 34907, - 77 - ], - [ - 35207, - 77 - ], - [ - 35507, - 77 - ], - [ - 35807, - 77 - ], - [ - 36107, - 77 - ], - [ - 36407, - 77 - ], - [ - 36706, - 79 - ], - [ - 37006, - 79 - ], - [ - 37306, - 79 - ], - [ - 37606, - 79 - ], - [ - 37906, - 79 - ], - [ - 38206, - 79 - ], - [ - 38506, - 79 - ], - [ - 38806, - 79 - ], - [ - 39106, - 79 - ], - [ - 39406, - 79 - ], - [ - 39705, - 80 - ], - [ - 40005, - 80 - ], - [ - 40305, - 81 - ], - [ - 40605, - 81 - ], - [ - 40905, - 81 - ], - [ - 41205, - 81 - ], - [ - 41506, - 79 - ], - [ - 41806, - 78 - ], - [ - 42107, - 77 - ], - [ - 42406, - 79 - ], - [ - 42706, - 79 - ] - ], - "point": [ - 145, - 117 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|+00.37|+00.73|+01.23", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 171 - ], - [ - 9526, - 244 - ], - [ - 9827, - 242 - ], - [ - 10128, - 241 - ], - [ - 10428, - 72 - ], - [ - 10501, - 168 - ], - [ - 10728, - 72 - ], - [ - 10802, - 166 - ], - [ - 11029, - 71 - ], - [ - 11103, - 165 - ], - [ - 11329, - 71 - ], - [ - 11404, - 164 - ], - [ - 11629, - 71 - ], - [ - 11705, - 163 - ], - [ - 11929, - 71 - ], - [ - 12007, - 161 - ], - [ - 12229, - 71 - ], - [ - 12308, - 160 - ], - [ - 12530, - 70 - ], - [ - 12613, - 155 - ], - [ - 12830, - 70 - ], - [ - 12915, - 153 - ], - [ - 13130, - 70 - ], - [ - 13217, - 151 - ], - [ - 13430, - 70 - ], - [ - 13518, - 150 - ], - [ - 13731, - 69 - ], - [ - 13819, - 149 - ], - [ - 14031, - 69 - ], - [ - 14119, - 149 - ], - [ - 14331, - 69 - ], - [ - 14420, - 148 - ], - [ - 14630, - 70 - ], - [ - 14720, - 148 - ], - [ - 14930, - 70 - ], - [ - 15020, - 148 - ], - [ - 15230, - 70 - ], - [ - 15320, - 148 - ], - [ - 15529, - 71 - ], - [ - 15619, - 149 - ], - [ - 15829, - 71 - ], - [ - 15919, - 149 - ], - [ - 16129, - 71 - ], - [ - 16218, - 150 - ], - [ - 16428, - 72 - ], - [ - 16517, - 151 - ], - [ - 16728, - 72 - ], - [ - 16817, - 151 - ], - [ - 17028, - 46 - ], - [ - 17115, - 153 - ], - [ - 17328, - 38 - ], - [ - 17414, - 154 - ], - [ - 17627, - 39 - ], - [ - 17713, - 8 - ], - [ - 17733, - 135 - ], - [ - 17927, - 38 - ], - [ - 18010, - 10 - ], - [ - 18050, - 118 - ], - [ - 18227, - 38 - ], - [ - 18308, - 11 - ], - [ - 18367, - 102 - ], - [ - 18526, - 39 - ], - [ - 18602, - 17 - ], - [ - 18678, - 91 - ], - [ - 18825, - 41 - ], - [ - 18900, - 18 - ], - [ - 18980, - 90 - ], - [ - 19124, - 42 - ], - [ - 19200, - 18 - ], - [ - 19282, - 184 - ], - [ - 19500, - 17 - ], - [ - 19582, - 185 - ], - [ - 19800, - 17 - ], - [ - 19883, - 184 - ], - [ - 20100, - 16 - ], - [ - 20183, - 184 - ], - [ - 20400, - 16 - ], - [ - 20483, - 185 - ], - [ - 20700, - 15 - ], - [ - 20784, - 184 - ], - [ - 21000, - 15 - ], - [ - 21084, - 184 - ], - [ - 21300, - 14 - ], - [ - 21384, - 184 - ], - [ - 21600, - 14 - ], - [ - 21685, - 184 - ], - [ - 21900, - 13 - ], - [ - 21985, - 184 - ], - [ - 22200, - 13 - ], - [ - 22285, - 184 - ], - [ - 22500, - 12 - ], - [ - 22585, - 185 - ], - [ - 22886, - 184 - ], - [ - 23186, - 184 - ], - [ - 23486, - 185 - ], - [ - 23786, - 185 - ], - [ - 24086, - 15 - ], - [ - 24107, - 164 - ], - [ - 24386, - 11 - ], - [ - 24411, - 161 - ], - [ - 24686, - 9 - ], - [ - 24712, - 160 - ], - [ - 24986, - 7 - ], - [ - 25014, - 158 - ], - [ - 25285, - 7 - ], - [ - 25315, - 74 - ], - [ - 25410, - 63 - ], - [ - 25585, - 6 - ], - [ - 25616, - 73 - ], - [ - 25711, - 62 - ], - [ - 25885, - 5 - ], - [ - 25916, - 73 - ], - [ - 26011, - 62 - ], - [ - 26185, - 5 - ], - [ - 26217, - 72 - ], - [ - 26311, - 63 - ], - [ - 26484, - 5 - ], - [ - 26517, - 72 - ], - [ - 26611, - 63 - ], - [ - 26784, - 5 - ], - [ - 26801, - 4 - ], - [ - 26817, - 73 - ], - [ - 26911, - 63 - ], - [ - 27084, - 5 - ], - [ - 27101, - 4 - ], - [ - 27117, - 73 - ], - [ - 27212, - 63 - ], - [ - 27383, - 6 - ], - [ - 27401, - 4 - ], - [ - 27417, - 73 - ], - [ - 27512, - 63 - ], - [ - 27683, - 6 - ], - [ - 27717, - 73 - ], - [ - 27812, - 63 - ], - [ - 27983, - 6 - ], - [ - 28016, - 74 - ], - [ - 28112, - 63 - ], - [ - 28282, - 7 - ], - [ - 28316, - 75 - ], - [ - 28411, - 65 - ], - [ - 28532, - 15 - ], - [ - 28582, - 7 - ], - [ - 28615, - 185 - ], - [ - 28832, - 30 - ], - [ - 28881, - 9 - ], - [ - 28914, - 186 - ], - [ - 29132, - 59 - ], - [ - 29213, - 187 - ], - [ - 29431, - 61 - ], - [ - 29512, - 188 - ], - [ - 29731, - 62 - ], - [ - 29810, - 190 - ], - [ - 30031, - 64 - ], - [ - 30108, - 192 - ], - [ - 30331, - 68 - ], - [ - 30404, - 123 - ], - [ - 30573, - 27 - ], - [ - 30630, - 196 - ], - [ - 30876, - 24 - ], - [ - 30930, - 230 - ], - [ - 31173, - 27 - ], - [ - 31230, - 270 - ], - [ - 31529, - 271 - ], - [ - 31829, - 271 - ], - [ - 32129, - 271 - ], - [ - 32429, - 271 - ], - [ - 32728, - 272 - ], - [ - 33028, - 272 - ], - [ - 33324, - 1776 - ], - [ - 35250, - 2 - ], - [ - 35550, - 2 - ], - [ - 35850, - 2 - ], - [ - 36150, - 2 - ], - [ - 36450, - 2 - ], - [ - 36750, - 2 - ], - [ - 37050, - 2 - ], - [ - 37350, - 2 - ], - [ - 37650, - 2 - ], - [ - 37950, - 2 - ], - [ - 38250, - 2 - ], - [ - 38550, - 2 - ], - [ - 38850, - 2 - ], - [ - 39150, - 2 - ], - [ - 39450, - 2 - ], - [ - 39750, - 2 - ], - [ - 40050, - 2 - ], - [ - 40350, - 2 - ], - [ - 40650, - 2 - ], - [ - 40950, - 2 - ], - [ - 41250, - 2 - ], - [ - 41550, - 2 - ], - [ - 41850, - 2 - ], - [ - 42150, - 2 - ], - [ - 42450, - 2 - ], - [ - 42750, - 2 - ], - [ - 43050, - 2 - ], - [ - 43350, - 2 - ], - [ - 43650, - 2 - ], - [ - 43950, - 2 - ], - [ - 44250, - 2 - ], - [ - 44550, - 2 - ], - [ - 44850, - 2 - ], - [ - 45150, - 2 - ], - [ - 45450, - 2 - ], - [ - 45750, - 2 - ], - [ - 46050, - 2 - ], - [ - 46350, - 2 - ], - [ - 46650, - 2 - ], - [ - 46950, - 3 - ], - [ - 48600, - 1 - ], - [ - 48900, - 2 - ], - [ - 49200, - 3 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57868, - 3 - ], - [ - 57932, - 47 - ], - [ - 58124, - 46 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.25, - "y": 0.9020015, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.456109, - "y": 0.821139336, - "z": 0.43364796 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": -0.997217059, - "y": 0.4267617, - "z": -1.752 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": 2.554471, - "y": 0.191228181, - "z": -0.1285488 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.7883935, - "y": 0.7309317, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.39424419, - "y": 0.827185452, - "z": -0.134690136 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": -1.35292411, - "y": 0.0554783419, - "z": -1.01716232 - }, - "rotation": { - "x": 0.0, - "y": 0.000114405659, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 0.4180629, - "y": 0.8329391, - "z": -2.38361645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": -0.597058356, - "y": 0.0464417972, - "z": -1.77993917 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": 2.554471, - "y": 0.35330826, - "z": -0.1285488 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": 0.3694262, - "y": 0.7308113, - "z": 1.23278809 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.402453631, - "y": 0.7308113, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.394247, - "y": 0.8197357, - "z": 0.8125402 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.641697, - "y": 0.8212683, - "z": 0.0547553 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.7883935, - "y": 0.7308113, - "z": 0.17262423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": 2.51797, - "y": 0.8274205, - "z": -0.324136466 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.402453631, - "y": 0.7309317, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": -0.0165137351, - "y": 0.809355736, - "z": 0.17262423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.441, - "y": 0.738, - "z": 1.64 - }, - "rotation": { - "x": 0.0, - "y": 348.951324, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.45610785, - "y": 0.8215286, - "z": 0.054755792 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.414593, - "y": 0.6770185, - "z": 0.356988251 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": -1.34141874, - "y": 0.0554783419, - "z": -0.851763964 - }, - "rotation": { - "x": 0.0, - "y": 0.000114405659, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.45610952, - "y": 0.8197357, - "z": 0.623093963 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": -0.0165137351, - "y": 0.7290222, - "z": 1.23278809 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": -0.9509794, - "y": 0.7080525, - "z": -1.72406077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.507845, - "y": 0.6818356, - "z": 0.4442922 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 559922611, - "scene_num": 319 - }, - "task_id": "trial_T20190906_204305_696118", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A320QA9HJFUOZO_33CUSNVVNQTPJH2IEDWH5L9PFYC88T", - "high_descs": [ - "Turn around and walk over to the side of the bed by the door", - "Pick up the book in front of the laptop from the bed", - "Turn around and walk to the dresser with alarm clocks on it", - "Put the book down just behind the CD on the dresser" - ], - "task_desc": "Put the book on the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3HMIGG0U4ON4YNT0RHUB4YXR8BFY8T", - "high_descs": [ - "turn around and walk over to the right side of the bed", - "grab the closed book too you off of the bed", - "turn around and head forwards to the dresser drawers", - "put the book on top of the dresser drawer" - ], - "task_desc": "put a book on top of the dresser drawer", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3TDXMTX3CEBV49V7UKBAYW7CCZZI6X", - "high_descs": [ - "Turn around and go toward the bed, then turn right, then turn left, then turn left to face the bed.", - "Pick up the book that is next to the computer.", - "Turn left, the turn left and go to the dresser.", - "Place the book on the dresser, behind the compact disk. " - ], - "task_desc": "Put a book on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204338_649353/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204338_649353/traj_data.json deleted file mode 100644 index 61cac582c..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Book-None-Dresser-319/trial_T20190906_204338_649353/traj_data.json +++ /dev/null @@ -1,3199 +0,0 @@ -{ - "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": 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": 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": 15 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 16 - }, - { - "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": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 3, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 27 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|4|3|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - -1.609814524, - -1.609814524, - 3.8709884, - 3.8709884, - 2.9232452, - 2.9232452 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -0.8379348, - -0.8379348, - 3.936, - 3.936, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.40|+00.73|+00.97" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - -1.609814524, - -1.609814524, - 3.8709884, - 3.8709884, - 2.9232452, - 2.9232452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.40|+00.73|+00.97", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - }, - { - "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": "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|-00.40|+00.73|+00.97" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 119, - 143, - 169, - 165 - ], - "mask": [ - [ - 42722, - 46 - ], - [ - 43022, - 46 - ], - [ - 43322, - 46 - ], - [ - 43622, - 46 - ], - [ - 43921, - 47 - ], - [ - 44221, - 48 - ], - [ - 44521, - 48 - ], - [ - 44821, - 48 - ], - [ - 45121, - 48 - ], - [ - 45420, - 49 - ], - [ - 45720, - 49 - ], - [ - 46020, - 49 - ], - [ - 46320, - 49 - ], - [ - 46620, - 50 - ], - [ - 46920, - 50 - ], - [ - 47219, - 51 - ], - [ - 47519, - 51 - ], - [ - 47819, - 51 - ], - [ - 48120, - 49 - ], - [ - 48420, - 49 - ], - [ - 48720, - 50 - ], - [ - 49020, - 50 - ], - [ - 49341, - 29 - ] - ], - "point": [ - 144, - 153 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|-00.40|+00.73|+00.97", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 144 - ], - [ - 9459, - 9 - ], - [ - 9527, - 217 - ], - [ - 9759, - 9 - ], - [ - 9828, - 216 - ], - [ - 10059, - 9 - ], - [ - 10128, - 216 - ], - [ - 10359, - 8 - ], - [ - 10428, - 72 - ], - [ - 10501, - 143 - ], - [ - 10659, - 8 - ], - [ - 10728, - 72 - ], - [ - 10802, - 142 - ], - [ - 10959, - 8 - ], - [ - 11028, - 72 - ], - [ - 11103, - 141 - ], - [ - 11259, - 8 - ], - [ - 11328, - 72 - ], - [ - 11404, - 139 - ], - [ - 11559, - 7 - ], - [ - 11628, - 72 - ], - [ - 11705, - 138 - ], - [ - 11859, - 7 - ], - [ - 11928, - 72 - ], - [ - 12007, - 136 - ], - [ - 12160, - 6 - ], - [ - 12227, - 73 - ], - [ - 12308, - 47 - ], - [ - 12375, - 68 - ], - [ - 12460, - 5 - ], - [ - 12527, - 73 - ], - [ - 12613, - 41 - ], - [ - 12675, - 68 - ], - [ - 12760, - 5 - ], - [ - 12827, - 73 - ], - [ - 12915, - 39 - ], - [ - 12975, - 68 - ], - [ - 13060, - 4 - ], - [ - 13126, - 74 - ], - [ - 13217, - 37 - ], - [ - 13275, - 68 - ], - [ - 13360, - 2 - ], - [ - 13367, - 1 - ], - [ - 13426, - 74 - ], - [ - 13518, - 35 - ], - [ - 13575, - 67 - ], - [ - 13666, - 2 - ], - [ - 13726, - 74 - ], - [ - 13819, - 34 - ], - [ - 13874, - 68 - ], - [ - 13966, - 2 - ], - [ - 14026, - 74 - ], - [ - 14119, - 34 - ], - [ - 14174, - 69 - ], - [ - 14260, - 1 - ], - [ - 14266, - 2 - ], - [ - 14325, - 75 - ], - [ - 14420, - 33 - ], - [ - 14474, - 68 - ], - [ - 14566, - 2 - ], - [ - 14625, - 75 - ], - [ - 14720, - 32 - ], - [ - 14774, - 68 - ], - [ - 14865, - 3 - ], - [ - 14925, - 75 - ], - [ - 15020, - 32 - ], - [ - 15073, - 69 - ], - [ - 15161, - 1 - ], - [ - 15165, - 3 - ], - [ - 15224, - 76 - ], - [ - 15320, - 32 - ], - [ - 15373, - 69 - ], - [ - 15451, - 1 - ], - [ - 15465, - 3 - ], - [ - 15524, - 76 - ], - [ - 15619, - 33 - ], - [ - 15673, - 69 - ], - [ - 15751, - 1 - ], - [ - 15763, - 6 - ], - [ - 15823, - 77 - ], - [ - 15919, - 32 - ], - [ - 15973, - 69 - ], - [ - 16051, - 1 - ], - [ - 16061, - 9 - ], - [ - 16121, - 79 - ], - [ - 16218, - 33 - ], - [ - 16273, - 69 - ], - [ - 16351, - 2 - ], - [ - 16361, - 139 - ], - [ - 16517, - 34 - ], - [ - 16572, - 70 - ], - [ - 16651, - 2 - ], - [ - 16661, - 139 - ], - [ - 16817, - 33 - ], - [ - 16872, - 70 - ], - [ - 16961, - 57 - ], - [ - 17059, - 41 - ], - [ - 17115, - 35 - ], - [ - 17172, - 69 - ], - [ - 17261, - 57 - ], - [ - 17359, - 41 - ], - [ - 17414, - 36 - ], - [ - 17472, - 70 - ], - [ - 17550, - 4 - ], - [ - 17561, - 139 - ], - [ - 17713, - 37 - ], - [ - 17771, - 71 - ], - [ - 17850, - 5 - ], - [ - 17862, - 138 - ], - [ - 18010, - 39 - ], - [ - 18071, - 72 - ], - [ - 18150, - 5 - ], - [ - 18162, - 138 - ], - [ - 18308, - 41 - ], - [ - 18371, - 72 - ], - [ - 18449, - 6 - ], - [ - 18463, - 137 - ], - [ - 18602, - 47 - ], - [ - 18671, - 72 - ], - [ - 18749, - 7 - ], - [ - 18762, - 156 - ], - [ - 18977, - 66 - ], - [ - 19049, - 8 - ], - [ - 19062, - 155 - ], - [ - 19279, - 64 - ], - [ - 19349, - 9 - ], - [ - 19362, - 154 - ], - [ - 19580, - 63 - ], - [ - 19648, - 11 - ], - [ - 19662, - 154 - ], - [ - 19881, - 62 - ], - [ - 19948, - 11 - ], - [ - 19962, - 153 - ], - [ - 20181, - 50 - ], - [ - 20272, - 143 - ], - [ - 20482, - 45 - ], - [ - 20576, - 139 - ], - [ - 20782, - 45 - ], - [ - 20876, - 138 - ], - [ - 21082, - 45 - ], - [ - 21176, - 138 - ], - [ - 21383, - 44 - ], - [ - 21476, - 138 - ], - [ - 21683, - 44 - ], - [ - 21776, - 137 - ], - [ - 21983, - 44 - ], - [ - 22076, - 137 - ], - [ - 22284, - 43 - ], - [ - 22376, - 137 - ], - [ - 22584, - 43 - ], - [ - 22676, - 136 - ], - [ - 22884, - 43 - ], - [ - 22976, - 136 - ], - [ - 23184, - 43 - ], - [ - 23276, - 135 - ], - [ - 23485, - 41 - ], - [ - 23576, - 135 - ], - [ - 23785, - 41 - ], - [ - 23877, - 134 - ], - [ - 24085, - 41 - ], - [ - 24177, - 134 - ], - [ - 24385, - 41 - ], - [ - 24477, - 134 - ], - [ - 24685, - 41 - ], - [ - 24777, - 134 - ], - [ - 24985, - 41 - ], - [ - 25077, - 135 - ], - [ - 25284, - 42 - ], - [ - 25377, - 136 - ], - [ - 25584, - 42 - ], - [ - 25677, - 136 - ], - [ - 25884, - 42 - ], - [ - 25977, - 137 - ], - [ - 26184, - 42 - ], - [ - 26277, - 138 - ], - [ - 26484, - 42 - ], - [ - 26577, - 138 - ], - [ - 26784, - 42 - ], - [ - 26877, - 139 - ], - [ - 27083, - 43 - ], - [ - 27177, - 140 - ], - [ - 27383, - 43 - ], - [ - 27477, - 140 - ], - [ - 27683, - 43 - ], - [ - 27777, - 141 - ], - [ - 27983, - 43 - ], - [ - 28078, - 140 - ], - [ - 28283, - 43 - ], - [ - 28378, - 141 - ], - [ - 28583, - 42 - ], - [ - 28678, - 142 - ], - [ - 28882, - 43 - ], - [ - 28978, - 144 - ], - [ - 29181, - 44 - ], - [ - 29278, - 247 - ], - [ - 29578, - 31 - ], - [ - 29619, - 206 - ], - [ - 29878, - 16 - ], - [ - 29903, - 1 - ], - [ - 29907, - 1 - ], - [ - 29918, - 207 - ], - [ - 30178, - 15 - ], - [ - 30194, - 9 - ], - [ - 30205, - 2 - ], - [ - 30213, - 212 - ], - [ - 30478, - 15 - ], - [ - 30494, - 9 - ], - [ - 30505, - 1 - ], - [ - 30507, - 1 - ], - [ - 30513, - 212 - ], - [ - 30778, - 15 - ], - [ - 30794, - 9 - ], - [ - 30805, - 1 - ], - [ - 30807, - 1 - ], - [ - 30809, - 1 - ], - [ - 30811, - 1 - ], - [ - 30815, - 210 - ], - [ - 31078, - 16 - ], - [ - 31095, - 9 - ], - [ - 31111, - 4 - ], - [ - 31116, - 209 - ], - [ - 31378, - 16 - ], - [ - 31395, - 6 - ], - [ - 31405, - 11 - ], - [ - 31417, - 208 - ], - [ - 31678, - 17 - ], - [ - 31697, - 5 - ], - [ - 31703, - 1 - ], - [ - 31705, - 12 - ], - [ - 31722, - 203 - ], - [ - 31978, - 22 - ], - [ - 32006, - 11 - ], - [ - 32022, - 203 - ], - [ - 32278, - 21 - ], - [ - 32307, - 10 - ], - [ - 32323, - 276 - ], - [ - 32608, - 10 - ], - [ - 32625, - 274 - ], - [ - 32908, - 15 - ], - [ - 32927, - 273 - ], - [ - 33208, - 17 - ], - [ - 33228, - 272 - ], - [ - 33507, - 19 - ], - [ - 33528, - 274 - ], - [ - 33805, - 1295 - ], - [ - 35250, - 2 - ], - [ - 35550, - 2 - ], - [ - 35850, - 2 - ], - [ - 36150, - 2 - ], - [ - 36450, - 2 - ], - [ - 36750, - 2 - ], - [ - 37050, - 2 - ], - [ - 37350, - 2 - ], - [ - 37650, - 2 - ], - [ - 37950, - 2 - ], - [ - 38250, - 2 - ], - [ - 38550, - 2 - ], - [ - 38850, - 2 - ], - [ - 39150, - 2 - ], - [ - 39450, - 2 - ], - [ - 39750, - 2 - ], - [ - 40050, - 2 - ], - [ - 40350, - 2 - ], - [ - 40650, - 2 - ], - [ - 40950, - 2 - ], - [ - 41250, - 2 - ], - [ - 41550, - 2 - ], - [ - 41850, - 2 - ], - [ - 42150, - 2 - ], - [ - 42450, - 2 - ], - [ - 42750, - 2 - ], - [ - 43050, - 2 - ], - [ - 43350, - 2 - ], - [ - 43650, - 2 - ], - [ - 43950, - 2 - ], - [ - 44250, - 2 - ], - [ - 44550, - 2 - ], - [ - 44850, - 2 - ], - [ - 45150, - 2 - ], - [ - 45450, - 2 - ], - [ - 45750, - 2 - ], - [ - 46050, - 2 - ], - [ - 46350, - 2 - ], - [ - 46650, - 2 - ], - [ - 46950, - 3 - ], - [ - 47250, - 2 - ], - [ - 47550, - 2 - ], - [ - 47850, - 2 - ], - [ - 48150, - 2 - ], - [ - 48450, - 2 - ], - [ - 48600, - 1 - ], - [ - 48750, - 2 - ], - [ - 48900, - 2 - ], - [ - 49050, - 2 - ], - [ - 49200, - 3 - ], - [ - 49350, - 2 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49650, - 2 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 49950, - 2 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50250, - 2 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50550, - 2 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50850, - 2 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51150, - 2 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51450, - 2 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51750, - 2 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52050, - 2 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52350, - 2 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52650, - 2 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 52950, - 2 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57868, - 3 - ], - [ - 57932, - 56 - ], - [ - 58114, - 56 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.5, - "y": 0.9020015, - "z": -1.25 - }, - "object_poses": [ - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.46121883, - "y": 0.19092539, - "z": 0.8808118 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.46121883, - "y": 0.1917892, - "z": 0.0460591 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.39424467, - "y": 0.820835769, - "z": 0.0547559559 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": -0.5030323, - "y": 0.709281564, - "z": -1.80787826 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.402453631, - "y": 0.7308113, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": 0.3694262, - "y": 0.7308113, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.70356, - "y": 0.8212683, - "z": 0.0547551364 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.0165137351, - "y": 0.7308113, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": 2.45610833, - "y": 0.8274205, - "z": 0.244201869 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": 2.64169884, - "y": 0.8214421, - "z": 0.6230935 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": 0.148, - "y": 0.744, - "z": 1.738 - }, - "rotation": { - "x": 0.0, - "y": 195.27034, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.441, - "y": 0.738, - "z": 1.64 - }, - "rotation": { - "x": 0.0, - "y": 348.951324, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": -0.3781906, - "y": 0.7084418, - "z": -1.80787826 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.601097, - "y": 0.192154437, - "z": 0.356988251 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.64169741, - "y": 0.8233492, - "z": 0.244201377 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.45610952, - "y": 0.8197357, - "z": 0.623093963 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": -0.535, - "y": 0.7818872, - "z": 0.402 - }, - "rotation": { - "x": 0.0, - "y": 59.9998932, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 0.282622516, - "y": 0.8325498, - "z": -2.38361645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.64169645, - "y": 0.827185452, - "z": -0.134690791 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 213515002, - "scene_num": 319 - }, - "task_id": "trial_T20190906_204338_649353", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AD0NVUGLDYDYN_35H6S234SDHJSL0SN0SG9N37771566", - "high_descs": [ - "Turn around, walk to the side of the bed", - "Grab the book that is near the other side of the bed ", - "Turn around and walk to the dresser", - "Put the book down by the key chain" - ], - "task_desc": "Move one of the book on the bed to the dresser by the key chain", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1GVTH5YS3WOK0_37WLF8U1WS7MA4LVUNWMBCMP4XDK6N", - "high_descs": [ - "Turn around, walk towards the door, then turn left to face the bed.", - "Pick up the book that is to the right on the laptop on the bed.", - "Turn around and head towards the dresser.", - "Place the book to the right of the keys on the dresser." - ], - "task_desc": "Place the book from the bed to the dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A24RGLS3BRZ60J_3VAR3R6G1SIS49PYLULD27ZPUYO8OU", - "high_descs": [ - "Turn around to the left and go to the table.", - "Pick up the magazine from the table.", - "Turn around find the dresser along the wall.", - "Put the magazine on the top of the dresser." - ], - "task_desc": "Take a magazine to the dresser.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_163906_753897/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_163906_753897/traj_data.json deleted file mode 100644 index 867de17c8..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_163906_753897/traj_data.json +++ /dev/null @@ -1,3643 +0,0 @@ -{ - "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": 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": 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": 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": 24 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 25 - }, - { - "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": 0, - "image_name": "000000122.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000123.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000124.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000125.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000126.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000127.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000128.png", - "low_idx": 37 - }, - { - "high_idx": 0, - "image_name": "000000129.png", - "low_idx": 37 - }, - { - "high_idx": 0, - "image_name": "000000130.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000131.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000132.png", - "low_idx": 39 - }, - { - "high_idx": 0, - "image_name": "000000133.png", - "low_idx": 39 - }, - { - "high_idx": 0, - "image_name": "000000134.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000135.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000136.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000137.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000138.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000139.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000140.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000141.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000142.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000143.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000144.png", - "low_idx": 40 - }, - { - "high_idx": 1, - "image_name": "000000145.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000146.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000147.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000148.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000149.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000150.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000151.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000152.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000153.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000154.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000155.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000156.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000157.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 43 - }, - { - "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": 44 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "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": 51 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 51 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000225.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000226.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000227.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000228.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000229.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000230.png", - "low_idx": 52 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Box", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sofa" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-9|8|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - -11.2511692, - -11.2511692, - 8.051744, - 8.051744, - 3.0159412, - 3.0159412 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - -11.828, - -11.828, - 5.576, - 5.576, - 0.3068, - 0.3068 - ] - ], - "forceVisible": true, - "objectId": "Box|-02.81|+00.75|+02.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|8|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - -11.2511692, - -11.2511692, - 8.051744, - 8.051744, - 3.0159412, - 3.0159412 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.0928, - -0.0928, - 6.8896, - 6.8896, - 0.0436, - 0.0436 - ] - ], - "forceVisible": true, - "objectId": "Box|-02.81|+00.75|+02.01", - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - } - } - ], - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|-02.81|+00.75|+02.01" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 108, - 103, - 198, - 192 - ], - "mask": [ - [ - 30713, - 1 - ], - [ - 31013, - 1 - ], - [ - 31092, - 1 - ], - [ - 31313, - 2 - ], - [ - 31391, - 2 - ], - [ - 31613, - 2 - ], - [ - 31625, - 56 - ], - [ - 31691, - 3 - ], - [ - 31912, - 4 - ], - [ - 31925, - 56 - ], - [ - 31990, - 4 - ], - [ - 32212, - 5 - ], - [ - 32225, - 56 - ], - [ - 32289, - 5 - ], - [ - 32512, - 5 - ], - [ - 32525, - 56 - ], - [ - 32589, - 5 - ], - [ - 32812, - 6 - ], - [ - 32825, - 56 - ], - [ - 32888, - 6 - ], - [ - 33112, - 7 - ], - [ - 33125, - 56 - ], - [ - 33187, - 7 - ], - [ - 33412, - 7 - ], - [ - 33425, - 56 - ], - [ - 33487, - 7 - ], - [ - 33712, - 8 - ], - [ - 33725, - 56 - ], - [ - 33786, - 8 - ], - [ - 34012, - 9 - ], - [ - 34025, - 56 - ], - [ - 34085, - 9 - ], - [ - 34312, - 9 - ], - [ - 34325, - 55 - ], - [ - 34385, - 10 - ], - [ - 34612, - 10 - ], - [ - 34625, - 55 - ], - [ - 34684, - 11 - ], - [ - 34912, - 10 - ], - [ - 34925, - 55 - ], - [ - 34983, - 12 - ], - [ - 35211, - 12 - ], - [ - 35226, - 54 - ], - [ - 35283, - 12 - ], - [ - 35511, - 13 - ], - [ - 35526, - 54 - ], - [ - 35582, - 13 - ], - [ - 35811, - 13 - ], - [ - 35826, - 54 - ], - [ - 35881, - 14 - ], - [ - 36111, - 14 - ], - [ - 36126, - 54 - ], - [ - 36181, - 14 - ], - [ - 36411, - 84 - ], - [ - 36711, - 84 - ], - [ - 37011, - 84 - ], - [ - 37311, - 85 - ], - [ - 37611, - 85 - ], - [ - 37911, - 85 - ], - [ - 38211, - 85 - ], - [ - 38510, - 86 - ], - [ - 38810, - 86 - ], - [ - 39110, - 86 - ], - [ - 39410, - 86 - ], - [ - 39710, - 86 - ], - [ - 40010, - 87 - ], - [ - 40310, - 87 - ], - [ - 40610, - 87 - ], - [ - 40910, - 87 - ], - [ - 41210, - 87 - ], - [ - 41509, - 88 - ], - [ - 41809, - 88 - ], - [ - 42109, - 88 - ], - [ - 42409, - 88 - ], - [ - 42709, - 89 - ], - [ - 43009, - 89 - ], - [ - 43309, - 89 - ], - [ - 43609, - 89 - ], - [ - 43909, - 89 - ], - [ - 44209, - 89 - ], - [ - 44509, - 66 - ], - [ - 44576, - 22 - ], - [ - 44808, - 90 - ], - [ - 45108, - 90 - ], - [ - 45408, - 91 - ], - [ - 45708, - 91 - ], - [ - 46008, - 91 - ], - [ - 46308, - 91 - ], - [ - 46608, - 90 - ], - [ - 46909, - 89 - ], - [ - 47210, - 87 - ], - [ - 47511, - 85 - ], - [ - 47812, - 83 - ], - [ - 48113, - 39 - ], - [ - 48153, - 41 - ], - [ - 48414, - 38 - ], - [ - 48453, - 40 - ], - [ - 48715, - 37 - ], - [ - 48753, - 39 - ], - [ - 49016, - 36 - ], - [ - 49053, - 38 - ], - [ - 49316, - 36 - ], - [ - 49353, - 37 - ], - [ - 49617, - 35 - ], - [ - 49653, - 36 - ], - [ - 49918, - 34 - ], - [ - 49953, - 35 - ], - [ - 50219, - 68 - ], - [ - 50520, - 66 - ], - [ - 50821, - 64 - ], - [ - 51121, - 64 - ], - [ - 51422, - 63 - ], - [ - 51722, - 62 - ], - [ - 52022, - 62 - ], - [ - 52322, - 62 - ], - [ - 52623, - 60 - ], - [ - 52923, - 60 - ], - [ - 53223, - 60 - ], - [ - 53523, - 60 - ], - [ - 53823, - 59 - ], - [ - 54124, - 58 - ], - [ - 54424, - 58 - ], - [ - 54724, - 58 - ], - [ - 55024, - 57 - ], - [ - 55325, - 56 - ], - [ - 55625, - 56 - ], - [ - 55925, - 56 - ], - [ - 56225, - 55 - ], - [ - 56525, - 55 - ], - [ - 56826, - 54 - ], - [ - 57126, - 53 - ], - [ - 57426, - 53 - ] - ], - "point": [ - 153, - 146 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Box|-02.81|+00.75|+02.01", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 16, - 299, - 224 - ], - "mask": [ - [ - 4500, - 13 - ], - [ - 4525, - 61 - ], - [ - 4800, - 13 - ], - [ - 4825, - 61 - ], - [ - 5100, - 14 - ], - [ - 5125, - 62 - ], - [ - 5400, - 14 - ], - [ - 5425, - 62 - ], - [ - 5700, - 15 - ], - [ - 5726, - 61 - ], - [ - 6000, - 16 - ], - [ - 6026, - 61 - ], - [ - 6300, - 17 - ], - [ - 6327, - 61 - ], - [ - 6600, - 17 - ], - [ - 6627, - 60 - ], - [ - 6900, - 18 - ], - [ - 6928, - 56 - ], - [ - 7200, - 19 - ], - [ - 7228, - 56 - ], - [ - 7500, - 20 - ], - [ - 7529, - 55 - ], - [ - 7800, - 21 - ], - [ - 7829, - 55 - ], - [ - 8100, - 21 - ], - [ - 8130, - 53 - ], - [ - 8400, - 22 - ], - [ - 8430, - 53 - ], - [ - 8700, - 23 - ], - [ - 8731, - 52 - ], - [ - 9000, - 24 - ], - [ - 9032, - 51 - ], - [ - 9300, - 25 - ], - [ - 9333, - 50 - ], - [ - 9600, - 25 - ], - [ - 9635, - 47 - ], - [ - 9726, - 2 - ], - [ - 9900, - 18 - ], - [ - 9959, - 23 - ], - [ - 10026, - 7 - ], - [ - 10200, - 17 - ], - [ - 10260, - 22 - ], - [ - 10326, - 13 - ], - [ - 10500, - 17 - ], - [ - 10566, - 16 - ], - [ - 10626, - 20 - ], - [ - 10800, - 16 - ], - [ - 10866, - 16 - ], - [ - 10926, - 29 - ], - [ - 11100, - 16 - ], - [ - 11167, - 14 - ], - [ - 11226, - 32 - ], - [ - 11400, - 16 - ], - [ - 11466, - 15 - ], - [ - 11526, - 32 - ], - [ - 11700, - 15 - ], - [ - 11766, - 15 - ], - [ - 11826, - 32 - ], - [ - 12000, - 15 - ], - [ - 12066, - 15 - ], - [ - 12126, - 32 - ], - [ - 12294, - 20 - ], - [ - 12366, - 15 - ], - [ - 12426, - 32 - ], - [ - 12594, - 20 - ], - [ - 12665, - 15 - ], - [ - 12726, - 32 - ], - [ - 12895, - 19 - ], - [ - 12965, - 15 - ], - [ - 13026, - 32 - ], - [ - 13195, - 18 - ], - [ - 13265, - 15 - ], - [ - 13325, - 33 - ], - [ - 13495, - 18 - ], - [ - 13565, - 15 - ], - [ - 13625, - 33 - ], - [ - 13796, - 16 - ], - [ - 13864, - 16 - ], - [ - 13925, - 33 - ], - [ - 14096, - 16 - ], - [ - 14164, - 15 - ], - [ - 14225, - 33 - ], - [ - 14396, - 16 - ], - [ - 14464, - 15 - ], - [ - 14525, - 33 - ], - [ - 14697, - 14 - ], - [ - 14764, - 15 - ], - [ - 14825, - 33 - ], - [ - 14997, - 14 - ], - [ - 15063, - 16 - ], - [ - 15125, - 33 - ], - [ - 15297, - 13 - ], - [ - 15363, - 16 - ], - [ - 15425, - 34 - ], - [ - 15597, - 13 - ], - [ - 15663, - 15 - ], - [ - 15725, - 34 - ], - [ - 15897, - 13 - ], - [ - 15963, - 15 - ], - [ - 16025, - 34 - ], - [ - 16197, - 12 - ], - [ - 16262, - 16 - ], - [ - 16325, - 35 - ], - [ - 16497, - 12 - ], - [ - 16562, - 16 - ], - [ - 16625, - 35 - ], - [ - 16796, - 12 - ], - [ - 16862, - 16 - ], - [ - 16925, - 36 - ], - [ - 17096, - 12 - ], - [ - 17162, - 15 - ], - [ - 17225, - 37 - ], - [ - 17395, - 13 - ], - [ - 17462, - 15 - ], - [ - 17524, - 38 - ], - [ - 17695, - 12 - ], - [ - 17761, - 16 - ], - [ - 17824, - 39 - ], - [ - 17994, - 13 - ], - [ - 18061, - 16 - ], - [ - 18124, - 40 - ], - [ - 18294, - 12 - ], - [ - 18361, - 15 - ], - [ - 18424, - 41 - ], - [ - 18593, - 13 - ], - [ - 18661, - 15 - ], - [ - 18724, - 42 - ], - [ - 18893, - 13 - ], - [ - 18960, - 16 - ], - [ - 19024, - 44 - ], - [ - 19192, - 13 - ], - [ - 19260, - 16 - ], - [ - 19324, - 46 - ], - [ - 19490, - 15 - ], - [ - 19560, - 16 - ], - [ - 19624, - 47 - ], - [ - 19789, - 15 - ], - [ - 19860, - 15 - ], - [ - 19924, - 49 - ], - [ - 20088, - 16 - ], - [ - 20159, - 16 - ], - [ - 20224, - 51 - ], - [ - 20386, - 18 - ], - [ - 20459, - 16 - ], - [ - 20524, - 53 - ], - [ - 20685, - 19 - ], - [ - 20759, - 16 - ], - [ - 20824, - 55 - ], - [ - 20983, - 21 - ], - [ - 21059, - 16 - ], - [ - 21124, - 58 - ], - [ - 21281, - 24 - ], - [ - 21358, - 16 - ], - [ - 21424, - 61 - ], - [ - 21578, - 96 - ], - [ - 21723, - 65 - ], - [ - 21875, - 99 - ], - [ - 22023, - 68 - ], - [ - 22173, - 101 - ], - [ - 22323, - 72 - ], - [ - 22469, - 105 - ], - [ - 22623, - 77 - ], - [ - 22764, - 109 - ], - [ - 22923, - 83 - ], - [ - 23059, - 114 - ], - [ - 23223, - 93 - ], - [ - 23349, - 124 - ], - [ - 23523, - 250 - ], - [ - 23823, - 250 - ], - [ - 24123, - 249 - ], - [ - 24423, - 249 - ], - [ - 24723, - 249 - ], - [ - 25023, - 250 - ], - [ - 25323, - 255 - ], - [ - 25623, - 4450 - ], - [ - 30115, - 257 - ], - [ - 30415, - 257 - ], - [ - 30716, - 255 - ], - [ - 31016, - 255 - ], - [ - 31316, - 255 - ], - [ - 31615, - 256 - ], - [ - 31915, - 256 - ], - [ - 32215, - 255 - ], - [ - 32515, - 255 - ], - [ - 32815, - 255 - ], - [ - 33115, - 255 - ], - [ - 33415, - 255 - ], - [ - 33715, - 254 - ], - [ - 34015, - 254 - ], - [ - 34315, - 254 - ], - [ - 34615, - 254 - ], - [ - 34914, - 255 - ], - [ - 35214, - 256 - ], - [ - 35514, - 12486 - ], - [ - 48095, - 1 - ], - [ - 48696, - 1 - ], - [ - 49297, - 1 - ], - [ - 49597, - 1 - ], - [ - 50198, - 1 - ], - [ - 50498, - 1 - ], - [ - 51099, - 1 - ], - [ - 51700, - 1 - ], - [ - 52000, - 1 - ], - [ - 52601, - 1 - ], - [ - 53202, - 1 - ], - [ - 53502, - 1 - ], - [ - 54103, - 1 - ], - [ - 54704, - 1 - ], - [ - 55004, - 1 - ], - [ - 55605, - 1 - ], - [ - 56506, - 1 - ], - [ - 57107, - 1 - ], - [ - 58008, - 1 - ], - [ - 58609, - 1 - ], - [ - 58909, - 1 - ], - [ - 59510, - 1 - ], - [ - 66287, - 2 - ], - [ - 66353, - 20 - ], - [ - 66524, - 20 - ], - [ - 66581, - 19 - ], - [ - 66655, - 18 - ], - [ - 66824, - 17 - ], - [ - 66882, - 18 - ], - [ - 66958, - 15 - ], - [ - 67124, - 15 - ], - [ - 67182, - 18 - ] - ], - "point": [ - 149, - 119 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan224", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 3.0, - "y": 0.916797757, - "z": -1.25 - }, - "object_poses": [ - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": 0.067569, - "y": 0.9126901, - "z": 2.18891549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -0.204738, - "y": 0.910291731, - "z": 2.18891549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": -2.81279516, - "y": 0.5645384, - "z": 1.80662346 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": -2.88580942, - "y": 0.5645648, - "z": 1.60031164 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Book_4e0dbe45", - "position": { - "x": 0.116, - "y": 0.902580142, - "z": 1.073 - }, - "rotation": { - "x": 0.0, - "y": 29.9999466, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": -2.8127923, - "y": 0.7539853, - "z": 2.012936 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Statue_7e494874", - "position": { - "x": 0.067569, - "y": 0.91209656, - "z": 2.431799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": -2.812804, - "y": 0.5457306, - "z": 1.18768549 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": -0.170000017, - "y": 0.537900031, - "z": -2.1903615 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_cb2be04d", - "position": { - "x": 2.89399958, - "y": 0.014939107, - "z": -1.91600132 - }, - "rotation": { - "x": 0.0007926384, - "y": 328.832336, - "z": 0.000867469469 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": 3.18, - "y": 0.586334169, - "z": -0.543 - }, - "rotation": { - "x": 0.0, - "y": 259.7471, - "z": 0.0 - } - }, - { - "objectName": "Vase_4c89f135", - "position": { - "x": -2.16899252, - "y": 1.19524324, - "z": -2.1836822 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -3.37689257, - "y": 0.5924486, - "z": -0.48999992 - }, - "rotation": { - "x": 0.0, - "y": 6.659434e-05, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": 3.23759341, - "y": 0.5912341, - "z": 0.4312119 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "Vase_eef72b70", - "position": { - "x": -1.04643679, - "y": 1.19524324, - "z": -2.15178347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fe37edd9", - "position": { - "x": -2.893, - "y": 0.616, - "z": 0.818 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": -3.031829, - "y": 0.563527048, - "z": 1.80662632 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1641690442, - "scene_num": 224 - }, - "task_id": "trial_T20190907_163906_753897", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1OWHPMKE7YAGL_336YQZE83YVLHOLKAGZXYJ0TYDFM59", - "high_descs": [ - "Turn around, go forward to the garbage can, hang a left, go in to the next room, hang a right, go to the wall, hang a left, go to the couch.", - "Pick up the cardboard box that is on the couch.", - "Turn around, go forward to the table with the TV on it. ", - "Put the cardboard box on the table in front of the TV. " - ], - "task_desc": "Put a cardboard box on a table. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2V35L3RIRYYXV_3PEIJLRY6WAQOJZ8KOOFZ0T4PF6XWQ", - "high_descs": [ - "Turn right, then left to walk into the next room. Face the couch.", - "Pick up the cardboard box from the couch beside the remote.", - "Turn around, face the TV stand.", - "Place the box on the TV stand in front of the TV and to the right of the white cell phone." - ], - "task_desc": "Move the box from the couch to the TV stand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3YOH7BII0CO7PU0WVV4UN42OMWJVKH", - "high_descs": [ - "Move to the couch in front of the TV", - "pick up a box from the couch", - "move to the TV stand behind you", - "put the box on the TV stand" - ], - "task_desc": "Put a box on the TV stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164025_332377/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164025_332377/traj_data.json deleted file mode 100644 index de0af4e72..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164025_332377/traj_data.json +++ /dev/null @@ -1,3119 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 5 - }, - { - "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": 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": 1, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "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": 15 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 42 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Box", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "box" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|0|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - 12.692, - 12.692, - -0.192, - -0.192, - 0.824, - 0.824 - ] - ], - "forceVisible": true, - "objectId": "Box|+03.17|+00.21|-00.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|8|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - 12.692, - 12.692, - -0.192, - -0.192, - 0.824, - 0.824 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.0928, - -0.0928, - 6.8896, - 6.8896, - 0.0436, - 0.0436 - ] - ], - "forceVisible": true, - "objectId": "Box|+03.17|+00.21|-00.05", - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|+03.17|+00.21|-00.05" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 142, - 177, - 201, - 248 - ], - "mask": [ - [ - 52961, - 2 - ], - [ - 53261, - 6 - ], - [ - 53561, - 9 - ], - [ - 53861, - 12 - ], - [ - 54161, - 15 - ], - [ - 54460, - 19 - ], - [ - 54760, - 22 - ], - [ - 55060, - 25 - ], - [ - 55355, - 1 - ], - [ - 55360, - 28 - ], - [ - 55654, - 3 - ], - [ - 55660, - 31 - ], - [ - 55954, - 3 - ], - [ - 55959, - 36 - ], - [ - 56254, - 4 - ], - [ - 56259, - 39 - ], - [ - 56553, - 5 - ], - [ - 56559, - 42 - ], - [ - 56853, - 47 - ], - [ - 57152, - 48 - ], - [ - 57452, - 47 - ], - [ - 57752, - 47 - ], - [ - 58051, - 48 - ], - [ - 58351, - 47 - ], - [ - 58651, - 47 - ], - [ - 58950, - 48 - ], - [ - 59250, - 47 - ], - [ - 59549, - 48 - ], - [ - 59849, - 47 - ], - [ - 59900, - 2 - ], - [ - 60149, - 47 - ], - [ - 60198, - 4 - ], - [ - 60448, - 53 - ], - [ - 60748, - 53 - ], - [ - 61048, - 53 - ], - [ - 61347, - 54 - ], - [ - 61647, - 53 - ], - [ - 61947, - 53 - ], - [ - 62246, - 54 - ], - [ - 62546, - 54 - ], - [ - 62845, - 54 - ], - [ - 63145, - 54 - ], - [ - 63445, - 54 - ], - [ - 63744, - 54 - ], - [ - 64044, - 54 - ], - [ - 64344, - 54 - ], - [ - 64643, - 55 - ], - [ - 64943, - 54 - ], - [ - 65242, - 55 - ], - [ - 65542, - 55 - ], - [ - 65842, - 55 - ], - [ - 66142, - 54 - ], - [ - 66442, - 54 - ], - [ - 66743, - 53 - ], - [ - 67044, - 52 - ], - [ - 67345, - 50 - ], - [ - 67646, - 28 - ], - [ - 67675, - 20 - ], - [ - 67944, - 51 - ], - [ - 68244, - 51 - ], - [ - 68546, - 48 - ], - [ - 68846, - 48 - ], - [ - 69146, - 48 - ], - [ - 69446, - 47 - ], - [ - 69746, - 47 - ], - [ - 70046, - 47 - ], - [ - 70346, - 47 - ], - [ - 70647, - 45 - ], - [ - 70950, - 42 - ], - [ - 71253, - 39 - ], - [ - 71555, - 35 - ], - [ - 71858, - 27 - ], - [ - 72161, - 24 - ], - [ - 72463, - 23 - ], - [ - 72766, - 18 - ], - [ - 73069, - 14 - ], - [ - 73372, - 11 - ], - [ - 73674, - 8 - ], - [ - 73977, - 5 - ], - [ - 74280, - 1 - ] - ], - "point": [ - 171, - 211 - ] - } - }, - "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": "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": "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": "Box|+03.17|+00.21|-00.05", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 16, - 299, - 224 - ], - "mask": [ - [ - 4514, - 72 - ], - [ - 4814, - 72 - ], - [ - 5115, - 72 - ], - [ - 5416, - 71 - ], - [ - 5716, - 71 - ], - [ - 6016, - 71 - ], - [ - 6316, - 71 - ], - [ - 6617, - 67 - ], - [ - 6916, - 68 - ], - [ - 7216, - 68 - ], - [ - 7500, - 1 - ], - [ - 7516, - 67 - ], - [ - 7800, - 2 - ], - [ - 7817, - 66 - ], - [ - 8100, - 2 - ], - [ - 8117, - 66 - ], - [ - 8400, - 3 - ], - [ - 8417, - 66 - ], - [ - 8700, - 3 - ], - [ - 8717, - 66 - ], - [ - 9000, - 3 - ], - [ - 9017, - 65 - ], - [ - 9301, - 3 - ], - [ - 9318, - 64 - ], - [ - 9600, - 4 - ], - [ - 9618, - 64 - ], - [ - 9726, - 2 - ], - [ - 9901, - 4 - ], - [ - 9918, - 64 - ], - [ - 10026, - 7 - ], - [ - 10200, - 5 - ], - [ - 10218, - 64 - ], - [ - 10326, - 13 - ], - [ - 10500, - 6 - ], - [ - 10518, - 63 - ], - [ - 10626, - 20 - ], - [ - 10800, - 6 - ], - [ - 10819, - 62 - ], - [ - 10926, - 29 - ], - [ - 11100, - 7 - ], - [ - 11119, - 62 - ], - [ - 11226, - 32 - ], - [ - 11400, - 8 - ], - [ - 11420, - 61 - ], - [ - 11526, - 32 - ], - [ - 11700, - 9 - ], - [ - 11721, - 60 - ], - [ - 11826, - 32 - ], - [ - 12000, - 10 - ], - [ - 12021, - 59 - ], - [ - 12126, - 32 - ], - [ - 12294, - 17 - ], - [ - 12322, - 58 - ], - [ - 12426, - 32 - ], - [ - 12594, - 18 - ], - [ - 12623, - 57 - ], - [ - 12725, - 33 - ], - [ - 12895, - 18 - ], - [ - 12923, - 57 - ], - [ - 13025, - 33 - ], - [ - 13195, - 18 - ], - [ - 13224, - 56 - ], - [ - 13325, - 33 - ], - [ - 13495, - 19 - ], - [ - 13524, - 55 - ], - [ - 13625, - 33 - ], - [ - 13796, - 19 - ], - [ - 13824, - 55 - ], - [ - 13925, - 33 - ], - [ - 14096, - 20 - ], - [ - 14125, - 54 - ], - [ - 14225, - 33 - ], - [ - 14396, - 16 - ], - [ - 14454, - 25 - ], - [ - 14525, - 33 - ], - [ - 14697, - 15 - ], - [ - 14755, - 24 - ], - [ - 14825, - 33 - ], - [ - 14997, - 14 - ], - [ - 15062, - 16 - ], - [ - 15125, - 33 - ], - [ - 15297, - 13 - ], - [ - 15362, - 16 - ], - [ - 15425, - 34 - ], - [ - 15597, - 13 - ], - [ - 15663, - 15 - ], - [ - 15725, - 34 - ], - [ - 15897, - 13 - ], - [ - 15963, - 15 - ], - [ - 16025, - 34 - ], - [ - 16197, - 12 - ], - [ - 16262, - 16 - ], - [ - 16325, - 35 - ], - [ - 16497, - 12 - ], - [ - 16562, - 15 - ], - [ - 16625, - 35 - ], - [ - 16796, - 12 - ], - [ - 16862, - 15 - ], - [ - 16924, - 37 - ], - [ - 17096, - 12 - ], - [ - 17162, - 15 - ], - [ - 17224, - 38 - ], - [ - 17395, - 13 - ], - [ - 17462, - 15 - ], - [ - 17524, - 38 - ], - [ - 17695, - 12 - ], - [ - 17761, - 16 - ], - [ - 17824, - 39 - ], - [ - 17994, - 13 - ], - [ - 18061, - 15 - ], - [ - 18124, - 40 - ], - [ - 18294, - 12 - ], - [ - 18361, - 15 - ], - [ - 18424, - 41 - ], - [ - 18593, - 13 - ], - [ - 18661, - 15 - ], - [ - 18724, - 42 - ], - [ - 18893, - 13 - ], - [ - 18960, - 16 - ], - [ - 19024, - 44 - ], - [ - 19192, - 13 - ], - [ - 19260, - 16 - ], - [ - 19324, - 46 - ], - [ - 19490, - 15 - ], - [ - 19560, - 15 - ], - [ - 19624, - 47 - ], - [ - 19789, - 15 - ], - [ - 19860, - 15 - ], - [ - 19924, - 49 - ], - [ - 20088, - 16 - ], - [ - 20159, - 16 - ], - [ - 20224, - 51 - ], - [ - 20386, - 18 - ], - [ - 20459, - 16 - ], - [ - 20524, - 53 - ], - [ - 20685, - 18 - ], - [ - 20759, - 15 - ], - [ - 20824, - 55 - ], - [ - 20983, - 20 - ], - [ - 21059, - 15 - ], - [ - 21123, - 59 - ], - [ - 21281, - 21 - ], - [ - 21358, - 16 - ], - [ - 21423, - 62 - ], - [ - 21578, - 24 - ], - [ - 21658, - 16 - ], - [ - 21723, - 65 - ], - [ - 21875, - 27 - ], - [ - 21958, - 16 - ], - [ - 22023, - 68 - ], - [ - 22173, - 28 - ], - [ - 22258, - 15 - ], - [ - 22323, - 72 - ], - [ - 22469, - 32 - ], - [ - 22557, - 16 - ], - [ - 22623, - 77 - ], - [ - 22764, - 36 - ], - [ - 22857, - 16 - ], - [ - 22923, - 83 - ], - [ - 23059, - 41 - ], - [ - 23157, - 16 - ], - [ - 23223, - 93 - ], - [ - 23349, - 51 - ], - [ - 23457, - 16 - ], - [ - 23523, - 177 - ], - [ - 23756, - 16 - ], - [ - 23823, - 177 - ], - [ - 24056, - 16 - ], - [ - 24123, - 177 - ], - [ - 24356, - 16 - ], - [ - 24423, - 177 - ], - [ - 24656, - 16 - ], - [ - 24723, - 177 - ], - [ - 24955, - 18 - ], - [ - 25023, - 177 - ], - [ - 25255, - 20 - ], - [ - 25322, - 178 - ], - [ - 25555, - 55 - ], - [ - 25611, - 189 - ], - [ - 25855, - 245 - ], - [ - 26154, - 246 - ], - [ - 26454, - 246 - ], - [ - 26754, - 246 - ], - [ - 27053, - 20947 - ], - [ - 48095, - 1 - ], - [ - 48696, - 1 - ], - [ - 49297, - 1 - ], - [ - 49597, - 1 - ], - [ - 50198, - 1 - ], - [ - 50498, - 1 - ], - [ - 51099, - 1 - ], - [ - 51700, - 1 - ], - [ - 52000, - 1 - ], - [ - 52601, - 1 - ], - [ - 53202, - 1 - ], - [ - 53502, - 1 - ], - [ - 54103, - 1 - ], - [ - 54704, - 1 - ], - [ - 55004, - 1 - ], - [ - 55605, - 1 - ], - [ - 56506, - 1 - ], - [ - 57107, - 1 - ], - [ - 58008, - 1 - ], - [ - 58609, - 1 - ], - [ - 58909, - 1 - ], - [ - 59510, - 1 - ], - [ - 66287, - 2 - ], - [ - 66353, - 20 - ], - [ - 66524, - 20 - ], - [ - 66581, - 19 - ], - [ - 66655, - 18 - ], - [ - 66824, - 17 - ], - [ - 66882, - 18 - ], - [ - 66958, - 15 - ], - [ - 67124, - 15 - ], - [ - 67182, - 18 - ] - ], - "point": [ - 149, - 119 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan224", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 1.25, - "y": 0.916797757, - "z": 1.0 - }, - "object_poses": [ - { - "objectName": "Statue_7e494874", - "position": { - "x": -0.0232000053, - "y": 0.91209656, - "z": 2.431799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_7e494874", - "position": { - "x": -3.29934573, - "y": 0.5958878, - "z": -0.5562123 - }, - "rotation": { - "x": 0.0, - "y": 6.659434e-05, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": -2.6667695, - "y": 0.5633997, - "z": 2.01293373 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": 3.10397768, - "y": 0.331288636, - "z": 0.365000367 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": 3.16004539, - "y": 0.7824192, - "z": 0.2987877 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": -2.81280375, - "y": 0.5613079, - "z": 1.18768549 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Book_4e0dbe45", - "position": { - "x": 0.116, - "y": 0.902580142, - "z": 1.073 - }, - "rotation": { - "x": 0.0, - "y": 29.9999466, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": 3.173, - "y": 0.206, - "z": -0.048 - }, - "rotation": { - "x": 0.0, - "y": 19.4703255, - "z": 0.0 - } - }, - { - "objectName": "Statue_7e494874", - "position": { - "x": -0.1557819, - "y": 0.5318354, - "z": -2.252493 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": -3.0318408, - "y": 0.5457306, - "z": 0.981376052 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": -2.78081179, - "y": 0.365461469, - "z": -1.874968 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_cb2be04d", - "position": { - "x": 2.89399958, - "y": 0.014939107, - "z": -1.91600132 - }, - "rotation": { - "x": 0.0007924095, - "y": 328.832336, - "z": 0.000867145543 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": 0.067569, - "y": 0.9160614, - "z": 2.18891549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_4c89f135", - "position": { - "x": -2.16899252, - "y": 1.19524324, - "z": -2.1836822 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": 3.19881868, - "y": 0.5907116, - "z": 1.26857519 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": -0.113969006, - "y": 0.907442868, - "z": 1.217382 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_eef72b70", - "position": { - "x": -1.04643679, - "y": 1.19524324, - "z": -2.15178347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fe37edd9", - "position": { - "x": -2.81279516, - "y": 0.6234813, - "z": 1.80662346 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": -3.10484052, - "y": 0.56355226, - "z": 1.80662727 - }, - "rotation": { - "x": 0.0, - "y": 180.000778, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 42676760, - "scene_num": 224 - }, - "task_id": "trial_T20190907_164025_332377", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A38Z99XF4NDNH0_33LK57MYLWMMMXIE112ZZW6URY4ZSY", - "high_descs": [ - "Move to the two black night stands that are against the yellow wall", - "Pick up the empty box on the floor between the two night stands ", - "Carry the empty box to the black TV stand against the blue wall", - "Place the empty box in front of the TV on top of the TV stand" - ], - "task_desc": "Move a box to the TV stand", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1DMXEJGJY02E1_3YDGXNSEO2BO0GFG2A64O9TKEA784A", - "high_descs": [ - "Turn around and go to the two black drawers.", - "Pick up the box from the floor.", - "Turn around and go to the TV stand.", - "Put the box on the TV stand." - ], - "task_desc": "Put the box from the floor onto the TV stand.", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AFU00NU09CFXE_31IBVUNM9VGW988IUKDX7RAJE55FVC", - "high_descs": [ - "Turn left and move to stand in front of the two small black end tables.", - "Pick up the open box from the floor between the two tables.", - "Turn around, carry the box through the open doorway, and then turn right and continue until you're in front of the dresser, facing the television.", - "Place the box on the dresser in front of the television." - ], - "task_desc": "Move a box to the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190229_164232/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190229_164232/traj_data.json deleted file mode 100644 index 37b720f00..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190229_164232/traj_data.json +++ /dev/null @@ -1,2593 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 8 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000062.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000063.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "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": 11 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 21 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|8|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - -2.054194, - -2.054194, - 7.96562576, - 7.96562576, - 2.7092268, - 2.7092268 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "CD|-00.51|+00.68|+01.99" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - -2.054194, - -2.054194, - 7.96562576, - 7.96562576, - 2.7092268, - 2.7092268 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "CD|-00.51|+00.68|+01.99", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CD|-00.51|+00.68|+01.99" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 134, - 141, - 161, - 164 - ], - "mask": [ - [ - 42145, - 6 - ], - [ - 42442, - 12 - ], - [ - 42740, - 16 - ], - [ - 43038, - 20 - ], - [ - 43337, - 22 - ], - [ - 43636, - 23 - ], - [ - 43936, - 24 - ], - [ - 44235, - 26 - ], - [ - 44535, - 26 - ], - [ - 44834, - 27 - ], - [ - 45134, - 12 - ], - [ - 45149, - 12 - ], - [ - 45434, - 12 - ], - [ - 45450, - 12 - ], - [ - 45734, - 12 - ], - [ - 45750, - 12 - ], - [ - 46034, - 13 - ], - [ - 46049, - 13 - ], - [ - 46334, - 27 - ], - [ - 46635, - 26 - ], - [ - 46935, - 26 - ], - [ - 47235, - 25 - ], - [ - 47536, - 24 - ], - [ - 47837, - 22 - ], - [ - 48138, - 20 - ], - [ - 48439, - 18 - ], - [ - 48741, - 14 - ], - [ - 49043, - 10 - ] - ], - "point": [ - 147, - 149 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "CD|-00.51|+00.68|+01.99", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 137 - ], - [ - 9674, - 137 - ], - [ - 9974, - 137 - ], - [ - 10273, - 138 - ], - [ - 10573, - 138 - ], - [ - 10873, - 138 - ], - [ - 11173, - 139 - ], - [ - 11473, - 139 - ], - [ - 11772, - 140 - ], - [ - 12072, - 140 - ], - [ - 12372, - 140 - ], - [ - 12672, - 141 - ], - [ - 12971, - 142 - ], - [ - 13271, - 142 - ], - [ - 13571, - 142 - ], - [ - 13871, - 142 - ], - [ - 14170, - 143 - ], - [ - 14470, - 144 - ], - [ - 14770, - 144 - ], - [ - 15070, - 144 - ], - [ - 15370, - 144 - ], - [ - 15669, - 145 - ], - [ - 15969, - 146 - ], - [ - 16269, - 146 - ], - [ - 16569, - 146 - ], - [ - 16868, - 147 - ], - [ - 17168, - 147 - ], - [ - 17468, - 147 - ], - [ - 17768, - 148 - ], - [ - 18067, - 149 - ], - [ - 18367, - 149 - ], - [ - 18667, - 149 - ], - [ - 18967, - 149 - ], - [ - 19267, - 150 - ], - [ - 19566, - 151 - ], - [ - 19866, - 151 - ], - [ - 20166, - 151 - ], - [ - 20466, - 151 - ], - [ - 20765, - 152 - ], - [ - 21065, - 153 - ], - [ - 21365, - 153 - ], - [ - 21665, - 153 - ], - [ - 21964, - 154 - ], - [ - 22264, - 154 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 65 - ], - [ - 23564, - 55 - ], - [ - 23763, - 65 - ], - [ - 23864, - 55 - ], - [ - 24063, - 156 - ], - [ - 24363, - 157 - ], - [ - 24662, - 158 - ], - [ - 24962, - 158 - ], - [ - 25262, - 158 - ], - [ - 25562, - 158 - ], - [ - 25862, - 159 - ], - [ - 26161, - 160 - ], - [ - 26461, - 160 - ], - [ - 26761, - 160 - ], - [ - 27061, - 160 - ], - [ - 27360, - 161 - ], - [ - 27660, - 162 - ], - [ - 27960, - 162 - ], - [ - 28260, - 162 - ], - [ - 28559, - 163 - ], - [ - 28859, - 163 - ], - [ - 29159, - 164 - ], - [ - 29459, - 164 - ], - [ - 29759, - 164 - ], - [ - 30058, - 165 - ], - [ - 30358, - 165 - ], - [ - 30658, - 165 - ], - [ - 30958, - 166 - ], - [ - 31257, - 167 - ], - [ - 31557, - 167 - ], - [ - 31857, - 167 - ], - [ - 32157, - 167 - ], - [ - 32456, - 169 - ], - [ - 32756, - 169 - ], - [ - 33056, - 169 - ], - [ - 33356, - 169 - ], - [ - 33656, - 169 - ], - [ - 33955, - 170 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 173 - ], - [ - 36653, - 125 - ], - [ - 36798, - 29 - ], - [ - 36953, - 125 - ], - [ - 37098, - 29 - ], - [ - 37253, - 125 - ], - [ - 37398, - 29 - ], - [ - 37553, - 125 - ], - [ - 37698, - 30 - ], - [ - 37852, - 126 - ], - [ - 37998, - 30 - ], - [ - 38152, - 126 - ], - [ - 38298, - 30 - ], - [ - 38452, - 126 - ], - [ - 38599, - 29 - ], - [ - 38752, - 127 - ], - [ - 38899, - 29 - ], - [ - 39051, - 128 - ], - [ - 39199, - 29 - ], - [ - 39351, - 128 - ], - [ - 39499, - 28 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.75, - "y": 0.9017602, - "z": 2.75 - }, - "object_poses": [ - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": 1.41762149, - "y": 0.434838116, - "z": 1.605091 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.685997, - "y": 0.06702796, - "z": 3.20990348 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.51504421, - "y": 0.7326363, - "z": -0.0102321506 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.626557052, - "y": 0.984348536, - "z": -1.603857 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.71023011, - "y": 0.7306588, - "z": -0.7489966 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.76870739, - "y": 0.5262162, - "z": -0.31640023 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.4457806, - "y": 0.5042826, - "z": 3.043787 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.76870739, - "y": 0.314853728, - "z": -0.31640023 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.589910448, - "y": 0.285000473, - "z": 3.12684536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": 1.612637, - "y": 0.729997, - "z": -0.5027419 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.626557052, - "y": 0.9821927, - "z": -1.32223451 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.5964906, - "y": 1.49893832, - "z": -0.4963799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.782409132, - "y": 0.675700068, - "z": 2.17795181 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.56213975, - "y": 1.8410269, - "z": 1.6313374 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.6679344, - "y": 0.674652457, - "z": 2.98889685 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.692786336, - "y": 0.678465664, - "z": 1.24522126 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -1.00225461, - "y": 1.58593035, - "z": -0.9428743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": 1.50244153, - "y": 0.434838116, - "z": 1.88345289 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.6078239, - "y": 0.738032758, - "z": -1.40332913 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.3863124, - "y": 0.6689956, - "z": 3.162484 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.5135485, - "y": 0.6773067, - "z": 1.99140644 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.42392844, - "y": 0.6813754, - "z": 1.99140668 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": 1.61263728, - "y": 0.724983454, - "z": 0.4822775 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.543242455, - "y": 0.9766957, - "z": -1.040612 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1229375461, - "scene_num": 318 - }, - "task_id": "trial_T20190907_190229_164232", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A36DK84J5YJ942_3JNQLM5FT739C9KCSLWK0ZISEXJ2L5", - "high_descs": [ - "Move to the desk to the right of you", - "Pick up a CD from the desk", - "Move to the right side of the desk in front of you", - "Put the CD on the desk" - ], - "task_desc": "Move a CD on the desk to the right.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AD0NVUGLDYDYN_3W92K5RLWXY47BFTO80OLFJ6P5S5V8", - "high_descs": [ - "turn right, walk to the table", - "grab the disc on the table", - "walk to the right a little", - "put the disc on the table" - ], - "task_desc": "move the disc on the table to the right", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_39ZSFO5CABDC1V5E8KUDQ30ST0MJUT", - "high_descs": [ - "walk forward a few steps, turn right, walk to the desk with a CD on it", - "Pick up the CD that is on the desk", - "walk to the small table to the right of the two desks", - "put the CD on the table" - ], - "task_desc": "move a CD from a desk to a table", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190246_917982/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190246_917982/traj_data.json deleted file mode 100644 index e74c5487e..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190246_917982/traj_data.json +++ /dev/null @@ -1,2726 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 6 - }, - { - "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": 1, - "image_name": "000000034.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000035.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000036.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000054.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "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": 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": 14 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000096.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000097.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000098.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 19 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-1|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - 8.012036, - 8.012036, - -1.025947808, - -1.025947808, - 2.9044268, - 2.9044268 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "CD|+02.00|+00.73|-00.26" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - 8.012036, - 8.012036, - -1.025947808, - -1.025947808, - 2.9044268, - 2.9044268 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "CD|+02.00|+00.73|-00.26", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "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": "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": "PickupObject", - "objectId": "CD|+02.00|+00.73|-00.26" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 140, - 123, - 161, - 137 - ], - "mask": [ - [ - 36750, - 3 - ], - [ - 37045, - 12 - ], - [ - 37343, - 16 - ], - [ - 37642, - 18 - ], - [ - 37941, - 20 - ], - [ - 38241, - 21 - ], - [ - 38540, - 10 - ], - [ - 38552, - 10 - ], - [ - 38840, - 10 - ], - [ - 38853, - 9 - ], - [ - 39141, - 21 - ], - [ - 39441, - 21 - ], - [ - 39741, - 20 - ], - [ - 40042, - 18 - ], - [ - 40343, - 16 - ], - [ - 40645, - 12 - ], - [ - 40949, - 5 - ] - ], - "point": [ - 149, - 129 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|+02.00|+00.73|-00.26", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 53 - ], - [ - 3117, - 38 - ], - [ - 3157, - 70 - ], - [ - 3335, - 53 - ], - [ - 3417, - 38 - ], - [ - 3457, - 71 - ], - [ - 3634, - 54 - ], - [ - 3717, - 38 - ], - [ - 3757, - 71 - ], - [ - 3934, - 54 - ], - [ - 4017, - 38 - ], - [ - 4057, - 71 - ], - [ - 4234, - 55 - ], - [ - 4317, - 38 - ], - [ - 4357, - 71 - ], - [ - 4533, - 56 - ], - [ - 4617, - 38 - ], - [ - 4657, - 72 - ], - [ - 4833, - 56 - ], - [ - 4917, - 38 - ], - [ - 4957, - 72 - ], - [ - 5133, - 56 - ], - [ - 5218, - 37 - ], - [ - 5257, - 72 - ], - [ - 5432, - 57 - ], - [ - 5518, - 37 - ], - [ - 5557, - 72 - ], - [ - 5732, - 58 - ], - [ - 5818, - 37 - ], - [ - 5857, - 73 - ], - [ - 6031, - 59 - ], - [ - 6118, - 37 - ], - [ - 6157, - 73 - ], - [ - 6331, - 59 - ], - [ - 6418, - 37 - ], - [ - 6457, - 73 - ], - [ - 6631, - 59 - ], - [ - 6718, - 37 - ], - [ - 6757, - 73 - ], - [ - 6930, - 61 - ], - [ - 7018, - 37 - ], - [ - 7057, - 74 - ], - [ - 7230, - 61 - ], - [ - 7318, - 37 - ], - [ - 7357, - 74 - ], - [ - 7530, - 61 - ], - [ - 7619, - 36 - ], - [ - 7657, - 74 - ], - [ - 7829, - 62 - ], - [ - 7918, - 37 - ], - [ - 7957, - 74 - ], - [ - 8129, - 62 - ], - [ - 8218, - 37 - ], - [ - 8257, - 75 - ], - [ - 8428, - 64 - ], - [ - 8518, - 37 - ], - [ - 8557, - 75 - ], - [ - 8728, - 64 - ], - [ - 8817, - 38 - ], - [ - 8857, - 75 - ], - [ - 9028, - 65 - ], - [ - 9116, - 39 - ], - [ - 9157, - 75 - ], - [ - 9327, - 67 - ], - [ - 9415, - 40 - ], - [ - 9457, - 76 - ], - [ - 9627, - 68 - ], - [ - 9714, - 41 - ], - [ - 9757, - 76 - ], - [ - 9927, - 70 - ], - [ - 10012, - 43 - ], - [ - 10057, - 76 - ], - [ - 10226, - 73 - ], - [ - 10309, - 124 - ], - [ - 10526, - 208 - ], - [ - 10825, - 209 - ], - [ - 11125, - 209 - ], - [ - 11425, - 28 - ], - [ - 11498, - 136 - ], - [ - 11724, - 28 - ], - [ - 11798, - 137 - ], - [ - 12024, - 28 - ], - [ - 12099, - 136 - ], - [ - 12324, - 28 - ], - [ - 12398, - 137 - ], - [ - 12623, - 28 - ], - [ - 12698, - 137 - ], - [ - 12923, - 28 - ], - [ - 12998, - 138 - ], - [ - 13223, - 28 - ], - [ - 13298, - 138 - ], - [ - 13522, - 28 - ], - [ - 13598, - 138 - ], - [ - 13822, - 28 - ], - [ - 13898, - 138 - ], - [ - 14121, - 29 - ], - [ - 14198, - 139 - ], - [ - 14421, - 29 - ], - [ - 14497, - 140 - ], - [ - 14721, - 28 - ], - [ - 14797, - 140 - ], - [ - 15020, - 29 - ], - [ - 15097, - 140 - ], - [ - 15320, - 29 - ], - [ - 15397, - 141 - ], - [ - 15620, - 28 - ], - [ - 15697, - 141 - ], - [ - 15919, - 30 - ], - [ - 15997, - 141 - ], - [ - 16219, - 30 - ], - [ - 16296, - 142 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 116 - ], - [ - 50782, - 115 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.75, - "y": 0.9017602, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.626557052, - "y": 0.9764479, - "z": -1.41610873 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 2.003009, - "y": 0.7261067, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 1.41762149, - "y": 0.4326067, - "z": 1.605091 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.672662556, - "y": 0.0654450953, - "z": 2.09177852 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.9616498, - "y": 0.6833528, - "z": 2.36449742 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.41762125, - "y": 0.432995975, - "z": 1.88345277 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.67208219, - "y": 0.440193444, - "z": 1.69787812 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.61263728, - "y": 0.7266471, - "z": 0.236022666 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -1.13750923, - "y": 1.49893832, - "z": -0.719627142 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -1.13750923, - "y": 1.5044353, - "z": -1.16612148 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.71023011, - "y": 0.7321528, - "z": -0.5027418 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.7618084, - "y": 0.66993475, - "z": 2.90210319 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.8297901, - "y": 1.549, - "z": -1.5335114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.5015852, - "y": 0.980533838, - "z": -1.50998282 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.92654335, - "y": 0.433147073, - "z": 1.60509145 - }, - "rotation": { - "x": 0.0, - "y": -5.79560765e-05, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.71023011, - "y": 0.726979434, - "z": -0.7489966 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 1.587262, - "y": 0.444069773, - "z": 1.60509086 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.6682143, - "y": 0.9823711, - "z": -1.2283603 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.513549, - "y": 0.675700068, - "z": 2.17795277 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.672662556, - "y": 0.06383839, - "z": 2.37999153 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1163627637, - "scene_num": 318 - }, - "task_id": "trial_T20190907_190246_917982", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A98E8M4QLI9RS_326O153BMLFI9D808OTXJNJC2RLEDH", - "high_descs": [ - "turn to the right to face the desk", - "pick up the CD from the back of the desk", - "turn around and move across the room to the brown dresser underneath the bunk bed", - "put the CD on the right side of the front part of the dresser" - ], - "task_desc": "put a CD on to the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A38Z99XF4NDNH0_36H9ULYP65BNID8ODVZE43ZPJCAFJR", - "high_descs": [ - "Move to the desk on the right with the CD on top of it", - "pick up the CD sitting on top of the desk", - "Carry the CD to the tall wooden dresser", - "Place the CD on the top right side of the dresser" - ], - "task_desc": "Move a CD to the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_39LOEL67OVM3IKWC2W1LE41E0BV386", - "high_descs": [ - "Turn to the desk on your right. ", - "Pick up the CD on the back of the desk. ", - "Turn around and walk to the dresser, under the bunk-bed.", - "Place the CD on the right, front corner of the dresser." - ], - "task_desc": "Put the CD on the dresser, under the bunk-bed. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190322_270194/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190322_270194/traj_data.json deleted file mode 100644 index 48b64705f..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-318/trial_T20190907_190322_270194/traj_data.json +++ /dev/null @@ -1,2890 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 9 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 28 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|-6|0|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - 8.4024086, - 8.4024086, - -2.9959864, - -2.9959864, - 2.9044268, - 2.9044268 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "CD|+02.10|+00.73|-00.75" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - 8.4024086, - 8.4024086, - -2.9959864, - -2.9959864, - 2.9044268, - 2.9044268 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "CD|+02.10|+00.73|-00.75", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CD|+02.10|+00.73|-00.75" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 217, - 159, - 242, - 177 - ], - "mask": [ - [ - 47622, - 11 - ], - [ - 47921, - 15 - ], - [ - 48219, - 19 - ], - [ - 48519, - 20 - ], - [ - 48818, - 22 - ], - [ - 49117, - 24 - ], - [ - 49417, - 25 - ], - [ - 49717, - 12 - ], - [ - 49731, - 11 - ], - [ - 50017, - 11 - ], - [ - 50032, - 11 - ], - [ - 50318, - 11 - ], - [ - 50332, - 11 - ], - [ - 50618, - 25 - ], - [ - 50919, - 24 - ], - [ - 51219, - 24 - ], - [ - 51520, - 23 - ], - [ - 51821, - 21 - ], - [ - 52122, - 20 - ], - [ - 52424, - 17 - ], - [ - 52726, - 13 - ], - [ - 53030, - 6 - ] - ], - "point": [ - 228, - 167 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|+02.10|+00.73|-00.75", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 39 - ], - [ - 3126, - 101 - ], - [ - 3335, - 39 - ], - [ - 3426, - 102 - ], - [ - 3634, - 40 - ], - [ - 3726, - 102 - ], - [ - 3934, - 40 - ], - [ - 4026, - 102 - ], - [ - 4234, - 40 - ], - [ - 4326, - 102 - ], - [ - 4533, - 41 - ], - [ - 4626, - 103 - ], - [ - 4833, - 41 - ], - [ - 4927, - 102 - ], - [ - 5133, - 41 - ], - [ - 5227, - 102 - ], - [ - 5432, - 43 - ], - [ - 5527, - 102 - ], - [ - 5732, - 43 - ], - [ - 5827, - 103 - ], - [ - 6031, - 44 - ], - [ - 6126, - 104 - ], - [ - 6331, - 44 - ], - [ - 6426, - 104 - ], - [ - 6631, - 44 - ], - [ - 6726, - 104 - ], - [ - 6930, - 45 - ], - [ - 7026, - 105 - ], - [ - 7230, - 45 - ], - [ - 7326, - 105 - ], - [ - 7530, - 46 - ], - [ - 7626, - 105 - ], - [ - 7829, - 47 - ], - [ - 7926, - 105 - ], - [ - 8129, - 47 - ], - [ - 8226, - 106 - ], - [ - 8428, - 48 - ], - [ - 8526, - 106 - ], - [ - 8728, - 48 - ], - [ - 8826, - 106 - ], - [ - 9028, - 48 - ], - [ - 9126, - 106 - ], - [ - 9327, - 49 - ], - [ - 9426, - 107 - ], - [ - 9627, - 50 - ], - [ - 9726, - 107 - ], - [ - 9927, - 50 - ], - [ - 10025, - 108 - ], - [ - 10226, - 51 - ], - [ - 10325, - 108 - ], - [ - 10526, - 51 - ], - [ - 10625, - 109 - ], - [ - 10825, - 52 - ], - [ - 10925, - 109 - ], - [ - 11125, - 52 - ], - [ - 11225, - 109 - ], - [ - 11425, - 52 - ], - [ - 11525, - 109 - ], - [ - 11724, - 54 - ], - [ - 11825, - 110 - ], - [ - 12024, - 54 - ], - [ - 12125, - 110 - ], - [ - 12324, - 54 - ], - [ - 12425, - 110 - ], - [ - 12623, - 55 - ], - [ - 12724, - 111 - ], - [ - 12923, - 56 - ], - [ - 13024, - 112 - ], - [ - 13223, - 57 - ], - [ - 13323, - 113 - ], - [ - 13522, - 61 - ], - [ - 13619, - 1 - ], - [ - 13621, - 115 - ], - [ - 13822, - 214 - ], - [ - 14121, - 216 - ], - [ - 14421, - 216 - ], - [ - 14721, - 216 - ], - [ - 15020, - 217 - ], - [ - 15320, - 218 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 116 - ], - [ - 50782, - 115 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.5, - "y": 0.9017602, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "CD_e7609414", - "position": { - "x": 2.003009, - "y": 0.7261067, - "z": -0.0102321655 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.71023011, - "y": 0.7321528, - "z": -0.7489966 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.589910448, - "y": 0.290821463, - "z": 2.79461241 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.66208363, - "y": 0.5262162, - "z": -0.778 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.513549, - "y": 0.675700068, - "z": 2.17795277 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.8556833, - "y": 0.6697653, - "z": 3.1624825 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.6327728, - "y": 1.922522, - "z": 1.6313374 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.867, - "y": 1.5044353, - "z": -0.273132682 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.66208375, - "y": 0.5274742, - "z": -0.31640023 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.5848998, - "y": 0.979213536, - "z": -1.41610873 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -1.00225461, - "y": 1.58593035, - "z": -0.9428743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.961648643, - "y": 0.679538131, - "z": 1.991405 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.80782318, - "y": 0.727130532, - "z": -0.256486982 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.80782318, - "y": 0.726979434, - "z": -0.0102321506 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 2.10060215, - "y": 0.7261067, - "z": -0.7489966 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.637953758, - "y": 0.06886522, - "z": 2.87767076 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.6327728, - "y": 1.83552992, - "z": 2.1979394 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.574060559, - "y": 0.6671691, - "z": 3.07569027 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4103678591, - "scene_num": 318 - }, - "task_id": "trial_T20190907_190322_270194", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3RAYNQWYF8NVO_3HYA4D452U0NCHAG6ATM5MD8HZIF2U", - "high_descs": [ - "Go across the room to the right side of the desk where there is a trash can.", - "Pick up the disc from the desk.", - "Go across the room to the dresser with 3 drawers.", - "Place the disc on top of the dresser with 3 drawers beside the book." - ], - "task_desc": "Place the disc on the desk onto the dresser beside the book.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3JPSL1DZ5VGO5CI1HD5EJ95FVE6NAQ", - "high_descs": [ - "Move forward, then turn left to go toward the wall, then turn left again to face the desk.", - "Pick up the CD on the desk, to the right of the pencil.", - "Turn left, then go straight to the dresser ahead.", - "Put the CD on the dresser, to the right of the clock." - ], - "task_desc": "Put a CD on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A272X64FOZFYLB_3TDXMTX3CEBV49V7UKBAYW7CDWSI6L", - "high_descs": [ - "Walk forward and go to the left toward the edge of the desk by the black bin.", - "Pick up the closest CD from the desk.", - "Turn left and walk to the dresser under the bed.", - "Put the CD on the dresser, to the right of the alarm clock." - ], - "task_desc": "Move a CD from a desk to a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005459_168199/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005459_168199/traj_data.json deleted file mode 100644 index 0a387fdfa..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005459_168199/traj_data.json +++ /dev/null @@ -1,3102 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 44 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|-9|2|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - 10.22620584, - 10.22620584, - -12.72928236, - -12.72928236, - 3.585466, - 3.585466 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.272, - 9.272, - -12.86, - -12.86, - -0.04, - -0.04 - ] - ], - "forceVisible": true, - "objectId": "CD|+02.56|+00.90|-03.18" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - 10.22620584, - 10.22620584, - -12.72928236, - -12.72928236, - 3.585466, - 3.585466 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.708, - 10.708, - 6.044, - 6.044, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "CD|+02.56|+00.90|-03.18", - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - } - }, - { - "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": "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": "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": "PickupObject", - "objectId": "CD|+02.56|+00.90|-03.18" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 132, - 104, - 149, - 115 - ], - "mask": [ - [ - 31032, - 1 - ], - [ - 31038, - 5 - ], - [ - 31342, - 3 - ], - [ - 31644, - 3 - ], - [ - 31945, - 3 - ], - [ - 32246, - 3 - ], - [ - 32546, - 3 - ], - [ - 32847, - 3 - ], - [ - 33147, - 3 - ], - [ - 33447, - 2 - ], - [ - 33747, - 2 - ], - [ - 34046, - 3 - ], - [ - 34346, - 1 - ] - ], - "point": [ - 142, - 104 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|+02.56|+00.90|-03.18", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 208 - ], - "mask": [ - [ - 93, - 207 - ], - [ - 393, - 207 - ], - [ - 693, - 207 - ], - [ - 993, - 207 - ], - [ - 1293, - 207 - ], - [ - 1592, - 208 - ], - [ - 1891, - 209 - ], - [ - 2191, - 209 - ], - [ - 2491, - 209 - ], - [ - 2791, - 209 - ], - [ - 3090, - 14310 - ], - [ - 22799, - 1 - ], - [ - 23099, - 1 - ], - [ - 23398, - 2 - ], - [ - 23697, - 3 - ], - [ - 23997, - 3 - ], - [ - 24296, - 4 - ], - [ - 24595, - 5 - ], - [ - 24895, - 5 - ], - [ - 25194, - 6 - ], - [ - 25493, - 7 - ], - [ - 25793, - 7 - ], - [ - 26092, - 9 - ], - [ - 26391, - 10 - ], - [ - 26691, - 11 - ], - [ - 26990, - 13 - ], - [ - 27289, - 14 - ], - [ - 27589, - 15 - ], - [ - 27888, - 17 - ], - [ - 28187, - 18 - ], - [ - 28487, - 19 - ], - [ - 28786, - 21 - ], - [ - 29085, - 23 - ], - [ - 29385, - 23 - ], - [ - 29684, - 25 - ], - [ - 29983, - 27 - ], - [ - 30283, - 27 - ], - [ - 30582, - 29 - ], - [ - 30881, - 31 - ], - [ - 31181, - 32 - ], - [ - 31480, - 19 - ], - [ - 31500, - 13 - ], - [ - 31779, - 19 - ], - [ - 31800, - 14 - ], - [ - 32079, - 19 - ], - [ - 32100, - 15 - ], - [ - 32378, - 19 - ], - [ - 32400, - 15 - ], - [ - 32677, - 19 - ], - [ - 32700, - 16 - ], - [ - 32977, - 18 - ], - [ - 33000, - 17 - ], - [ - 33276, - 19 - ], - [ - 33300, - 17 - ], - [ - 33575, - 19 - ], - [ - 33600, - 18 - ], - [ - 33875, - 18 - ], - [ - 33901, - 18 - ], - [ - 34174, - 18 - ], - [ - 34202, - 18 - ], - [ - 34473, - 19 - ], - [ - 34502, - 18 - ], - [ - 34773, - 18 - ], - [ - 34803, - 18 - ], - [ - 35072, - 18 - ], - [ - 35104, - 18 - ], - [ - 35371, - 18 - ], - [ - 35405, - 17 - ], - [ - 35671, - 17 - ], - [ - 35706, - 17 - ], - [ - 35970, - 18 - ], - [ - 36006, - 18 - ], - [ - 36269, - 18 - ], - [ - 36307, - 17 - ], - [ - 36569, - 17 - ], - [ - 36608, - 17 - ], - [ - 36868, - 17 - ], - [ - 36909, - 17 - ], - [ - 37167, - 18 - ], - [ - 37210, - 17 - ], - [ - 37467, - 17 - ], - [ - 37510, - 17 - ], - [ - 37766, - 17 - ], - [ - 37811, - 17 - ], - [ - 38065, - 17 - ], - [ - 38112, - 18 - ], - [ - 38363, - 19 - ], - [ - 38413, - 17 - ], - [ - 38663, - 18 - ], - [ - 38714, - 16 - ], - [ - 38963, - 17 - ], - [ - 39014, - 17 - ], - [ - 39263, - 16 - ], - [ - 39315, - 17 - ], - [ - 39562, - 17 - ], - [ - 39616, - 16 - ], - [ - 39861, - 17 - ], - [ - 39917, - 16 - ], - [ - 40161, - 16 - ], - [ - 40218, - 16 - ], - [ - 40460, - 16 - ], - [ - 40518, - 16 - ], - [ - 40759, - 16 - ], - [ - 40819, - 16 - ], - [ - 41059, - 16 - ], - [ - 41120, - 16 - ], - [ - 41358, - 16 - ], - [ - 41421, - 15 - ], - [ - 41657, - 16 - ], - [ - 41722, - 15 - ], - [ - 41957, - 15 - ], - [ - 42022, - 16 - ], - [ - 42256, - 16 - ], - [ - 42323, - 16 - ], - [ - 42555, - 16 - ], - [ - 42624, - 15 - ], - [ - 42855, - 15 - ], - [ - 42925, - 15 - ], - [ - 43154, - 15 - ], - [ - 43226, - 15 - ], - [ - 43453, - 16 - ], - [ - 43526, - 15 - ], - [ - 43753, - 15 - ], - [ - 43827, - 15 - ], - [ - 44052, - 15 - ], - [ - 44128, - 15 - ], - [ - 44351, - 15 - ], - [ - 44429, - 14 - ], - [ - 44651, - 15 - ], - [ - 44730, - 14 - ], - [ - 44950, - 15 - ], - [ - 45030, - 15 - ], - [ - 45249, - 15 - ], - [ - 45331, - 15 - ], - [ - 45549, - 14 - ], - [ - 45632, - 14 - ], - [ - 45848, - 15 - ], - [ - 45933, - 14 - ], - [ - 46147, - 15 - ], - [ - 46234, - 14 - ], - [ - 46447, - 14 - ], - [ - 46534, - 14 - ], - [ - 46746, - 14 - ], - [ - 46835, - 14 - ], - [ - 47045, - 14 - ], - [ - 47136, - 14 - ], - [ - 47345, - 14 - ], - [ - 47437, - 13 - ], - [ - 47644, - 14 - ], - [ - 47738, - 13 - ], - [ - 47943, - 14 - ], - [ - 48038, - 14 - ], - [ - 48243, - 13 - ], - [ - 48339, - 14 - ], - [ - 48542, - 14 - ], - [ - 48640, - 13 - ], - [ - 48841, - 14 - ], - [ - 48941, - 13 - ], - [ - 49141, - 13 - ], - [ - 49242, - 13 - ], - [ - 49440, - 13 - ], - [ - 49542, - 14 - ], - [ - 49739, - 14 - ], - [ - 49843, - 13 - ], - [ - 50039, - 13 - ], - [ - 50144, - 13 - ], - [ - 50338, - 13 - ], - [ - 50445, - 13 - ], - [ - 50637, - 13 - ], - [ - 50746, - 12 - ], - [ - 50937, - 13 - ], - [ - 51046, - 13 - ], - [ - 51236, - 13 - ], - [ - 51347, - 13 - ], - [ - 51535, - 13 - ], - [ - 51648, - 12 - ], - [ - 51835, - 12 - ], - [ - 51949, - 12 - ], - [ - 52134, - 12 - ], - [ - 52250, - 12 - ], - [ - 52433, - 13 - ], - [ - 52550, - 12 - ], - [ - 52733, - 12 - ], - [ - 52851, - 12 - ], - [ - 53032, - 12 - ], - [ - 53152, - 12 - ], - [ - 53331, - 12 - ], - [ - 53453, - 12 - ], - [ - 53631, - 12 - ], - [ - 53754, - 11 - ], - [ - 53930, - 12 - ], - [ - 54054, - 12 - ], - [ - 54229, - 12 - ], - [ - 54355, - 12 - ], - [ - 54529, - 11 - ], - [ - 54656, - 11 - ], - [ - 54828, - 12 - ], - [ - 54957, - 11 - ], - [ - 55127, - 12 - ], - [ - 55258, - 11 - ], - [ - 55427, - 11 - ], - [ - 55558, - 11 - ], - [ - 55726, - 11 - ], - [ - 55859, - 11 - ], - [ - 56025, - 12 - ], - [ - 56160, - 11 - ], - [ - 56325, - 11 - ], - [ - 56461, - 11 - ], - [ - 56624, - 11 - ], - [ - 56762, - 10 - ], - [ - 56923, - 11 - ], - [ - 57062, - 11 - ], - [ - 57223, - 11 - ], - [ - 57363, - 11 - ], - [ - 57522, - 11 - ], - [ - 57664, - 10 - ], - [ - 57821, - 11 - ], - [ - 57965, - 10 - ], - [ - 58121, - 10 - ], - [ - 58266, - 10 - ], - [ - 58420, - 10 - ], - [ - 58566, - 11 - ], - [ - 58719, - 11 - ], - [ - 58867, - 10 - ], - [ - 59019, - 10 - ], - [ - 59168, - 10 - ], - [ - 59318, - 10 - ], - [ - 59469, - 10 - ], - [ - 59617, - 10 - ], - [ - 59770, - 9 - ], - [ - 59917, - 10 - ], - [ - 60070, - 10 - ], - [ - 60216, - 10 - ], - [ - 60371, - 10 - ], - [ - 60515, - 10 - ], - [ - 60672, - 9 - ], - [ - 60815, - 9 - ], - [ - 60973, - 9 - ], - [ - 61114, - 10 - ], - [ - 61274, - 9 - ], - [ - 61413, - 10 - ], - [ - 61574, - 10 - ], - [ - 61713, - 9 - ], - [ - 61875, - 9 - ], - [ - 62012, - 9 - ], - [ - 62176, - 10 - ], - [ - 62310, - 10 - ] - ], - "point": [ - 149, - 57 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan323", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.5, - "y": 0.9009992, - "z": -1.0 - }, - "object_poses": [ - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.55655146, - "y": 0.8947598, - "z": -3.389221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.55655146, - "y": 0.8947598, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 1.37184858, - "y": 0.0194418766, - "z": -3.375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 2.33620644, - "y": 0.307989359, - "z": -0.0730000138 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 2.72887468, - "y": 0.896749139, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": -2.57515287, - "y": 0.685253859, - "z": -0.436631233 - }, - "rotation": { - "x": 0.0, - "y": 90.0004654, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": -2.484936, - "y": 0.678198636, - "z": -0.668735445 - }, - "rotation": { - "x": 0.0390161052, - "y": 90.0003738, - "z": -0.000166109035 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": 2.732763, - "y": 1.22858751, - "z": 1.3974427 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 2.70677114, - "y": 1.24995315, - "z": 1.796281 - }, - "rotation": { - "x": 0.0, - "y": -0.000121235847, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": -2.15753269, - "y": 0.617493868, - "z": -2.06146026 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": -0.7423493, - "y": 0.680686533, - "z": -1.86162221 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": -2.48493671, - "y": 0.6800014, - "z": -2.99526429 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": -2.57515216, - "y": 0.680996, - "z": -0.35926342 - }, - "rotation": { - "x": 0.0, - "y": 90.0004654, - "z": 0.0 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": 1.86725879, - "y": 0.902412653, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": -2.62026238, - "y": 0.685253859, - "z": -3.30473471 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_fee2aeab", - "position": { - "x": -0.6678181, - "y": 0.612493753, - "z": -1.36408424 - }, - "rotation": { - "x": 0.0, - "y": 81.4677048, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": -1.31, - "y": 0.612493753, - "z": -1.542 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ead726ec", - "position": { - "x": -2.394723, - "y": 0.684800267, - "z": -3.22736859 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 2.67827034, - "y": 0.0926316455, - "z": 1.59534156 - }, - "rotation": { - "x": 0.0, - "y": 269.999969, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 1.69493556, - "y": 0.896906853, - "z": -3.25128746 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0b6c1a13", - "position": { - "x": -1.30842268, - "y": 0.680686533, - "z": -2.06146049 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": -1.59145939, - "y": 0.680686533, - "z": -2.46113729 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 2.55655146, - "y": 0.8963665, - "z": -3.18232059 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": -2.439832, - "y": 0.679, - "z": -3.382104 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "Bowl_fd13eed7", - "position": { - "x": 2.38422823, - "y": 0.898797631, - "z": -3.113354 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4043042508, - "scene_num": 323 - }, - "task_id": "trial_T20190908_005459_168199", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "ACSS93E03ZUGX_3IKZ72A5B7XJ13Z9STR6XAG6S3PFNJ", - "high_descs": [ - "Turn around, go straight and go to the left to face the chair in in front of the desk.", - "Pick the CD up from off of the desk.", - "Turn around, go left to walk around the couch, then to the right to face the tall dresser in the corner.", - "Place the CD on top of the dresser." - ], - "task_desc": "Move the CD that's on top of the desk to on top of the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A27AK750Y9M9KH_3IO1LGZLKCE2F3JULYZJL7DYAA9869", - "high_descs": [ - "Turn right and head towards the wooden desk with a chair. ", - "Grab the CD from the wooden desk. ", - "Turn around and head towards the tall wooden cabinet on the right. ", - "Place the CD on top of the tall wooden cabinet. " - ], - "task_desc": "Fetch a CD and place in on top of a cabinet. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3JZLYQ606HJJR_3SITXWYCNYQY0G1XPXSJCMGJFKYBXA", - "high_descs": [ - "Turn around and cross the room to the brown desk with a chair in front of it. ", - "Pick up the CD that is behind the black coffee mug toward the front of the desk. ", - "Turn around and move to the brown dresser with 4 drawers in the far left corner of the room. ", - "Put the CD on top of the dresser next to the white safe. " - ], - "task_desc": "Move a CD from the desk to the top of the dresser. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005514_476729/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005514_476729/traj_data.json deleted file mode 100644 index 4f81635a0..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005514_476729/traj_data.json +++ /dev/null @@ -1,2880 +0,0 @@ -{ - "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": 1, - "image_name": "000000033.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000034.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000035.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000036.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000037.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 3 - }, - { - "high_idx": 2, - "image_name": "000000048.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000049.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000050.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000051.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000052.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000053.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000054.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000062.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000063.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 5 - }, - { - "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": 6 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 6 - }, - { - "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": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 30 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "garbagecan" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|5|-12|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - 5.26460552, - 5.26460552, - -13.37109948, - -13.37109948, - 0.0777675064, - 0.0777675064 - ] - ], - "coordinateReceptacleObjectId": [ - "GarbageCan", - [ - 5.376, - 5.376, - -13.5, - -13.5, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CD|+01.32|+00.02|-03.34" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - 5.26460552, - 5.26460552, - -13.37109948, - -13.37109948, - 0.0777675064, - 0.0777675064 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.708, - 10.708, - 6.044, - 6.044, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "CD|+01.32|+00.02|-03.34", - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "CD|+01.32|+00.02|-03.34" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 129, - 224, - 147, - 237 - ], - "mask": [ - [ - 67036, - 6 - ], - [ - 67334, - 10 - ], - [ - 67632, - 13 - ], - [ - 67932, - 14 - ], - [ - 68231, - 16 - ], - [ - 68530, - 17 - ], - [ - 68830, - 18 - ], - [ - 69130, - 18 - ], - [ - 69429, - 9 - ], - [ - 69440, - 6 - ], - [ - 69729, - 8 - ], - [ - 69740, - 4 - ], - [ - 70029, - 8 - ], - [ - 70040, - 2 - ], - [ - 70329, - 11 - ], - [ - 70630, - 6 - ], - [ - 70930, - 1 - ] - ], - "point": [ - 138, - 229 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|+01.32|+00.02|-03.34", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 208 - ], - "mask": [ - [ - 93, - 55 - ], - [ - 246, - 54 - ], - [ - 393, - 55 - ], - [ - 547, - 53 - ], - [ - 693, - 55 - ], - [ - 847, - 53 - ], - [ - 993, - 55 - ], - [ - 1147, - 53 - ], - [ - 1293, - 55 - ], - [ - 1448, - 52 - ], - [ - 1592, - 56 - ], - [ - 1748, - 52 - ], - [ - 1891, - 57 - ], - [ - 2048, - 52 - ], - [ - 2191, - 57 - ], - [ - 2348, - 52 - ], - [ - 2491, - 57 - ], - [ - 2649, - 51 - ], - [ - 2791, - 57 - ], - [ - 2949, - 51 - ], - [ - 3090, - 58 - ], - [ - 3249, - 199 - ], - [ - 3549, - 199 - ], - [ - 3849, - 199 - ], - [ - 4149, - 199 - ], - [ - 4449, - 199 - ], - [ - 4748, - 200 - ], - [ - 5048, - 200 - ], - [ - 5348, - 200 - ], - [ - 5647, - 201 - ], - [ - 5947, - 201 - ], - [ - 6246, - 202 - ], - [ - 6545, - 10855 - ], - [ - 22799, - 1 - ], - [ - 23099, - 1 - ], - [ - 23398, - 2 - ], - [ - 23697, - 3 - ], - [ - 23997, - 3 - ], - [ - 24296, - 4 - ], - [ - 24595, - 5 - ], - [ - 24895, - 5 - ], - [ - 25194, - 6 - ], - [ - 25493, - 7 - ], - [ - 25793, - 7 - ], - [ - 26092, - 9 - ], - [ - 26391, - 10 - ], - [ - 26691, - 11 - ], - [ - 26990, - 13 - ], - [ - 27289, - 14 - ], - [ - 27589, - 15 - ], - [ - 27888, - 17 - ], - [ - 28187, - 18 - ], - [ - 28487, - 19 - ], - [ - 28786, - 21 - ], - [ - 29085, - 23 - ], - [ - 29385, - 23 - ], - [ - 29684, - 25 - ], - [ - 29983, - 27 - ], - [ - 30283, - 27 - ], - [ - 30582, - 29 - ], - [ - 30881, - 31 - ], - [ - 31181, - 32 - ], - [ - 31480, - 19 - ], - [ - 31500, - 13 - ], - [ - 31779, - 19 - ], - [ - 31800, - 14 - ], - [ - 32079, - 19 - ], - [ - 32100, - 15 - ], - [ - 32378, - 19 - ], - [ - 32400, - 15 - ], - [ - 32677, - 19 - ], - [ - 32700, - 16 - ], - [ - 32977, - 18 - ], - [ - 33000, - 17 - ], - [ - 33276, - 19 - ], - [ - 33300, - 17 - ], - [ - 33575, - 19 - ], - [ - 33600, - 18 - ], - [ - 33875, - 18 - ], - [ - 33901, - 18 - ], - [ - 34174, - 18 - ], - [ - 34202, - 18 - ], - [ - 34473, - 19 - ], - [ - 34502, - 18 - ], - [ - 34773, - 18 - ], - [ - 34803, - 18 - ], - [ - 35072, - 18 - ], - [ - 35104, - 18 - ], - [ - 35371, - 18 - ], - [ - 35405, - 17 - ], - [ - 35671, - 17 - ], - [ - 35706, - 17 - ], - [ - 35970, - 18 - ], - [ - 36006, - 18 - ], - [ - 36269, - 18 - ], - [ - 36307, - 17 - ], - [ - 36569, - 17 - ], - [ - 36608, - 17 - ], - [ - 36868, - 17 - ], - [ - 36909, - 17 - ], - [ - 37167, - 18 - ], - [ - 37210, - 17 - ], - [ - 37467, - 17 - ], - [ - 37510, - 17 - ], - [ - 37766, - 17 - ], - [ - 37811, - 17 - ], - [ - 38065, - 17 - ], - [ - 38112, - 18 - ], - [ - 38363, - 19 - ], - [ - 38413, - 17 - ], - [ - 38663, - 18 - ], - [ - 38714, - 16 - ], - [ - 38963, - 17 - ], - [ - 39014, - 17 - ], - [ - 39263, - 16 - ], - [ - 39315, - 17 - ], - [ - 39562, - 17 - ], - [ - 39616, - 16 - ], - [ - 39861, - 17 - ], - [ - 39917, - 16 - ], - [ - 40161, - 16 - ], - [ - 40218, - 16 - ], - [ - 40460, - 16 - ], - [ - 40518, - 16 - ], - [ - 40759, - 16 - ], - [ - 40819, - 16 - ], - [ - 41059, - 16 - ], - [ - 41120, - 16 - ], - [ - 41358, - 16 - ], - [ - 41421, - 15 - ], - [ - 41657, - 16 - ], - [ - 41722, - 15 - ], - [ - 41957, - 15 - ], - [ - 42022, - 16 - ], - [ - 42256, - 16 - ], - [ - 42323, - 16 - ], - [ - 42555, - 16 - ], - [ - 42624, - 15 - ], - [ - 42855, - 15 - ], - [ - 42925, - 15 - ], - [ - 43154, - 15 - ], - [ - 43226, - 15 - ], - [ - 43453, - 16 - ], - [ - 43526, - 15 - ], - [ - 43753, - 15 - ], - [ - 43827, - 15 - ], - [ - 44052, - 15 - ], - [ - 44128, - 15 - ], - [ - 44351, - 15 - ], - [ - 44429, - 14 - ], - [ - 44651, - 15 - ], - [ - 44730, - 14 - ], - [ - 44950, - 15 - ], - [ - 45030, - 15 - ], - [ - 45249, - 15 - ], - [ - 45331, - 15 - ], - [ - 45549, - 14 - ], - [ - 45632, - 14 - ], - [ - 45848, - 15 - ], - [ - 45933, - 14 - ], - [ - 46147, - 15 - ], - [ - 46234, - 14 - ], - [ - 46447, - 14 - ], - [ - 46534, - 14 - ], - [ - 46746, - 14 - ], - [ - 46835, - 14 - ], - [ - 47045, - 14 - ], - [ - 47136, - 14 - ], - [ - 47345, - 14 - ], - [ - 47437, - 13 - ], - [ - 47644, - 14 - ], - [ - 47738, - 13 - ], - [ - 47943, - 14 - ], - [ - 48038, - 14 - ], - [ - 48243, - 13 - ], - [ - 48339, - 14 - ], - [ - 48542, - 14 - ], - [ - 48640, - 13 - ], - [ - 48841, - 14 - ], - [ - 48941, - 13 - ], - [ - 49141, - 13 - ], - [ - 49242, - 13 - ], - [ - 49440, - 13 - ], - [ - 49542, - 14 - ], - [ - 49739, - 14 - ], - [ - 49843, - 13 - ], - [ - 50039, - 13 - ], - [ - 50144, - 13 - ], - [ - 50338, - 13 - ], - [ - 50445, - 13 - ], - [ - 50637, - 13 - ], - [ - 50746, - 12 - ], - [ - 50937, - 13 - ], - [ - 51046, - 13 - ], - [ - 51236, - 13 - ], - [ - 51347, - 13 - ], - [ - 51535, - 13 - ], - [ - 51648, - 12 - ], - [ - 51835, - 12 - ], - [ - 51949, - 12 - ], - [ - 52134, - 12 - ], - [ - 52250, - 12 - ], - [ - 52433, - 13 - ], - [ - 52550, - 12 - ], - [ - 52733, - 12 - ], - [ - 52851, - 12 - ], - [ - 53032, - 12 - ], - [ - 53152, - 12 - ], - [ - 53331, - 12 - ], - [ - 53453, - 12 - ], - [ - 53631, - 12 - ], - [ - 53754, - 11 - ], - [ - 53930, - 12 - ], - [ - 54054, - 12 - ], - [ - 54229, - 12 - ], - [ - 54355, - 12 - ], - [ - 54529, - 11 - ], - [ - 54656, - 11 - ], - [ - 54828, - 12 - ], - [ - 54957, - 11 - ], - [ - 55127, - 12 - ], - [ - 55258, - 11 - ], - [ - 55427, - 11 - ], - [ - 55558, - 11 - ], - [ - 55726, - 11 - ], - [ - 55859, - 11 - ], - [ - 56025, - 12 - ], - [ - 56160, - 11 - ], - [ - 56325, - 11 - ], - [ - 56461, - 11 - ], - [ - 56624, - 11 - ], - [ - 56762, - 10 - ], - [ - 56923, - 11 - ], - [ - 57062, - 11 - ], - [ - 57223, - 11 - ], - [ - 57363, - 11 - ], - [ - 57522, - 11 - ], - [ - 57664, - 10 - ], - [ - 57821, - 11 - ], - [ - 57965, - 10 - ], - [ - 58121, - 10 - ], - [ - 58266, - 10 - ], - [ - 58420, - 10 - ], - [ - 58566, - 11 - ], - [ - 58719, - 11 - ], - [ - 58867, - 10 - ], - [ - 59019, - 10 - ], - [ - 59168, - 10 - ], - [ - 59318, - 10 - ], - [ - 59469, - 10 - ], - [ - 59617, - 10 - ], - [ - 59770, - 9 - ], - [ - 59917, - 10 - ], - [ - 60070, - 10 - ], - [ - 60216, - 10 - ], - [ - 60371, - 10 - ], - [ - 60515, - 10 - ], - [ - 60672, - 9 - ], - [ - 60815, - 9 - ], - [ - 60973, - 9 - ], - [ - 61114, - 10 - ], - [ - 61274, - 9 - ], - [ - 61413, - 10 - ], - [ - 61574, - 10 - ], - [ - 61713, - 9 - ], - [ - 61875, - 9 - ], - [ - 62012, - 9 - ], - [ - 62176, - 10 - ], - [ - 62310, - 10 - ] - ], - "point": [ - 149, - 57 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan323", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 1.25, - "y": 0.9009992, - "z": -3.0 - }, - "object_poses": [ - { - "objectName": "Mug_291e6e8a", - "position": { - "x": -2.39472413, - "y": 0.679, - "z": -3.38210416 - }, - "rotation": { - "x": 0.0, - "y": 180.000488, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.211905, - "y": 0.8947598, - "z": -3.113354 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": -2.43982863, - "y": 0.6806067, - "z": -0.3592645 - }, - "rotation": { - "x": 0.0, - "y": 90.0004654, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 2.039582, - "y": 0.8963665, - "z": -3.18232059 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 2.211905, - "y": 0.8963665, - "z": -3.389221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 2.03980064, - "y": 0.349226624, - "z": -0.5194473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": -2.575116, - "y": 0.6737757, - "z": -0.5914071 - }, - "rotation": { - "x": 359.985229, - "y": 89.97069, - "z": 0.170850754 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": -2.349615, - "y": 0.685253859, - "z": -3.227369 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": 2.211905, - "y": 0.896755755, - "z": -3.25128746 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 2.82698321, - "y": 1.22873855, - "z": 1.28314757 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": 2.68565273, - "y": 1.22759283, - "z": 1.39744282 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": 1.78336024, - "y": 0.07957376, - "z": -3.13933372 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": 2.18800354, - "y": 0.3522464, - "z": -0.29622364 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": -1.30842257, - "y": 0.6184952, - "z": -1.861622 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": -2.53004432, - "y": 0.680996, - "z": -0.359263778 - }, - "rotation": { - "x": 0.0, - "y": 90.0004654, - "z": 0.0 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": -2.62026048, - "y": 0.6866529, - "z": -3.07263112 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": -2.52554226, - "y": 0.6833837, - "z": -0.66904217 - }, - "rotation": { - "x": 49.9368858, - "y": 86.2633057, - "z": 354.898224 - } - }, - { - "objectName": "TeddyBear_fee2aeab", - "position": { - "x": -0.6678181, - "y": 0.612493753, - "z": -1.36408424 - }, - "rotation": { - "x": 0.0, - "y": 81.4677048, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": -1.31, - "y": 0.612493753, - "z": -1.542 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ead726ec", - "position": { - "x": 2.55655146, - "y": 0.90056, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 1.69493556, - "y": 0.896749139, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": -2.62026, - "y": 0.6811471, - "z": -2.99526334 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0b6c1a13", - "position": { - "x": -2.124, - "y": 0.658, - "z": -1.522 - }, - "rotation": { - "x": 0.0, - "y": 28.29679, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": -1.02538633, - "y": 0.680686533, - "z": -2.46113777 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 1.31615138, - "y": 0.0194418766, - "z": -3.34277487 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.38422823, - "y": 0.8947598, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_fd13eed7", - "position": { - "x": 1.84045374, - "y": 0.8897598, - "z": -3.239212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4231719111, - "scene_num": 323 - }, - "task_id": "trial_T20190908_005514_476729", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1ELPYAFO7MANS_3L70J4KAZJ3FJ0ROSJRBN4TLHL0DAG", - "high_descs": [ - "Turn left and face the bin.", - "Pick up the CD out of the bin.", - "Turn around and walk past the bed and veer right to the dresser.", - "Place the CD on the dresser to the right of the book." - ], - "task_desc": "Place a CD on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3OB0CAO74K6XRYUTULOHHBQQC4TYHH", - "high_descs": [ - "Turn left and look down at the silver bin.", - "Pick up the disc out of the silver bin.", - "Turn around begin walking across the room, then turn right and walk up the wooden dresser to the left of the couch.", - "Put the disc on top of the dresser in the front right corner." - ], - "task_desc": "Move a disc to a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3SFPSMFRSRTB3_3XC1O3LBOV33W8EPB0GG1MRIEJOTLY", - "high_descs": [ - "Turn left to face garbage can on floor.", - "Pick up cd from garbage can.", - "Turn around, proceed to wall. Turn right, proceed to dresser.", - "Place cd on top of dresser all the way to the right, to the right of the book." - ], - "task_desc": "Take cd out of garbage and put on dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005542_694744/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005542_694744/traj_data.json deleted file mode 100644 index 222fe5c30..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CD-None-Dresser-323/trial_T20190908_005542_694744/traj_data.json +++ /dev/null @@ -1,2891 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "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": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 33 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|5|-12|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - 6.77974224, - 6.77974224, - -11.90168192, - -11.90168192, - 3.585466, - 3.585466 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.272, - 9.272, - -12.86, - -12.86, - -0.04, - -0.04 - ] - ], - "forceVisible": true, - "objectId": "CD|+01.69|+00.90|-02.98" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - 6.77974224, - 6.77974224, - -11.90168192, - -11.90168192, - 3.585466, - 3.585466 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.708, - 10.708, - 6.044, - 6.044, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "CD|+01.69|+00.90|-02.98", - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CD|+01.69|+00.90|-02.98" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 124, - 123, - 159, - 152 - ], - "mask": [ - [ - 36737, - 10 - ], - [ - 37035, - 15 - ], - [ - 37333, - 19 - ], - [ - 37631, - 23 - ], - [ - 37930, - 25 - ], - [ - 38229, - 27 - ], - [ - 38528, - 29 - ], - [ - 38827, - 31 - ], - [ - 39126, - 32 - ], - [ - 39426, - 33 - ], - [ - 39725, - 34 - ], - [ - 40025, - 34 - ], - [ - 40325, - 15 - ], - [ - 40344, - 16 - ], - [ - 40624, - 16 - ], - [ - 40645, - 15 - ], - [ - 40924, - 15 - ], - [ - 40945, - 15 - ], - [ - 41225, - 15 - ], - [ - 41245, - 15 - ], - [ - 41525, - 16 - ], - [ - 41543, - 17 - ], - [ - 41825, - 34 - ], - [ - 42125, - 34 - ], - [ - 42425, - 34 - ], - [ - 42726, - 33 - ], - [ - 43026, - 32 - ], - [ - 43327, - 30 - ], - [ - 43628, - 28 - ], - [ - 43928, - 27 - ], - [ - 44230, - 25 - ], - [ - 44531, - 22 - ], - [ - 44833, - 18 - ], - [ - 45134, - 15 - ], - [ - 45440, - 4 - ] - ], - "point": [ - 139, - 135 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|+01.69|+00.90|-02.98", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 208 - ], - "mask": [ - [ - 93, - 207 - ], - [ - 393, - 207 - ], - [ - 693, - 207 - ], - [ - 993, - 207 - ], - [ - 1293, - 207 - ], - [ - 1592, - 208 - ], - [ - 1891, - 209 - ], - [ - 2191, - 209 - ], - [ - 2491, - 209 - ], - [ - 2791, - 209 - ], - [ - 3090, - 14310 - ], - [ - 22799, - 1 - ], - [ - 23099, - 1 - ], - [ - 23398, - 2 - ], - [ - 23697, - 3 - ], - [ - 23997, - 3 - ], - [ - 24296, - 4 - ], - [ - 24595, - 5 - ], - [ - 24895, - 5 - ], - [ - 25194, - 6 - ], - [ - 25493, - 7 - ], - [ - 25793, - 7 - ], - [ - 26092, - 9 - ], - [ - 26391, - 10 - ], - [ - 26691, - 11 - ], - [ - 26990, - 13 - ], - [ - 27289, - 14 - ], - [ - 27589, - 15 - ], - [ - 27888, - 17 - ], - [ - 28187, - 18 - ], - [ - 28487, - 19 - ], - [ - 28786, - 21 - ], - [ - 29085, - 23 - ], - [ - 29385, - 23 - ], - [ - 29684, - 25 - ], - [ - 29983, - 27 - ], - [ - 30283, - 27 - ], - [ - 30582, - 29 - ], - [ - 30881, - 31 - ], - [ - 31181, - 32 - ], - [ - 31480, - 19 - ], - [ - 31500, - 13 - ], - [ - 31779, - 19 - ], - [ - 31800, - 14 - ], - [ - 32079, - 19 - ], - [ - 32100, - 15 - ], - [ - 32378, - 19 - ], - [ - 32400, - 15 - ], - [ - 32677, - 19 - ], - [ - 32700, - 16 - ], - [ - 32977, - 18 - ], - [ - 33000, - 17 - ], - [ - 33276, - 19 - ], - [ - 33300, - 17 - ], - [ - 33575, - 19 - ], - [ - 33600, - 18 - ], - [ - 33875, - 18 - ], - [ - 33901, - 18 - ], - [ - 34174, - 18 - ], - [ - 34202, - 18 - ], - [ - 34473, - 19 - ], - [ - 34502, - 18 - ], - [ - 34773, - 18 - ], - [ - 34803, - 18 - ], - [ - 35072, - 18 - ], - [ - 35104, - 18 - ], - [ - 35371, - 18 - ], - [ - 35405, - 17 - ], - [ - 35671, - 17 - ], - [ - 35706, - 17 - ], - [ - 35970, - 18 - ], - [ - 36006, - 18 - ], - [ - 36269, - 18 - ], - [ - 36307, - 17 - ], - [ - 36569, - 17 - ], - [ - 36608, - 17 - ], - [ - 36868, - 17 - ], - [ - 36909, - 17 - ], - [ - 37167, - 18 - ], - [ - 37210, - 17 - ], - [ - 37467, - 17 - ], - [ - 37510, - 17 - ], - [ - 37766, - 17 - ], - [ - 37811, - 17 - ], - [ - 38065, - 17 - ], - [ - 38112, - 18 - ], - [ - 38363, - 19 - ], - [ - 38413, - 17 - ], - [ - 38663, - 18 - ], - [ - 38714, - 16 - ], - [ - 38963, - 17 - ], - [ - 39014, - 17 - ], - [ - 39263, - 16 - ], - [ - 39315, - 17 - ], - [ - 39562, - 17 - ], - [ - 39616, - 16 - ], - [ - 39861, - 17 - ], - [ - 39917, - 16 - ], - [ - 40161, - 16 - ], - [ - 40218, - 16 - ], - [ - 40460, - 16 - ], - [ - 40518, - 16 - ], - [ - 40759, - 16 - ], - [ - 40819, - 16 - ], - [ - 41059, - 16 - ], - [ - 41120, - 16 - ], - [ - 41358, - 16 - ], - [ - 41421, - 15 - ], - [ - 41657, - 16 - ], - [ - 41722, - 15 - ], - [ - 41957, - 15 - ], - [ - 42022, - 16 - ], - [ - 42256, - 16 - ], - [ - 42323, - 16 - ], - [ - 42555, - 16 - ], - [ - 42624, - 15 - ], - [ - 42855, - 15 - ], - [ - 42925, - 15 - ], - [ - 43154, - 15 - ], - [ - 43226, - 15 - ], - [ - 43453, - 16 - ], - [ - 43526, - 15 - ], - [ - 43753, - 15 - ], - [ - 43827, - 15 - ], - [ - 44052, - 15 - ], - [ - 44128, - 15 - ], - [ - 44351, - 15 - ], - [ - 44429, - 14 - ], - [ - 44651, - 15 - ], - [ - 44730, - 14 - ], - [ - 44950, - 15 - ], - [ - 45030, - 15 - ], - [ - 45249, - 15 - ], - [ - 45331, - 15 - ], - [ - 45549, - 14 - ], - [ - 45632, - 14 - ], - [ - 45848, - 15 - ], - [ - 45933, - 14 - ], - [ - 46147, - 15 - ], - [ - 46234, - 14 - ], - [ - 46447, - 14 - ], - [ - 46534, - 14 - ], - [ - 46746, - 14 - ], - [ - 46835, - 14 - ], - [ - 47045, - 14 - ], - [ - 47136, - 14 - ], - [ - 47345, - 14 - ], - [ - 47437, - 13 - ], - [ - 47644, - 14 - ], - [ - 47738, - 13 - ], - [ - 47943, - 14 - ], - [ - 48038, - 14 - ], - [ - 48243, - 13 - ], - [ - 48339, - 14 - ], - [ - 48542, - 14 - ], - [ - 48640, - 13 - ], - [ - 48841, - 14 - ], - [ - 48941, - 13 - ], - [ - 49141, - 13 - ], - [ - 49242, - 13 - ], - [ - 49440, - 13 - ], - [ - 49542, - 14 - ], - [ - 49739, - 14 - ], - [ - 49843, - 13 - ], - [ - 50039, - 13 - ], - [ - 50144, - 13 - ], - [ - 50338, - 13 - ], - [ - 50445, - 13 - ], - [ - 50637, - 13 - ], - [ - 50746, - 12 - ], - [ - 50937, - 13 - ], - [ - 51046, - 13 - ], - [ - 51236, - 13 - ], - [ - 51347, - 13 - ], - [ - 51535, - 13 - ], - [ - 51648, - 12 - ], - [ - 51835, - 12 - ], - [ - 51949, - 12 - ], - [ - 52134, - 12 - ], - [ - 52250, - 12 - ], - [ - 52433, - 13 - ], - [ - 52550, - 12 - ], - [ - 52733, - 12 - ], - [ - 52851, - 12 - ], - [ - 53032, - 12 - ], - [ - 53152, - 12 - ], - [ - 53331, - 12 - ], - [ - 53453, - 12 - ], - [ - 53631, - 12 - ], - [ - 53754, - 11 - ], - [ - 53930, - 12 - ], - [ - 54054, - 12 - ], - [ - 54229, - 12 - ], - [ - 54355, - 12 - ], - [ - 54529, - 11 - ], - [ - 54656, - 11 - ], - [ - 54828, - 12 - ], - [ - 54957, - 11 - ], - [ - 55127, - 12 - ], - [ - 55258, - 11 - ], - [ - 55427, - 11 - ], - [ - 55558, - 11 - ], - [ - 55726, - 11 - ], - [ - 55859, - 11 - ], - [ - 56025, - 12 - ], - [ - 56160, - 11 - ], - [ - 56325, - 11 - ], - [ - 56461, - 11 - ], - [ - 56624, - 11 - ], - [ - 56762, - 10 - ], - [ - 56923, - 11 - ], - [ - 57062, - 11 - ], - [ - 57223, - 11 - ], - [ - 57363, - 11 - ], - [ - 57522, - 11 - ], - [ - 57664, - 10 - ], - [ - 57821, - 11 - ], - [ - 57965, - 10 - ], - [ - 58121, - 10 - ], - [ - 58266, - 10 - ], - [ - 58420, - 10 - ], - [ - 58566, - 11 - ], - [ - 58719, - 11 - ], - [ - 58867, - 10 - ], - [ - 59019, - 10 - ], - [ - 59168, - 10 - ], - [ - 59318, - 10 - ], - [ - 59469, - 10 - ], - [ - 59617, - 10 - ], - [ - 59770, - 9 - ], - [ - 59917, - 10 - ], - [ - 60070, - 10 - ], - [ - 60216, - 10 - ], - [ - 60371, - 10 - ], - [ - 60515, - 10 - ], - [ - 60672, - 9 - ], - [ - 60815, - 9 - ], - [ - 60973, - 9 - ], - [ - 61114, - 10 - ], - [ - 61274, - 9 - ], - [ - 61413, - 10 - ], - [ - 61574, - 10 - ], - [ - 61713, - 9 - ], - [ - 61875, - 9 - ], - [ - 62012, - 9 - ], - [ - 62176, - 10 - ], - [ - 62310, - 10 - ] - ], - "point": [ - 149, - 57 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan323", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.5, - "y": 0.9009992, - "z": -3.0 - }, - "object_poses": [ - { - "objectName": "Mug_291e6e8a", - "position": { - "x": -2.53004742, - "y": 0.679, - "z": -3.3821032 - }, - "rotation": { - "x": 0.0, - "y": 270.0005, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.72887468, - "y": 0.8947598, - "z": -2.97542048 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": -2.40502834, - "y": 0.08212367, - "z": -0.628025353 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 2.039582, - "y": 0.8963665, - "z": -3.25128746 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": -2.452834, - "y": 0.374341071, - "z": -3.0929873 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": -2.484939, - "y": 0.6809894, - "z": -3.30473566 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": -2.42893076, - "y": 0.374498785, - "z": -0.342961937 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 2.70677114, - "y": 1.24995315, - "z": 1.767 - }, - "rotation": { - "x": 0.0, - "y": -0.000121235847, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": 2.18800354, - "y": 0.3522464, - "z": -0.29622364 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": -1.874496, - "y": 0.680686533, - "z": -2.26129913 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": -2.44056916, - "y": 0.6184952, - "z": -1.86162162 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": -2.42893076, - "y": 0.08264768, - "z": -2.978962 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": 2.77987337, - "y": 1.23424435, - "z": 1.39744258 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 2.211905, - "y": 0.9010136, - "z": -3.18232059 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_fee2aeab", - "position": { - "x": -0.6678181, - "y": 0.612493753, - "z": -1.36408424 - }, - "rotation": { - "x": 0.0, - "y": 81.4677048, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": -2.440569, - "y": 0.617493868, - "z": -1.262106 - }, - "rotation": { - "x": 0.0, - "y": 90.0000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ead726ec", - "position": { - "x": 2.55655146, - "y": 0.90056, - "z": -3.320254 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": -2.57515216, - "y": 0.6809894, - "z": -0.35926342 - }, - "rotation": { - "x": 0.0, - "y": 90.0004654, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": -2.34961367, - "y": 0.6811471, - "z": -0.4366331 - }, - "rotation": { - "x": 0.0, - "y": 90.0004654, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0b6c1a13", - "position": { - "x": -2.124, - "y": 0.658, - "z": -1.522 - }, - "rotation": { - "x": 0.0, - "y": 28.29679, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": -0.7423495, - "y": 0.680686533, - "z": -2.26129913 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 1.69493556, - "y": 0.8963665, - "z": -2.97542048 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.68565321, - "y": 1.22659147, - "z": 1.51173782 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Bowl_fd13eed7", - "position": { - "x": 1.84045374, - "y": 0.8897598, - "z": -3.239212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2835807791, - "scene_num": 323 - }, - "task_id": "trial_T20190908_005542_694744", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "ACSS93E03ZUGX_37XITHEISZQXDP7RUYIMYO0DWOARCY", - "high_descs": [ - "Turn around and face the end of the brown desk.", - "Pick the the CD from the end of the desk.", - "Turn to the left and walk across the room, then turn right to face the dresser in the corner.", - "Place the CD on top of the dresser." - ], - "task_desc": "Move the CD from the desk to the top of the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3KOPY89HMBJS21SVT0YC3UASGU33JK", - "high_descs": [ - "Turn around and walk to the desk.", - "Pick up the CD closest to the side of the desk you're facing.", - "Turn left and walk to the far wall, then turn right and face the dresser.", - "Put the CD on the dresser to the right of the safe." - ], - "task_desc": "Place a CD on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3SFPSMFRSRTB3_3Z7VU45IP1YMSDJKOINF3VJL183Z1A", - "high_descs": [ - "Turn around, go to desk.", - "Pick up cd from bottom left hand corner of desk.", - "Turn left, go across room. Turn right, go to dresser.", - "Place cd on top of dresser, to the right of the white object." - ], - "task_desc": "Move cd from desk to dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040614_977988/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040614_977988/traj_data.json deleted file mode 100644 index 944cd3af4..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040614_977988/traj_data.json +++ /dev/null @@ -1,2955 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 8 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 11 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 12 - }, - { - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 24 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Candle", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "toilet" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|9|3|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "candle" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Candle", - [ - -7.44145964, - -7.44145964, - 8.0371, - 8.0371, - 4.18402244, - 4.18402244 - ] - ], - "coordinateReceptacleObjectId": [ - "Toilet", - [ - -6.272, - -6.272, - 7.264, - 7.264, - -0.00123298168, - -0.00123298168 - ] - ], - "forceVisible": true, - "objectId": "Candle|-01.86|+01.05|+02.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "candle", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Candle", - [ - -7.44145964, - -7.44145964, - 8.0371, - 8.0371, - 4.18402244, - 4.18402244 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "Candle|-01.86|+01.05|+02.01", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Candle|-01.86|+01.05|+02.01" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 79, - 138, - 94, - 161 - ], - "mask": [ - [ - 41187, - 5 - ], - [ - 41484, - 8 - ], - [ - 41782, - 10 - ], - [ - 42081, - 12 - ], - [ - 42380, - 13 - ], - [ - 42679, - 14 - ], - [ - 42979, - 14 - ], - [ - 43279, - 14 - ], - [ - 43580, - 13 - ], - [ - 43880, - 13 - ], - [ - 44180, - 13 - ], - [ - 44480, - 14 - ], - [ - 44780, - 14 - ], - [ - 45080, - 14 - ], - [ - 45380, - 14 - ], - [ - 45681, - 13 - ], - [ - 45981, - 13 - ], - [ - 46281, - 13 - ], - [ - 46581, - 13 - ], - [ - 46881, - 14 - ], - [ - 47181, - 13 - ], - [ - 47482, - 11 - ], - [ - 47783, - 9 - ], - [ - 48085, - 3 - ] - ], - "point": [ - 86, - 148 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Candle|-01.86|+01.05|+02.01", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 274 - ], - [ - 1500, - 274 - ], - [ - 1800, - 274 - ], - [ - 2100, - 275 - ], - [ - 2400, - 275 - ], - [ - 2700, - 276 - ], - [ - 3000, - 276 - ], - [ - 3300, - 276 - ], - [ - 3600, - 277 - ], - [ - 3900, - 277 - ], - [ - 4200, - 278 - ], - [ - 4500, - 278 - ], - [ - 4800, - 278 - ], - [ - 5100, - 279 - ], - [ - 5400, - 279 - ], - [ - 5700, - 280 - ], - [ - 6000, - 280 - ], - [ - 6300, - 280 - ], - [ - 6600, - 281 - ], - [ - 6900, - 281 - ], - [ - 7200, - 282 - ], - [ - 7500, - 282 - ], - [ - 7800, - 283 - ], - [ - 8100, - 283 - ], - [ - 8400, - 283 - ], - [ - 8700, - 284 - ], - [ - 9000, - 284 - ], - [ - 9300, - 285 - ], - [ - 9600, - 285 - ], - [ - 9900, - 285 - ], - [ - 10200, - 286 - ], - [ - 10500, - 286 - ], - [ - 10800, - 287 - ], - [ - 11100, - 287 - ], - [ - 11400, - 287 - ], - [ - 11700, - 288 - ], - [ - 12000, - 288 - ], - [ - 12300, - 289 - ], - [ - 12600, - 289 - ], - [ - 12900, - 289 - ], - [ - 13200, - 290 - ], - [ - 13500, - 290 - ], - [ - 13800, - 291 - ], - [ - 14100, - 291 - ], - [ - 14400, - 291 - ], - [ - 14700, - 292 - ], - [ - 15000, - 292 - ], - [ - 15300, - 293 - ], - [ - 15600, - 293 - ], - [ - 15900, - 293 - ], - [ - 16200, - 294 - ], - [ - 16500, - 294 - ], - [ - 16800, - 295 - ], - [ - 17100, - 295 - ], - [ - 17400, - 295 - ], - [ - 17700, - 296 - ], - [ - 18000, - 296 - ], - [ - 18300, - 297 - ], - [ - 18600, - 297 - ], - [ - 18900, - 298 - ], - [ - 19200, - 298 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61105, - 8 - ], - [ - 61271, - 8 - ], - [ - 61404, - 8 - ], - [ - 61572, - 8 - ], - [ - 61704, - 8 - ], - [ - 61873, - 7 - ], - [ - 62003, - 8 - ], - [ - 62174, - 7 - ], - [ - 62302, - 9 - ], - [ - 62474, - 8 - ], - [ - 62602, - 8 - ], - [ - 62775, - 8 - ], - [ - 62901, - 8 - ], - [ - 63076, - 7 - ], - [ - 63201, - 8 - ], - [ - 63377, - 7 - ], - [ - 63500, - 8 - ], - [ - 63678, - 7 - ], - [ - 63800, - 7 - ], - [ - 63979, - 7 - ], - [ - 64099, - 8 - ], - [ - 64279, - 7 - ], - [ - 64398, - 8 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.25, - "y": 0.900691152, - "z": 3.0 - }, - "object_poses": [ - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.53715992, - "y": 0.07402537, - "z": 0.405700266 - }, - "rotation": { - "x": -9.85794353e-21, - "y": 90.0000458, - "z": 1.40334191e-14 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -0.5007916, - "y": 0.446069747, - "z": 0.09018695 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -0.370910168, - "y": 0.446069747, - "z": 0.200275838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -0.327616334, - "y": 0.4476165, - "z": 0.09018695 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.79516649, - "y": 0.0182126034, - "z": 2.24681449 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.79166675, - "y": 0.7721102, - "z": 3.09819031 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.86722422, - "y": 0.06923854, - "z": 2.67335486 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": 0.132664, - "y": 0.35175547, - "z": 3.81576252 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": 0.06032799, - "y": 0.8736335, - "z": 3.83950639 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": -1.82376492, - "y": 0.0646615, - "z": 3.68307257 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -0.89701885, - "y": 0.07402537, - "z": 0.3132931 - }, - "rotation": { - "x": 9.92313751e-15, - "y": 315.000061, - "z": -9.923112e-15 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.86471093, - "y": 0.06906557, - "z": 2.96288586 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -1.86036491, - "y": 1.04600561, - "z": 2.009275 - }, - "rotation": { - "x": 0.0, - "y": 90.00051, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -0.5007916, - "y": 0.44772163, - "z": 0.200275838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3159670235, - "scene_num": 413 - }, - "task_id": "trial_T20190909_040614_977988", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_3B1NLC6UG2NX3DTFF0ZXK65FNNMPGX", - "high_descs": [ - "Move to the left to stand on the right side of the toilet.", - "Pick the candle up from the back of the toilet.", - "Turn around and go left to face the tall white dresser.", - "Put the candle on top of the dresser." - ], - "task_desc": "Put a candle on top of a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3QUO65DNQXFYNVI9K5BZZL1GMQ7UON", - "high_descs": [ - "Go to the toilet in front of you. ", - "Pick up the green candle on the back of the toilet. ", - "Turn to your right and go to the white dresser against the wall. ", - "Put the green candle on the edge of the white dresser. " - ], - "task_desc": "Put a candle on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3XLBSAQ9Z738OOKK96T55RU0YJBZ7Q", - "high_descs": [ - "Take a step forward to the toilet.", - "Take the green candle off the toilet tank.", - "Turn around and veer left to the white cabinet on the wall.", - "Place the candle on top of the cabinet, near the front in the middle." - ], - "task_desc": "Place a candle on a cabinet.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040630_667438/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040630_667438/traj_data.json deleted file mode 100644 index 01732a1bc..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040630_667438/traj_data.json +++ /dev/null @@ -1,3246 +0,0 @@ -{ - "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": 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": 10 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 10 - }, - { - "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": 1, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "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": 13 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "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": 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": 3, - "image_name": "000000156.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 31 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Candle", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "candle" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|3|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "candle" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Candle", - [ - -1.656815768, - -1.656815768, - 0.3607478, - 0.3607478, - 1.790466, - 1.790466 - ] - ], - "forceVisible": true, - "objectId": "Candle|-00.41|+00.45|+00.09" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "candle", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Candle", - [ - -1.656815768, - -1.656815768, - 0.3607478, - 0.3607478, - 1.790466, - 1.790466 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "Candle|-00.41|+00.45|+00.09", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - } - ], - "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": "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": "Candle|-00.41|+00.45|+00.09" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 127, - 137, - 137, - 152 - ], - "mask": [ - [ - 40932, - 3 - ], - [ - 41230, - 6 - ], - [ - 41528, - 9 - ], - [ - 41828, - 9 - ], - [ - 42127, - 10 - ], - [ - 42427, - 10 - ], - [ - 42727, - 10 - ], - [ - 43027, - 11 - ], - [ - 43327, - 11 - ], - [ - 43627, - 11 - ], - [ - 43928, - 10 - ], - [ - 44230, - 8 - ], - [ - 44531, - 7 - ], - [ - 44832, - 6 - ], - [ - 45133, - 4 - ], - [ - 45434, - 2 - ] - ], - "point": [ - 132, - 143 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "Candle|-00.41|+00.45|+00.09", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 101 - ], - [ - 1400, - 74 - ], - [ - 1500, - 102 - ], - [ - 1700, - 74 - ], - [ - 1800, - 102 - ], - [ - 1999, - 75 - ], - [ - 2100, - 103 - ], - [ - 2299, - 76 - ], - [ - 2400, - 103 - ], - [ - 2599, - 76 - ], - [ - 2700, - 104 - ], - [ - 2899, - 77 - ], - [ - 3000, - 105 - ], - [ - 3198, - 78 - ], - [ - 3300, - 105 - ], - [ - 3498, - 78 - ], - [ - 3600, - 106 - ], - [ - 3798, - 79 - ], - [ - 3900, - 106 - ], - [ - 4098, - 79 - ], - [ - 4200, - 107 - ], - [ - 4398, - 80 - ], - [ - 4500, - 107 - ], - [ - 4697, - 81 - ], - [ - 4800, - 108 - ], - [ - 4997, - 81 - ], - [ - 5100, - 109 - ], - [ - 5251, - 1 - ], - [ - 5297, - 82 - ], - [ - 5400, - 109 - ], - [ - 5551, - 1 - ], - [ - 5597, - 82 - ], - [ - 5700, - 110 - ], - [ - 5850, - 2 - ], - [ - 5896, - 84 - ], - [ - 6000, - 110 - ], - [ - 6150, - 3 - ], - [ - 6196, - 84 - ], - [ - 6300, - 111 - ], - [ - 6449, - 4 - ], - [ - 6496, - 84 - ], - [ - 6600, - 111 - ], - [ - 6749, - 4 - ], - [ - 6796, - 85 - ], - [ - 6900, - 112 - ], - [ - 7048, - 5 - ], - [ - 7095, - 86 - ], - [ - 7200, - 113 - ], - [ - 7348, - 5 - ], - [ - 7395, - 87 - ], - [ - 7500, - 113 - ], - [ - 7647, - 6 - ], - [ - 7695, - 87 - ], - [ - 7800, - 114 - ], - [ - 7947, - 6 - ], - [ - 7994, - 89 - ], - [ - 8100, - 114 - ], - [ - 8247, - 7 - ], - [ - 8294, - 89 - ], - [ - 8400, - 114 - ], - [ - 8548, - 6 - ], - [ - 8593, - 90 - ], - [ - 8700, - 114 - ], - [ - 8848, - 6 - ], - [ - 8893, - 91 - ], - [ - 9000, - 113 - ], - [ - 9149, - 6 - ], - [ - 9193, - 91 - ], - [ - 9300, - 113 - ], - [ - 9449, - 6 - ], - [ - 9492, - 93 - ], - [ - 9600, - 112 - ], - [ - 9750, - 6 - ], - [ - 9791, - 94 - ], - [ - 9900, - 112 - ], - [ - 10050, - 7 - ], - [ - 10089, - 96 - ], - [ - 10200, - 112 - ], - [ - 10350, - 10 - ], - [ - 10386, - 100 - ], - [ - 10500, - 111 - ], - [ - 10651, - 135 - ], - [ - 10800, - 111 - ], - [ - 10951, - 136 - ], - [ - 11100, - 111 - ], - [ - 11252, - 135 - ], - [ - 11400, - 111 - ], - [ - 11552, - 135 - ], - [ - 11700, - 111 - ], - [ - 11852, - 136 - ], - [ - 12000, - 111 - ], - [ - 12152, - 136 - ], - [ - 12300, - 111 - ], - [ - 12452, - 137 - ], - [ - 12600, - 112 - ], - [ - 12751, - 138 - ], - [ - 12900, - 113 - ], - [ - 13050, - 139 - ], - [ - 13200, - 115 - ], - [ - 13348, - 142 - ], - [ - 13500, - 118 - ], - [ - 13644, - 146 - ], - [ - 13800, - 122 - ], - [ - 13940, - 151 - ], - [ - 14100, - 130 - ], - [ - 14232, - 159 - ], - [ - 14400, - 291 - ], - [ - 14700, - 292 - ], - [ - 15000, - 292 - ], - [ - 15300, - 293 - ], - [ - 15600, - 293 - ], - [ - 15900, - 293 - ], - [ - 16200, - 294 - ], - [ - 16500, - 294 - ], - [ - 16800, - 295 - ], - [ - 17100, - 295 - ], - [ - 17400, - 295 - ], - [ - 17700, - 296 - ], - [ - 18000, - 296 - ], - [ - 18300, - 297 - ], - [ - 18600, - 297 - ], - [ - 18900, - 298 - ], - [ - 19200, - 298 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61105, - 8 - ], - [ - 61271, - 8 - ], - [ - 61404, - 8 - ], - [ - 61572, - 8 - ], - [ - 61704, - 8 - ], - [ - 61873, - 7 - ], - [ - 62003, - 8 - ], - [ - 62174, - 7 - ], - [ - 62302, - 9 - ], - [ - 62474, - 8 - ], - [ - 62602, - 8 - ], - [ - 62775, - 8 - ], - [ - 62901, - 8 - ], - [ - 63076, - 7 - ], - [ - 63201, - 8 - ], - [ - 63377, - 7 - ], - [ - 63500, - 8 - ], - [ - 63678, - 7 - ], - [ - 63800, - 7 - ], - [ - 63979, - 7 - ], - [ - 64099, - 8 - ], - [ - 64279, - 7 - ], - [ - 64398, - 8 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.0, - "y": 0.900691152, - "z": 2.25 - }, - "object_poses": [ - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.83969629, - "y": 0.7707759, - "z": 3.12294936 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.85078, - "y": 0.7030755, - "z": 3.470483 - }, - "rotation": { - "x": 1.40334208e-14, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": 0.303161561, - "y": 1.16040409, - "z": 3.82967472 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.69560754, - "y": 0.7721102, - "z": 3.07343149 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.734312, - "y": 0.018530177, - "z": 2.19318557 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": 0.204999983, - "y": 1.16072166, - "z": 3.79739141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.78281879, - "y": 0.06773126, - "z": 3.54018378 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": -1.8315, - "y": 0.584199965, - "z": 2.3903 - }, - "rotation": { - "x": 4.07111e-13, - "y": 180.0, - "z": 90.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": -1.918308, - "y": 0.763356566, - "z": 2.518014 - }, - "rotation": { - "x": 1.88859049e-05, - "y": 1.6120183e-10, - "z": -1.468302e-05 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.65700018, - "y": 0.07402537, - "z": 0.8440808 - }, - "rotation": { - "x": 1.40334191e-14, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.82376492, - "y": 0.06906557, - "z": 3.64735031 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -0.414203942, - "y": 0.4476165, - "z": 0.09018695 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -0.414203942, - "y": 0.44772163, - "z": 0.236972123 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1148281479, - "scene_num": 413 - }, - "task_id": "trial_T20190909_040630_667438", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1HKHM4NVAO98H_32VNZTT0AAV23AGAXR1LGC8RY04R47", - "high_descs": [ - "turn left and walk over to the left side of the bath tub", - "grab the candle off of the bath tub", - "turn around and walk over to the tall white cabinet at the end of the room", - "place the candle down on top of the tall white cabinet" - ], - "task_desc": "place a candle on top of the tall white cabinet", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "ABR580YP0ST7X_3ZAK8W07I75DKEQQIK9O9K5YONQ0U2", - "high_descs": [ - "Turn left, walk to wall,", - "pick up candle off of bath tub", - "Turn around, walk to cabinet, ", - "place candle on top of cabinet" - ], - "task_desc": "Take candle from bath tub to cabinet", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MP3NYIS55VQP_3ZOTGHDK5L2I8IQ5V0GZKKJS1THOSW", - "high_descs": [ - "Turn left and walk towards the corner of the bath.", - "Pick up the candle that is behind the soap on the corner of the bath.", - "Turn left and walk towards the chest of drawers.", - "Put the candle on top of the chest of drawers." - ], - "task_desc": "Put the green candle on the chest of drawers.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040707_760902/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040707_760902/traj_data.json deleted file mode 100644 index 268fb86ef..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Candle-None-Dresser-413/trial_T20190909_040707_760902/traj_data.json +++ /dev/null @@ -1,3123 +0,0 @@ -{ - "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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 9 - }, - { - "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": 1, - "image_name": "000000062.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "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": 11 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "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": 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": 25 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 26 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Candle", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "toilet" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|7|3|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "candle" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Candle", - [ - -7.1964016, - -7.1964016, - 6.98794748, - 6.98794748, - 4.18402244, - 4.18402244 - ] - ], - "coordinateReceptacleObjectId": [ - "Toilet", - [ - -6.272, - -6.272, - 7.264, - 7.264, - -0.00123298168, - -0.00123298168 - ] - ], - "forceVisible": true, - "objectId": "Candle|-01.80|+01.05|+01.75" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "candle", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Candle", - [ - -7.1964016, - -7.1964016, - 6.98794748, - 6.98794748, - 4.18402244, - 4.18402244 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "Candle|-01.80|+01.05|+01.75", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - } - ], - "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Candle|-01.80|+01.05|+01.75" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 144, - 119, - 154, - 138 - ], - "mask": [ - [ - 35548, - 7 - ], - [ - 35846, - 9 - ], - [ - 36144, - 11 - ], - [ - 36444, - 11 - ], - [ - 36744, - 11 - ], - [ - 37044, - 11 - ], - [ - 37344, - 11 - ], - [ - 37644, - 11 - ], - [ - 37944, - 11 - ], - [ - 38244, - 11 - ], - [ - 38544, - 11 - ], - [ - 38844, - 11 - ], - [ - 39144, - 11 - ], - [ - 39444, - 11 - ], - [ - 39744, - 11 - ], - [ - 40044, - 11 - ], - [ - 40344, - 11 - ], - [ - 40644, - 11 - ], - [ - 40945, - 9 - ], - [ - 41247, - 5 - ] - ], - "point": [ - 149, - 127 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Candle|-01.80|+01.05|+01.75", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 151 - ], - [ - 1399, - 75 - ], - [ - 1500, - 151 - ], - [ - 1699, - 75 - ], - [ - 1800, - 151 - ], - [ - 1999, - 75 - ], - [ - 2100, - 151 - ], - [ - 2299, - 76 - ], - [ - 2400, - 151 - ], - [ - 2598, - 77 - ], - [ - 2700, - 151 - ], - [ - 2898, - 78 - ], - [ - 3000, - 151 - ], - [ - 3198, - 78 - ], - [ - 3300, - 151 - ], - [ - 3498, - 78 - ], - [ - 3600, - 151 - ], - [ - 3798, - 79 - ], - [ - 3900, - 151 - ], - [ - 4098, - 79 - ], - [ - 4200, - 151 - ], - [ - 4397, - 81 - ], - [ - 4500, - 151 - ], - [ - 4697, - 81 - ], - [ - 4800, - 151 - ], - [ - 4997, - 81 - ], - [ - 5100, - 151 - ], - [ - 5297, - 82 - ], - [ - 5400, - 151 - ], - [ - 5597, - 82 - ], - [ - 5700, - 151 - ], - [ - 5897, - 83 - ], - [ - 6000, - 151 - ], - [ - 6196, - 84 - ], - [ - 6300, - 151 - ], - [ - 6496, - 84 - ], - [ - 6600, - 151 - ], - [ - 6796, - 85 - ], - [ - 6900, - 151 - ], - [ - 7096, - 85 - ], - [ - 7200, - 151 - ], - [ - 7396, - 86 - ], - [ - 7500, - 151 - ], - [ - 7696, - 86 - ], - [ - 7800, - 151 - ], - [ - 7995, - 88 - ], - [ - 8100, - 151 - ], - [ - 8295, - 88 - ], - [ - 8400, - 151 - ], - [ - 8595, - 88 - ], - [ - 8700, - 151 - ], - [ - 8895, - 89 - ], - [ - 9000, - 151 - ], - [ - 9195, - 89 - ], - [ - 9300, - 151 - ], - [ - 9495, - 90 - ], - [ - 9600, - 151 - ], - [ - 9794, - 91 - ], - [ - 9900, - 151 - ], - [ - 10094, - 91 - ], - [ - 10200, - 151 - ], - [ - 10394, - 92 - ], - [ - 10500, - 151 - ], - [ - 10694, - 92 - ], - [ - 10800, - 151 - ], - [ - 10994, - 93 - ], - [ - 11100, - 151 - ], - [ - 11294, - 93 - ], - [ - 11400, - 151 - ], - [ - 11593, - 94 - ], - [ - 11700, - 151 - ], - [ - 11893, - 95 - ], - [ - 12000, - 151 - ], - [ - 12193, - 95 - ], - [ - 12300, - 151 - ], - [ - 12493, - 96 - ], - [ - 12600, - 151 - ], - [ - 12793, - 96 - ], - [ - 12900, - 151 - ], - [ - 13093, - 96 - ], - [ - 13200, - 151 - ], - [ - 13392, - 98 - ], - [ - 13500, - 152 - ], - [ - 13692, - 98 - ], - [ - 13800, - 153 - ], - [ - 13992, - 99 - ], - [ - 14100, - 154 - ], - [ - 14292, - 99 - ], - [ - 14400, - 154 - ], - [ - 14590, - 101 - ], - [ - 14700, - 155 - ], - [ - 14889, - 103 - ], - [ - 15000, - 156 - ], - [ - 15188, - 104 - ], - [ - 15300, - 157 - ], - [ - 15487, - 106 - ], - [ - 15600, - 158 - ], - [ - 15786, - 107 - ], - [ - 15900, - 162 - ], - [ - 16084, - 109 - ], - [ - 16200, - 165 - ], - [ - 16381, - 113 - ], - [ - 16500, - 168 - ], - [ - 16675, - 119 - ], - [ - 16800, - 295 - ], - [ - 17100, - 295 - ], - [ - 17400, - 295 - ], - [ - 17700, - 296 - ], - [ - 18000, - 296 - ], - [ - 18300, - 297 - ], - [ - 18600, - 297 - ], - [ - 18900, - 298 - ], - [ - 19200, - 298 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61105, - 8 - ], - [ - 61271, - 8 - ], - [ - 61404, - 8 - ], - [ - 61572, - 8 - ], - [ - 61704, - 8 - ], - [ - 61873, - 7 - ], - [ - 62003, - 8 - ], - [ - 62174, - 7 - ], - [ - 62302, - 9 - ], - [ - 62474, - 8 - ], - [ - 62602, - 8 - ], - [ - 62775, - 8 - ], - [ - 62901, - 8 - ], - [ - 63076, - 7 - ], - [ - 63201, - 8 - ], - [ - 63377, - 7 - ], - [ - 63500, - 8 - ], - [ - 63678, - 7 - ], - [ - 63800, - 7 - ], - [ - 63979, - 7 - ], - [ - 64099, - 8 - ], - [ - 64279, - 7 - ], - [ - 64398, - 8 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.0, - "y": 0.900691152, - "z": 2.5 - }, - "object_poses": [ - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -0.457497776, - "y": 0.446811944, - "z": 0.200275838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -0.327616334, - "y": 0.446069747, - "z": 0.09018695 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.86036491, - "y": 1.04445887, - "z": 2.009275 - }, - "rotation": { - "x": 0.0, - "y": 90.00051, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.79166675, - "y": 0.7721102, - "z": 3.12294936 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -0.5873792, - "y": 0.4477217, - "z": 0.163579524 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": -1.8315, - "y": 0.584199965, - "z": 2.3903 - }, - "rotation": { - "x": 4.07111e-13, - "y": 180.0, - "z": 90.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.76473927, - "y": 0.0168782938, - "z": 2.22 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": 0.303161561, - "y": 1.156, - "z": 3.79739141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": -1.86722422, - "y": 0.0645169, - "z": 3.31997514 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.52760017, - "y": 0.07402537, - "z": 0.465840161 - }, - "rotation": { - "x": 1.40334191e-14, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.88772583, - "y": 0.7721102, - "z": 3.09819031 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -1.7991004, - "y": 1.04600561, - "z": 1.74698687 - }, - "rotation": { - "x": 0.0, - "y": 90.00051, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.69560754, - "y": 0.7724278, - "z": 3.07343149 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 178809784, - "scene_num": 413 - }, - "task_id": "trial_T20190909_040707_760902", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A4UAFZ5LW71K_354P56DE9NUBNCY6EEZX9YXXB49S7C", - "high_descs": [ - "turn right, take a few steps, turn right, walk to the toilet", - "pick up the candle from the back of the toilet", - "turn around, walk towards shower, turn left, walk to the dresser", - "put the candle on the dresser" - ], - "task_desc": "move the candle from the back of the toilet to the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A22ON3MIIG0IJA_36WLNQG7821XF5WEQ0R8PJFET3MBEB", - "high_descs": [ - "Turn around and walk to the front of the toilet.", - "Pick up the green candle from the toilet.", - "Turn around and walk to the shower then turn left and walk to the white stand.", - "Put the candle on top of the stand next to the toilet paper." - ], - "task_desc": "Put a candle on the white stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3L6L49WXW3ODYNIC0KOIDB3V6IE546", - "high_descs": [ - "Turn around and go to the toilet, between the sink and the bath tub. ", - "Pick up the green candle on the back of the toilet. ", - "Turn to your right and go across the room to the white dresser. ", - "Place the candle to the left of the roll of toilet paper, on the white dresser. " - ], - "task_desc": "Put a candle on the dresser. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033450_287042/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033450_287042/traj_data.json deleted file mode 100644 index 70497d427..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033450_287042/traj_data.json +++ /dev/null @@ -1,2475 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 9 - }, - { - "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": 1, - "image_name": "000000062.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "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": 11 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "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": 3, - "image_name": "000000146.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 20 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-1|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 2.5998416, - 2.5998416, - -0.988390924, - -0.988390924, - 1.675529124, - 1.675529124 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+00.65|+00.42|-00.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 2.5998416, - 2.5998416, - -0.988390924, - -0.988390924, - 1.675529124, - 1.675529124 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+00.65|+00.42|-00.25", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - } - ], - "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": "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": "CellPhone|+00.65|+00.42|-00.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 133, - 147, - 164, - 160 - ], - "mask": [ - [ - 43934, - 31 - ], - [ - 44234, - 31 - ], - [ - 44534, - 31 - ], - [ - 44834, - 31 - ], - [ - 45134, - 31 - ], - [ - 45434, - 31 - ], - [ - 45734, - 31 - ], - [ - 46034, - 31 - ], - [ - 46334, - 31 - ], - [ - 46634, - 31 - ], - [ - 46934, - 31 - ], - [ - 47233, - 32 - ], - [ - 47533, - 32 - ], - [ - 47834, - 31 - ] - ], - "point": [ - 148, - 152 - ] - } - }, - "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": "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": "CellPhone|+00.65|+00.42|-00.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 182 - ], - [ - 3608, - 44 - ], - [ - 3718, - 182 - ], - [ - 3907, - 45 - ], - [ - 4017, - 183 - ], - [ - 4207, - 45 - ], - [ - 4317, - 183 - ], - [ - 4507, - 45 - ], - [ - 4617, - 183 - ], - [ - 4806, - 46 - ], - [ - 4917, - 183 - ], - [ - 5106, - 46 - ], - [ - 5216, - 184 - ], - [ - 5405, - 48 - ], - [ - 5516, - 184 - ], - [ - 5705, - 48 - ], - [ - 5816, - 184 - ], - [ - 6004, - 50 - ], - [ - 6116, - 184 - ], - [ - 6304, - 50 - ], - [ - 6415, - 185 - ], - [ - 6603, - 52 - ], - [ - 6715, - 185 - ], - [ - 6903, - 53 - ], - [ - 7015, - 185 - ], - [ - 7202, - 55 - ], - [ - 7315, - 185 - ], - [ - 7502, - 55 - ], - [ - 7614, - 186 - ], - [ - 7802, - 56 - ], - [ - 7914, - 186 - ], - [ - 8101, - 58 - ], - [ - 8214, - 186 - ], - [ - 8401, - 59 - ], - [ - 8514, - 246 - ], - [ - 8813, - 248 - ], - [ - 9113, - 249 - ], - [ - 9413, - 250 - ], - [ - 9713, - 251 - ], - [ - 10012, - 252 - ], - [ - 10312, - 253 - ], - [ - 10611, - 255 - ], - [ - 10911, - 256 - ], - [ - 11210, - 258 - ], - [ - 11509, - 259 - ], - [ - 11808, - 261 - ], - [ - 12107, - 263 - ], - [ - 12406, - 266 - ], - [ - 12704, - 269 - ], - [ - 13002, - 273 - ], - [ - 13300, - 119 - ], - [ - 13450, - 128 - ], - [ - 13597, - 121 - ], - [ - 13753, - 129 - ], - [ - 13892, - 126 - ], - [ - 14054, - 263 - ], - [ - 14354, - 263 - ], - [ - 14655, - 261 - ], - [ - 14955, - 261 - ], - [ - 15255, - 261 - ], - [ - 15556, - 259 - ], - [ - 15856, - 259 - ], - [ - 16156, - 259 - ], - [ - 16457, - 147 - ], - [ - 16606, - 109 - ], - [ - 16757, - 147 - ], - [ - 16906, - 108 - ], - [ - 17057, - 147 - ], - [ - 17206, - 108 - ], - [ - 17358, - 146 - ], - [ - 17506, - 108 - ], - [ - 17658, - 146 - ], - [ - 17806, - 108 - ], - [ - 17958, - 145 - ], - [ - 18106, - 108 - ], - [ - 18259, - 144 - ], - [ - 18406, - 108 - ], - [ - 18559, - 144 - ], - [ - 18706, - 107 - ], - [ - 18859, - 144 - ], - [ - 19005, - 108 - ], - [ - 19159, - 144 - ], - [ - 19305, - 108 - ], - [ - 19460, - 143 - ], - [ - 19605, - 108 - ], - [ - 19760, - 143 - ], - [ - 19905, - 108 - ], - [ - 20060, - 142 - ], - [ - 20205, - 108 - ], - [ - 20361, - 141 - ], - [ - 20505, - 108 - ], - [ - 20661, - 141 - ], - [ - 20805, - 108 - ], - [ - 20961, - 141 - ], - [ - 21105, - 108 - ], - [ - 21262, - 140 - ], - [ - 21404, - 109 - ], - [ - 21562, - 140 - ], - [ - 21704, - 109 - ], - [ - 21862, - 140 - ], - [ - 22004, - 109 - ], - [ - 22162, - 140 - ], - [ - 22304, - 109 - ], - [ - 22463, - 138 - ], - [ - 22604, - 109 - ], - [ - 22763, - 138 - ], - [ - 22904, - 109 - ], - [ - 23063, - 138 - ], - [ - 23204, - 109 - ], - [ - 23363, - 138 - ], - [ - 23504, - 109 - ], - [ - 23664, - 137 - ], - [ - 23803, - 110 - ], - [ - 23964, - 137 - ], - [ - 24103, - 111 - ], - [ - 24264, - 137 - ], - [ - 24403, - 111 - ], - [ - 24564, - 137 - ], - [ - 24703, - 111 - ], - [ - 24864, - 136 - ], - [ - 25003, - 111 - ], - [ - 25164, - 136 - ], - [ - 25303, - 111 - ], - [ - 25464, - 136 - ], - [ - 25603, - 111 - ], - [ - 25764, - 136 - ], - [ - 25903, - 111 - ], - [ - 26064, - 136 - ], - [ - 26202, - 113 - ], - [ - 26364, - 136 - ], - [ - 26502, - 113 - ], - [ - 26664, - 136 - ], - [ - 26802, - 113 - ], - [ - 26964, - 135 - ], - [ - 27102, - 113 - ], - [ - 27264, - 135 - ], - [ - 27402, - 113 - ], - [ - 27564, - 135 - ], - [ - 27702, - 113 - ], - [ - 27864, - 35 - ], - [ - 27900, - 99 - ], - [ - 28002, - 114 - ], - [ - 28163, - 35 - ], - [ - 28200, - 99 - ], - [ - 28302, - 114 - ], - [ - 28463, - 24 - ], - [ - 28489, - 9 - ], - [ - 28500, - 99 - ], - [ - 28601, - 115 - ], - [ - 28763, - 24 - ], - [ - 28790, - 9 - ], - [ - 28800, - 99 - ], - [ - 28901, - 115 - ], - [ - 29063, - 25 - ], - [ - 29091, - 8 - ], - [ - 29100, - 99 - ], - [ - 29200, - 62 - ], - [ - 29269, - 47 - ], - [ - 29362, - 27 - ], - [ - 29392, - 5 - ], - [ - 29399, - 159 - ], - [ - 29574, - 42 - ], - [ - 29662, - 27 - ], - [ - 29693, - 4 - ], - [ - 29698, - 158 - ], - [ - 29876, - 41 - ], - [ - 29962, - 28 - ], - [ - 29994, - 2 - ], - [ - 29997, - 157 - ], - [ - 30178, - 39 - ], - [ - 30261, - 30 - ], - [ - 30297, - 155 - ], - [ - 30479, - 38 - ], - [ - 30561, - 29 - ], - [ - 30598, - 154 - ], - [ - 30780, - 37 - ], - [ - 30860, - 31 - ], - [ - 30900, - 151 - ], - [ - 31081, - 36 - ], - [ - 31160, - 32 - ], - [ - 31198, - 152 - ], - [ - 31382, - 36 - ], - [ - 31459, - 35 - ], - [ - 31500, - 149 - ], - [ - 31683, - 35 - ], - [ - 31759, - 36 - ], - [ - 31798, - 151 - ], - [ - 31984, - 34 - ], - [ - 32058, - 37 - ], - [ - 32100, - 148 - ], - [ - 32284, - 34 - ], - [ - 32357, - 39 - ], - [ - 32400, - 148 - ], - [ - 32584, - 35 - ], - [ - 32656, - 41 - ], - [ - 32699, - 149 - ], - [ - 32865, - 3 - ], - [ - 32884, - 35 - ], - [ - 32955, - 42 - ], - [ - 33000, - 147 - ], - [ - 33163, - 6 - ], - [ - 33185, - 35 - ], - [ - 33254, - 43 - ], - [ - 33298, - 149 - ], - [ - 33463, - 6 - ], - [ - 33485, - 112 - ], - [ - 33598, - 150 - ], - [ - 33764, - 5 - ], - [ - 33785, - 112 - ], - [ - 33898, - 150 - ], - [ - 34065, - 3 - ], - [ - 34085, - 112 - ], - [ - 34199, - 149 - ], - [ - 34385, - 112 - ], - [ - 34499, - 149 - ], - [ - 34684, - 114 - ], - [ - 34799, - 149 - ], - [ - 34984, - 114 - ], - [ - 35099, - 150 - ], - [ - 35284, - 114 - ], - [ - 35400, - 150 - ], - [ - 35583, - 115 - ], - [ - 35700, - 151 - ], - [ - 35883, - 268 - ], - [ - 36182, - 270 - ], - [ - 36481, - 272 - ], - [ - 36780, - 275 - ], - [ - 37078, - 279 - ], - [ - 37377, - 282 - ], - [ - 37675, - 288 - ], - [ - 37970, - 2230 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -1.0, - "y": 0.90192616, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": -0.117291637, - "y": 0.4098128, - "z": -1.6566993 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.398420572, - "y": 0.0415946729, - "z": -1.59889674 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 0.402982146, - "y": 0.9759007, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.679022431, - "y": 0.800598443, - "z": -1.82499027 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 1.14513469, - "y": 0.4174855, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.897547364, - "y": 0.4174855, - "z": 0.585646749 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 0.6499604, - "y": 0.418882281, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 2.25251436, - "y": 0.576447666, - "z": 1.24006689 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 0.0008761799, - "y": 0.972896039, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 2.06845665, - "y": 0.570296, - "z": 1.34892035 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": -0.200176775, - "y": 0.9731397, - "z": -1.48415256 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.64030886, - "y": 0.413577348, - "z": -0.08054888 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 0.201929152, - "y": 0.9704067, - "z": -1.48415256 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.300606668, - "y": 0.8056051, - "z": -1.59889674 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 129026489, - "scene_num": 317 - }, - "task_id": "trial_T20190908_033450_287042", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1DMXEJGJY02E1_3DQQ64TANJ2LFAXHYXEY5N71NN0PWB", - "high_descs": [ - "Turn around and go to the bed.", - "Pick up the phone from the bed.", - "Turn right and go to the dresser.", - "Put the phone on the dresser." - ], - "task_desc": "Move the phone from the bed to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3R19ZA45J8915_3FIJLY1B6XLJ4OBM884Y1ZL1SKJPFM", - "high_descs": [ - "Turn around completely and walk to the foot of the bed. ", - "Pick up the cell phone that is on the bed. ", - "Turn to your right and move forward towards the dresser.", - "Place the phone upright in a vertical position on top of the CD that is on the dresser." - ], - "task_desc": "Move a phone from the bed to the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3IO1LGZLKCE2F3JULYZJL7DYABJ86L", - "high_descs": [ - "Turn to the right and then right again to face the end of the bed.", - "Pick the phone up from the bed.", - "Turn to the right and face the dresser.", - "Put the phone down on the dresser on top of the disc." - ], - "task_desc": "Put a phone on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033503_132415/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033503_132415/traj_data.json deleted file mode 100644 index cf8376010..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033503_132415/traj_data.json +++ /dev/null @@ -1,2276 +0,0 @@ -{ - "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": 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": 10 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "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": 11 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "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": 13 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000129.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 21 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|5|-4|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.58053876, - 4.58053876, - -0.988390924, - -0.988390924, - 1.675529124, - 1.675529124 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.15|+00.42|-00.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.58053876, - 4.58053876, - -0.988390924, - -0.988390924, - 1.675529124, - 1.675529124 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.15|+00.42|-00.25", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - } - ], - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "CellPhone|+01.15|+00.42|-00.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 122, - 124, - 137, - 149 - ], - "mask": [ - [ - 37024, - 14 - ], - [ - 37324, - 14 - ], - [ - 37623, - 15 - ], - [ - 37923, - 15 - ], - [ - 38223, - 15 - ], - [ - 38523, - 15 - ], - [ - 38823, - 15 - ], - [ - 39123, - 15 - ], - [ - 39423, - 15 - ], - [ - 39723, - 15 - ], - [ - 40023, - 15 - ], - [ - 40323, - 15 - ], - [ - 40623, - 15 - ], - [ - 40923, - 15 - ], - [ - 41223, - 15 - ], - [ - 41523, - 15 - ], - [ - 41823, - 14 - ], - [ - 42123, - 14 - ], - [ - 42422, - 15 - ], - [ - 42722, - 15 - ], - [ - 43022, - 15 - ], - [ - 43322, - 15 - ], - [ - 43622, - 15 - ], - [ - 43922, - 15 - ], - [ - 44222, - 15 - ], - [ - 44522, - 15 - ] - ], - "point": [ - 129, - 135 - ] - } - }, - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "CellPhone|+01.15|+00.42|-00.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 182 - ], - [ - 3608, - 44 - ], - [ - 3718, - 182 - ], - [ - 3907, - 45 - ], - [ - 4017, - 183 - ], - [ - 4207, - 45 - ], - [ - 4317, - 183 - ], - [ - 4507, - 45 - ], - [ - 4617, - 182 - ], - [ - 4806, - 46 - ], - [ - 4917, - 182 - ], - [ - 5106, - 46 - ], - [ - 5216, - 183 - ], - [ - 5405, - 48 - ], - [ - 5516, - 183 - ], - [ - 5705, - 48 - ], - [ - 5816, - 182 - ], - [ - 6004, - 50 - ], - [ - 6116, - 182 - ], - [ - 6304, - 50 - ], - [ - 6415, - 183 - ], - [ - 6603, - 52 - ], - [ - 6715, - 183 - ], - [ - 6903, - 53 - ], - [ - 7015, - 182 - ], - [ - 7202, - 55 - ], - [ - 7315, - 182 - ], - [ - 7502, - 55 - ], - [ - 7614, - 183 - ], - [ - 7802, - 56 - ], - [ - 7914, - 183 - ], - [ - 8101, - 58 - ], - [ - 8214, - 182 - ], - [ - 8401, - 59 - ], - [ - 8514, - 182 - ], - [ - 8700, - 60 - ], - [ - 8815, - 181 - ], - [ - 9000, - 61 - ], - [ - 9116, - 180 - ], - [ - 9300, - 62 - ], - [ - 9416, - 179 - ], - [ - 9600, - 63 - ], - [ - 9716, - 179 - ], - [ - 9900, - 64 - ], - [ - 10016, - 179 - ], - [ - 10200, - 64 - ], - [ - 10317, - 177 - ], - [ - 10500, - 65 - ], - [ - 10617, - 177 - ], - [ - 10800, - 66 - ], - [ - 10917, - 177 - ], - [ - 11100, - 67 - ], - [ - 11217, - 177 - ], - [ - 11400, - 68 - ], - [ - 11517, - 176 - ], - [ - 11700, - 68 - ], - [ - 11817, - 176 - ], - [ - 12000, - 69 - ], - [ - 12117, - 176 - ], - [ - 12300, - 70 - ], - [ - 12418, - 175 - ], - [ - 12600, - 72 - ], - [ - 12718, - 174 - ], - [ - 12900, - 73 - ], - [ - 13018, - 174 - ], - [ - 13200, - 75 - ], - [ - 13318, - 174 - ], - [ - 13500, - 78 - ], - [ - 13618, - 174 - ], - [ - 13800, - 79 - ], - [ - 13918, - 173 - ], - [ - 14100, - 79 - ], - [ - 14218, - 173 - ], - [ - 14400, - 78 - ], - [ - 14518, - 173 - ], - [ - 14700, - 78 - ], - [ - 14818, - 172 - ], - [ - 15000, - 39 - ], - [ - 15055, - 23 - ], - [ - 15118, - 172 - ], - [ - 15300, - 39 - ], - [ - 15355, - 23 - ], - [ - 15418, - 172 - ], - [ - 15600, - 39 - ], - [ - 15654, - 24 - ], - [ - 15718, - 172 - ], - [ - 15900, - 38 - ], - [ - 15954, - 23 - ], - [ - 16018, - 171 - ], - [ - 16200, - 38 - ], - [ - 16254, - 23 - ], - [ - 16318, - 171 - ], - [ - 16500, - 38 - ], - [ - 16554, - 23 - ], - [ - 16618, - 171 - ], - [ - 16800, - 38 - ], - [ - 16853, - 24 - ], - [ - 16918, - 171 - ], - [ - 17100, - 37 - ], - [ - 17153, - 24 - ], - [ - 17218, - 170 - ], - [ - 17400, - 37 - ], - [ - 17453, - 24 - ], - [ - 17518, - 170 - ], - [ - 17700, - 37 - ], - [ - 17753, - 24 - ], - [ - 17818, - 170 - ], - [ - 18000, - 36 - ], - [ - 18052, - 24 - ], - [ - 18118, - 170 - ], - [ - 18300, - 36 - ], - [ - 18352, - 24 - ], - [ - 18418, - 169 - ], - [ - 18600, - 36 - ], - [ - 18652, - 24 - ], - [ - 18718, - 169 - ], - [ - 18900, - 35 - ], - [ - 18951, - 25 - ], - [ - 19018, - 169 - ], - [ - 19200, - 35 - ], - [ - 19251, - 25 - ], - [ - 19318, - 169 - ], - [ - 19500, - 35 - ], - [ - 19551, - 25 - ], - [ - 19618, - 168 - ], - [ - 19800, - 34 - ], - [ - 19851, - 25 - ], - [ - 19918, - 168 - ], - [ - 20100, - 76 - ], - [ - 20218, - 168 - ], - [ - 20400, - 76 - ], - [ - 20518, - 168 - ], - [ - 20700, - 76 - ], - [ - 20817, - 171 - ], - [ - 21000, - 76 - ], - [ - 21117, - 175 - ], - [ - 21300, - 77 - ], - [ - 21417, - 178 - ], - [ - 21600, - 77 - ], - [ - 21717, - 182 - ], - [ - 21900, - 77 - ], - [ - 22017, - 260 - ], - [ - 22317, - 260 - ], - [ - 22617, - 260 - ], - [ - 22917, - 260 - ], - [ - 23217, - 261 - ], - [ - 23517, - 261 - ], - [ - 23817, - 261 - ], - [ - 24116, - 262 - ], - [ - 24416, - 263 - ], - [ - 24716, - 263 - ], - [ - 25016, - 263 - ], - [ - 25316, - 264 - ], - [ - 25616, - 264 - ], - [ - 25916, - 264 - ], - [ - 26216, - 265 - ], - [ - 26515, - 266 - ], - [ - 26815, - 267 - ], - [ - 27115, - 268 - ], - [ - 27409, - 1 - ], - [ - 27413, - 12787 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.90192616, - "z": -1.0 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": -0.113538735, - "y": 0.800209165, - "z": -1.59889674 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.5833866, - "y": 0.6110589, - "z": -1.65669906 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 0.211352736, - "y": 0.03953861, - "z": -1.54237342 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.6040349, - "y": 0.970796, - "z": -1.705243 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.6775028, - "y": 0.2169316, - "z": -1.48795271 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": -0.209774613, - "y": 0.411041856, - "z": -1.48801422 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 1.54011464, - "y": 0.04132751, - "z": -2.08177876 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 0.402982026, - "y": 0.9713921, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.64030886, - "y": 0.413577348, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": -0.581208348, - "y": 0.801860452, - "z": -1.71194363 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.14513469, - "y": 0.418882281, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.5797067, - "y": 0.413802862, - "z": -1.600471 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 2.153, - "y": 0.5656478, - "z": 1.23 - }, - "rotation": { - "x": 0.0002907131, - "y": 213.033234, - "z": -0.000148140767 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 2.25251436, - "y": 0.5728469, - "z": 1.29449368 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 1.7501514, - "y": 0.04132751, - "z": -1.9701376 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": -0.5, - "y": 0.965303957, - "z": -1.715 - }, - "rotation": { - "x": 0.0, - "y": 24.1564865, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": -0.117291607, - "y": 0.4098128, - "z": -1.7129277 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.5833866, - "y": 0.415858835, - "z": -1.54424238 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2433850079, - "scene_num": 317 - }, - "task_id": "trial_T20190908_033503_132415", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1ELPYAFO7MANS_3SKEMFQBZ6M9EI4JN2TKVQIGB58K85", - "high_descs": [ - "Turn right and walk to the bed.", - "Pick up the cell phone near the laptop.", - "Turn left and take a couple steps. Turn left to face the left side of the dresser.", - "Place the phone on the dresser to the right and in front of the alarm clock." - ], - "task_desc": "Place a cell phone on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3VFJCI1K42GAU1NWWKE5OFLSUGIGRD", - "high_descs": [ - "Turn to your right and walk to the side of the bed the cell phone and lap top are on. ", - "Pick up the cell phone to the left of the lap top. ", - "Turn around and go to the left end of the dresser. ", - "Place the cell phone on the edge of the dresser, to the right of the alarm clock." - ], - "task_desc": "Put the cell phone on the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AD0NVUGLDYDYN_3UJ1CZ6IZK6OFJYPUDVJASZZQ9NS5V", - "high_descs": [ - "turn right, walk to the end of the bed", - "grab the phone on the bed", - "turn around to the dresser", - "put the phone on the dresser" - ], - "task_desc": "move the phone from the bed to the dresser", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033554_295049/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033554_295049/traj_data.json deleted file mode 100644 index 71e7bd92d..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-317/trial_T20190908_033554_295049/traj_data.json +++ /dev/null @@ -1,2633 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 20 - }, - { - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 28 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|5|-4|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.58053876, - 4.58053876, - -0.988390924, - -0.988390924, - 1.675529124, - 1.675529124 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.15|+00.42|-00.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.58053876, - 4.58053876, - -0.988390924, - -0.988390924, - 1.675529124, - 1.675529124 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.15|+00.42|-00.25", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+01.15|+00.42|-00.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 122, - 124, - 137, - 149 - ], - "mask": [ - [ - 37024, - 14 - ], - [ - 37324, - 14 - ], - [ - 37623, - 15 - ], - [ - 37923, - 15 - ], - [ - 38223, - 15 - ], - [ - 38523, - 15 - ], - [ - 38823, - 15 - ], - [ - 39123, - 15 - ], - [ - 39423, - 15 - ], - [ - 39723, - 15 - ], - [ - 40023, - 15 - ], - [ - 40323, - 15 - ], - [ - 40623, - 15 - ], - [ - 40923, - 15 - ], - [ - 41223, - 15 - ], - [ - 41523, - 15 - ], - [ - 41823, - 14 - ], - [ - 42123, - 14 - ], - [ - 42422, - 15 - ], - [ - 42722, - 15 - ], - [ - 43022, - 15 - ], - [ - 43322, - 15 - ], - [ - 43622, - 15 - ], - [ - 43922, - 15 - ], - [ - 44222, - 15 - ], - [ - 44522, - 15 - ] - ], - "point": [ - 129, - 135 - ] - } - }, - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "CellPhone|+01.15|+00.42|-00.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 291 - ], - [ - 3009, - 291 - ], - [ - 3308, - 292 - ], - [ - 3608, - 292 - ], - [ - 3907, - 293 - ], - [ - 4207, - 293 - ], - [ - 4507, - 292 - ], - [ - 4806, - 293 - ], - [ - 5106, - 293 - ], - [ - 5405, - 294 - ], - [ - 5705, - 293 - ], - [ - 6004, - 294 - ], - [ - 6304, - 294 - ], - [ - 6603, - 295 - ], - [ - 6903, - 261 - ], - [ - 7178, - 19 - ], - [ - 7202, - 262 - ], - [ - 7479, - 18 - ], - [ - 7502, - 262 - ], - [ - 7779, - 18 - ], - [ - 7802, - 263 - ], - [ - 8079, - 18 - ], - [ - 8101, - 264 - ], - [ - 8380, - 16 - ], - [ - 8401, - 265 - ], - [ - 8680, - 16 - ], - [ - 8700, - 266 - ], - [ - 8981, - 15 - ], - [ - 9000, - 266 - ], - [ - 9281, - 15 - ], - [ - 9300, - 267 - ], - [ - 9581, - 14 - ], - [ - 9600, - 267 - ], - [ - 9882, - 13 - ], - [ - 9900, - 267 - ], - [ - 10182, - 13 - ], - [ - 10200, - 268 - ], - [ - 10483, - 11 - ], - [ - 10500, - 268 - ], - [ - 10783, - 11 - ], - [ - 10800, - 268 - ], - [ - 11083, - 11 - ], - [ - 11100, - 269 - ], - [ - 11383, - 11 - ], - [ - 11400, - 293 - ], - [ - 11700, - 293 - ], - [ - 12000, - 293 - ], - [ - 12300, - 106 - ], - [ - 12407, - 186 - ], - [ - 12600, - 106 - ], - [ - 12707, - 185 - ], - [ - 12900, - 105 - ], - [ - 13008, - 184 - ], - [ - 13200, - 105 - ], - [ - 13308, - 184 - ], - [ - 13500, - 23 - ], - [ - 13542, - 63 - ], - [ - 13608, - 184 - ], - [ - 13800, - 18 - ], - [ - 13847, - 58 - ], - [ - 13908, - 183 - ], - [ - 14100, - 15 - ], - [ - 14149, - 56 - ], - [ - 14208, - 183 - ], - [ - 14400, - 11 - ], - [ - 14452, - 52 - ], - [ - 14508, - 183 - ], - [ - 14700, - 9 - ], - [ - 14754, - 50 - ], - [ - 14807, - 183 - ], - [ - 15000, - 7 - ], - [ - 15055, - 49 - ], - [ - 15107, - 183 - ], - [ - 15300, - 5 - ], - [ - 15357, - 47 - ], - [ - 15407, - 183 - ], - [ - 15600, - 3 - ], - [ - 15658, - 46 - ], - [ - 15706, - 184 - ], - [ - 15900, - 1 - ], - [ - 15959, - 45 - ], - [ - 16006, - 183 - ], - [ - 16260, - 43 - ], - [ - 16306, - 183 - ], - [ - 16561, - 42 - ], - [ - 16606, - 183 - ], - [ - 16862, - 41 - ], - [ - 16906, - 183 - ], - [ - 17162, - 41 - ], - [ - 17206, - 182 - ], - [ - 17463, - 40 - ], - [ - 17506, - 182 - ], - [ - 17763, - 40 - ], - [ - 17805, - 183 - ], - [ - 18064, - 39 - ], - [ - 18105, - 183 - ], - [ - 18364, - 38 - ], - [ - 18405, - 182 - ], - [ - 18664, - 38 - ], - [ - 18705, - 182 - ], - [ - 18964, - 38 - ], - [ - 19005, - 182 - ], - [ - 19264, - 38 - ], - [ - 19305, - 182 - ], - [ - 19565, - 37 - ], - [ - 19604, - 182 - ], - [ - 19865, - 37 - ], - [ - 19904, - 182 - ], - [ - 20165, - 36 - ], - [ - 20204, - 182 - ], - [ - 20465, - 36 - ], - [ - 20504, - 182 - ], - [ - 20765, - 36 - ], - [ - 20804, - 184 - ], - [ - 21064, - 37 - ], - [ - 21104, - 188 - ], - [ - 21364, - 37 - ], - [ - 21404, - 191 - ], - [ - 21664, - 37 - ], - [ - 21704, - 195 - ], - [ - 21964, - 37 - ], - [ - 22004, - 196 - ], - [ - 22264, - 36 - ], - [ - 22304, - 196 - ], - [ - 22564, - 36 - ], - [ - 22604, - 196 - ], - [ - 22864, - 37 - ], - [ - 22904, - 196 - ], - [ - 23164, - 37 - ], - [ - 23204, - 196 - ], - [ - 23464, - 37 - ], - [ - 23504, - 196 - ], - [ - 23764, - 37 - ], - [ - 23803, - 197 - ], - [ - 24064, - 37 - ], - [ - 24103, - 197 - ], - [ - 24364, - 37 - ], - [ - 24403, - 197 - ], - [ - 24663, - 38 - ], - [ - 24703, - 197 - ], - [ - 24963, - 37 - ], - [ - 25003, - 197 - ], - [ - 25263, - 37 - ], - [ - 25303, - 197 - ], - [ - 25563, - 37 - ], - [ - 25603, - 197 - ], - [ - 25863, - 37 - ], - [ - 25903, - 197 - ], - [ - 26163, - 37 - ], - [ - 26202, - 198 - ], - [ - 26463, - 37 - ], - [ - 26502, - 198 - ], - [ - 26763, - 37 - ], - [ - 26802, - 198 - ], - [ - 27063, - 36 - ], - [ - 27102, - 198 - ], - [ - 27363, - 36 - ], - [ - 27402, - 198 - ], - [ - 27662, - 37 - ], - [ - 27702, - 198 - ], - [ - 27962, - 37 - ], - [ - 28002, - 198 - ], - [ - 28262, - 37 - ], - [ - 28302, - 198 - ], - [ - 28561, - 38 - ], - [ - 28601, - 199 - ], - [ - 28861, - 38 - ], - [ - 28901, - 199 - ], - [ - 29160, - 39 - ], - [ - 29201, - 199 - ], - [ - 29459, - 39 - ], - [ - 29501, - 199 - ], - [ - 29759, - 39 - ], - [ - 29801, - 199 - ], - [ - 30058, - 40 - ], - [ - 30101, - 199 - ], - [ - 30357, - 41 - ], - [ - 30401, - 201 - ], - [ - 30656, - 42 - ], - [ - 30701, - 203 - ], - [ - 30955, - 43 - ], - [ - 31000, - 206 - ], - [ - 31253, - 45 - ], - [ - 31300, - 208 - ], - [ - 31552, - 46 - ], - [ - 31600, - 209 - ], - [ - 31851, - 46 - ], - [ - 31900, - 211 - ], - [ - 32149, - 48 - ], - [ - 32200, - 213 - ], - [ - 32447, - 50 - ], - [ - 32500, - 215 - ], - [ - 32745, - 52 - ], - [ - 32800, - 217 - ], - [ - 33042, - 55 - ], - [ - 33100, - 219 - ], - [ - 33339, - 58 - ], - [ - 33399, - 224 - ], - [ - 33635, - 62 - ], - [ - 33699, - 298 - ], - [ - 33999, - 298 - ], - [ - 34299, - 298 - ], - [ - 34598, - 299 - ], - [ - 34898, - 299 - ], - [ - 35198, - 5002 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.0, - "y": 0.90192616, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": -2.18552184, - "y": 0.0584594719, - "z": -1.82654738 - }, - "rotation": { - "x": 0.0, - "y": 77.6645, - "z": 0.0 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 1.54011464, - "y": 0.0400984623, - "z": -2.08177876 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.14513469, - "y": 0.418882281, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.88789606, - "y": 0.418882281, - "z": 0.252548873 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.64030886, - "y": 0.418882281, - "z": -0.08054888 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.300606638, - "y": 0.8062553, - "z": -1.768467 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.402982116, - "y": 0.9779568, - "z": -1.70524311 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 0.402982116, - "y": 0.9759007, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.5807066, - "y": 0.6094029, - "z": -1.71292782 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": -0.207072675, - "y": 0.0374277644, - "z": -1.71194375 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 0.119338222, - "y": 0.217771366, - "z": -1.76858079 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 0.897547364, - "y": 0.477432, - "z": 0.2525489 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.491954476, - "y": 0.801860452, - "z": -1.65542018 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.64864373, - "y": 0.043796692, - "z": -2.13042259 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 0.491954476, - "y": 0.03953861, - "z": -1.54237342 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 2.153, - "y": 0.5656478, - "z": 1.23 - }, - "rotation": { - "x": 0.000289420423, - "y": 213.033279, - "z": -0.000146409 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": -0.200176746, - "y": 0.972299933, - "z": -1.85263669 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 0.491954476, - "y": 0.0367776044, - "z": -1.82499027 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 1.39272165, - "y": 0.477432, - "z": 0.419097781 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": -0.5, - "y": 0.965303957, - "z": -1.715 - }, - "rotation": { - "x": 0.0, - "y": 24.1564865, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.604034841, - "y": 0.972240567, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 2.298529, - "y": 0.5724576, - "z": 1.29449368 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.4909036, - "y": 0.415858835, - "z": -1.60047054 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 966659715, - "scene_num": 317 - }, - "task_id": "trial_T20190908_033554_295049", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_3A1PQ49WVKY01SJQIWH83OFG5JQ1HS", - "high_descs": [ - "Go left and then left again to face the bed.", - "Pick up the phone on the left side of the bed.", - "Turn to the left and then left again to face the dresser.", - "Put the phone down on the dresser." - ], - "task_desc": "Put a phone on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1O3TWBUDONVLO_3DBQWDE4Y9FRZ66KMHEXBYPT3BX5NG", - "high_descs": [ - "Walk forward across the room, turn left and step forward and turn to the left to face the bed.", - "Pick up the closest media device on the bed.", - "Turn around and face the dresser on the side of the bed.", - "Place the media device on the center of the dresser." - ], - "task_desc": "To move a media device from the bed to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3NQL1CS15UP29ZPDZA5LWCHZKJ6YV9", - "high_descs": [ - "Turn left and walk around the bed to the side near the safe. ", - "Pick up the cell phone closest to the foot of the bed.", - "Turn around and take a step right to face the dresser.", - "Place the phone on the dresser to the right of the pencil." - ], - "task_desc": "Place a cell phone on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_052323_195252/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_052323_195252/traj_data.json deleted file mode 100644 index bafe5d49f..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_052323_195252/traj_data.json +++ /dev/null @@ -1,3141 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 33 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 34 - }, - { - "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": 2, - "image_name": "000000128.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 36 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 59 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000225.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000226.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000227.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000228.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000229.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000230.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000231.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000232.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000233.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000234.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000235.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000236.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000237.png", - "low_idx": 60 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|5|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 9.257348, - 9.257348, - 6.351864, - 6.351864, - 1.73284006, - 1.73284006 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.648, - 9.648, - 7.98, - 7.98, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.31|+00.43|+01.59" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 9.257348, - 9.257348, - 6.351864, - 6.351864, - 1.73284006, - 1.73284006 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.31|+00.43|+01.59", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+02.31|+00.43|+01.59" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 148, - 204, - 180, - 221 - ], - "mask": [ - [ - 61050, - 15 - ], - [ - 61348, - 32 - ], - [ - 61648, - 33 - ], - [ - 61948, - 33 - ], - [ - 62248, - 33 - ], - [ - 62548, - 33 - ], - [ - 62848, - 33 - ], - [ - 63148, - 33 - ], - [ - 63448, - 33 - ], - [ - 63748, - 33 - ], - [ - 64048, - 33 - ], - [ - 64348, - 33 - ], - [ - 64648, - 33 - ], - [ - 64948, - 33 - ], - [ - 65248, - 33 - ], - [ - 65548, - 33 - ], - [ - 65848, - 33 - ], - [ - 66149, - 32 - ] - ], - "point": [ - 164, - 211 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+02.31|+00.43|+01.59", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 239 - ], - [ - 5134, - 239 - ], - [ - 5434, - 239 - ], - [ - 5734, - 104 - ], - [ - 5840, - 99 - ], - [ - 5953, - 20 - ], - [ - 6033, - 105 - ], - [ - 6140, - 99 - ], - [ - 6253, - 19 - ], - [ - 6333, - 105 - ], - [ - 6440, - 99 - ], - [ - 6553, - 19 - ], - [ - 6633, - 105 - ], - [ - 6740, - 99 - ], - [ - 6854, - 17 - ], - [ - 6932, - 106 - ], - [ - 7040, - 100 - ], - [ - 7154, - 17 - ], - [ - 7232, - 106 - ], - [ - 7340, - 100 - ], - [ - 7454, - 16 - ], - [ - 7531, - 107 - ], - [ - 7640, - 100 - ], - [ - 7755, - 14 - ], - [ - 7831, - 107 - ], - [ - 7940, - 101 - ], - [ - 8055, - 14 - ], - [ - 8131, - 107 - ], - [ - 8240, - 101 - ], - [ - 8355, - 13 - ], - [ - 8430, - 108 - ], - [ - 8540, - 101 - ], - [ - 8656, - 12 - ], - [ - 8730, - 108 - ], - [ - 8840, - 101 - ], - [ - 8956, - 11 - ], - [ - 9030, - 108 - ], - [ - 9140, - 102 - ], - [ - 9256, - 11 - ], - [ - 9329, - 109 - ], - [ - 9440, - 102 - ], - [ - 9557, - 10 - ], - [ - 9629, - 102 - ], - [ - 9745, - 97 - ], - [ - 9857, - 10 - ], - [ - 9929, - 98 - ], - [ - 10049, - 118 - ], - [ - 10228, - 97 - ], - [ - 10351, - 116 - ], - [ - 10528, - 95 - ], - [ - 10653, - 114 - ], - [ - 10827, - 95 - ], - [ - 10954, - 113 - ], - [ - 11127, - 93 - ], - [ - 11255, - 112 - ], - [ - 11427, - 92 - ], - [ - 11557, - 110 - ], - [ - 11726, - 92 - ], - [ - 11858, - 108 - ], - [ - 12026, - 92 - ], - [ - 12158, - 108 - ], - [ - 12326, - 91 - ], - [ - 12459, - 107 - ], - [ - 12625, - 91 - ], - [ - 12760, - 106 - ], - [ - 12925, - 90 - ], - [ - 13060, - 106 - ], - [ - 13225, - 90 - ], - [ - 13361, - 105 - ], - [ - 13524, - 91 - ], - [ - 13661, - 105 - ], - [ - 13824, - 90 - ], - [ - 13961, - 105 - ], - [ - 14123, - 91 - ], - [ - 14261, - 105 - ], - [ - 14423, - 91 - ], - [ - 14561, - 105 - ], - [ - 14723, - 91 - ], - [ - 14861, - 105 - ], - [ - 15022, - 92 - ], - [ - 15161, - 105 - ], - [ - 15322, - 93 - ], - [ - 15461, - 105 - ], - [ - 15622, - 93 - ], - [ - 15760, - 106 - ], - [ - 15921, - 94 - ], - [ - 16060, - 106 - ], - [ - 16221, - 95 - ], - [ - 16359, - 106 - ], - [ - 16521, - 96 - ], - [ - 16659, - 106 - ], - [ - 16820, - 97 - ], - [ - 16958, - 107 - ], - [ - 17120, - 98 - ], - [ - 17258, - 107 - ], - [ - 17419, - 99 - ], - [ - 17557, - 108 - ], - [ - 17719, - 100 - ], - [ - 17856, - 109 - ], - [ - 18019, - 102 - ], - [ - 18155, - 110 - ], - [ - 18318, - 104 - ], - [ - 18453, - 112 - ], - [ - 18618, - 106 - ], - [ - 18751, - 114 - ], - [ - 18918, - 107 - ], - [ - 19050, - 115 - ], - [ - 19217, - 111 - ], - [ - 19347, - 118 - ], - [ - 19517, - 115 - ], - [ - 19642, - 123 - ], - [ - 19817, - 248 - ], - [ - 20116, - 249 - ], - [ - 20416, - 249 - ], - [ - 20715, - 249 - ], - [ - 21015, - 249 - ], - [ - 21315, - 249 - ], - [ - 21614, - 250 - ], - [ - 21914, - 250 - ], - [ - 22214, - 250 - ], - [ - 22513, - 251 - ], - [ - 22813, - 251 - ], - [ - 23113, - 251 - ], - [ - 23412, - 252 - ], - [ - 23712, - 252 - ], - [ - 24011, - 253 - ], - [ - 24311, - 253 - ], - [ - 24611, - 253 - ], - [ - 24910, - 254 - ], - [ - 25210, - 254 - ], - [ - 25510, - 255 - ], - [ - 25809, - 257 - ], - [ - 26109, - 257 - ], - [ - 26409, - 258 - ], - [ - 26708, - 260 - ], - [ - 27008, - 261 - ], - [ - 27307, - 264 - ], - [ - 27607, - 265 - ], - [ - 27907, - 266 - ], - [ - 28206, - 268 - ], - [ - 28506, - 269 - ], - [ - 28806, - 271 - ], - [ - 29105, - 273 - ], - [ - 29405, - 274 - ], - [ - 29705, - 275 - ], - [ - 30004, - 280 - ], - [ - 30304, - 286 - ], - [ - 30603, - 292 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 299 - ], - [ - 33001, - 11699 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -1.25, - "y": 0.9009992, - "z": -2.5 - }, - "object_poses": [ - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.73093879, - "y": 0.9714989, - "z": -0.5409819 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 1.808412, - "y": 0.6806067, - "z": 2.1276257 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.73083019, - "y": 1.14635062, - "z": -2.07341719 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.319151, - "y": 0.447219759, - "z": 1.927214 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.66816688, - "y": 1.14794159, - "z": -1.73138332 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.65724456, - "y": 0.972387, - "z": 0.4642825 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.72115552, - "y": 0.604777455, - "z": -0.3514539 - }, - "rotation": { - "x": 0.0, - "y": 179.999878, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.69949913, - "y": 1.14617419, - "z": -1.959406 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 1.502318, - "y": 0.774509549, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 1.51929641, - "y": 0.3759387, - "z": 2.17761683 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.6995002, - "y": 1.63763475, - "z": -2.07341766 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 0.296522975, - "y": 0.836844742, - "z": -0.9902473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": 1.7310462, - "y": 0.6816989, - "z": 2.30805779 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": -1.628, - "y": 0.965303659, - "z": 0.084 - }, - "rotation": { - "x": 0.0, - "y": 104.999794, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 1.65367734, - "y": 0.6864845, - "z": 2.217843 - }, - "rotation": { - "x": 0.0, - "y": 90.00069, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.87833357, - "y": 0.970796, - "z": -0.138876557 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.80463564, - "y": 0.9764528, - "z": -0.540982068 - }, - "rotation": { - "x": 0.0, - "y": 179.999878, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.314337, - "y": 0.433210015, - "z": 1.587966 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 2.283264, - "y": 0.6806067, - "z": -1.671936 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.6994971, - "y": 1.63793039, - "z": -1.73138523 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": 1.57630837, - "y": 0.691063941, - "z": 2.12762856 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2388264979, - "scene_num": 330 - }, - "task_id": "trial_T20190909_052323_195252", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A31681CCEVDIH3_34X6J5FLPWPSURKVNJZPHON5KBRQJV", - "high_descs": [ - "Make a left and walk around the bed, hanging a right until the brown armchair is reached in the corner of the room.", - "Pick up the smartphone from the brown armchair.", - "Make a left to walk past the bed towards the wide black dresser.", - "Set the smartphone on top of the wide black dresser." - ], - "task_desc": "Move a smartphone from the brown armchair to the top of the wide black dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_39L1G8WVWTITS9YPZJHN0GY8G2231Q", - "high_descs": [ - "Turn left and walk around the bed, then veer left to the chair in the corner of the room on the left.", - "Pick up the cell phone on the chair.", - "Turn left and walk, veering left to the far side of the dresser.", - "Place the phone on the dresser, in front of the yellow object." - ], - "task_desc": "Place a cell phone on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A12HZGOZQD5YK7_3PWWM24LHVPMIRMRU4CXWGGOOU728X", - "high_descs": [ - "Turn left, go across the room, turn right, go across the room and turn left toward the chair.", - "Pick up the phone from the chair. ", - "Turn left, go across the room, turn left and head to the left side of the dresser.", - "Put the phone on the left side of the dresser." - ], - "task_desc": "Put a phone on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_064340_559511/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_064340_559511/traj_data.json deleted file mode 100644 index e0edc5930..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_064340_559511/traj_data.json +++ /dev/null @@ -1,2751 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 6 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 14 - }, - { - "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": 1, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 30 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 35 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|3|2|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.08, - 4.08, - -1.604082108, - -1.604082108, - 3.1013928, - 3.1013928 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 4.08, - 4.08, - -2.936, - -2.936, - 0.24, - 0.24 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.02|+00.78|-00.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.08, - 4.08, - -1.604082108, - -1.604082108, - 3.1013928, - 3.1013928 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.02|+00.78|-00.40", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+01.02|+00.78|-00.40" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 139, - 164, - 153, - 178 - ], - "mask": [ - [ - 49040, - 13 - ], - [ - 49339, - 14 - ], - [ - 49639, - 14 - ], - [ - 49939, - 14 - ], - [ - 50239, - 14 - ], - [ - 50539, - 14 - ], - [ - 50839, - 14 - ], - [ - 51139, - 14 - ], - [ - 51439, - 14 - ], - [ - 51739, - 15 - ], - [ - 52039, - 15 - ], - [ - 52341, - 13 - ], - [ - 52646, - 8 - ], - [ - 52950, - 4 - ], - [ - 53252, - 2 - ] - ], - "point": [ - 146, - 170 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+01.02|+00.78|-00.40", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 265 - ], - [ - 5134, - 266 - ], - [ - 5434, - 266 - ], - [ - 5734, - 266 - ], - [ - 6033, - 267 - ], - [ - 6333, - 267 - ], - [ - 6633, - 267 - ], - [ - 6932, - 268 - ], - [ - 7232, - 268 - ], - [ - 7531, - 97 - ], - [ - 7646, - 154 - ], - [ - 7831, - 88 - ], - [ - 7956, - 144 - ], - [ - 8131, - 84 - ], - [ - 8259, - 141 - ], - [ - 8430, - 81 - ], - [ - 8563, - 137 - ], - [ - 8730, - 80 - ], - [ - 8864, - 136 - ], - [ - 9030, - 79 - ], - [ - 9165, - 135 - ], - [ - 9329, - 79 - ], - [ - 9466, - 134 - ], - [ - 9629, - 78 - ], - [ - 9766, - 134 - ], - [ - 9929, - 78 - ], - [ - 10067, - 132 - ], - [ - 10228, - 78 - ], - [ - 10368, - 131 - ], - [ - 10528, - 78 - ], - [ - 10668, - 131 - ], - [ - 10827, - 78 - ], - [ - 10968, - 131 - ], - [ - 11127, - 78 - ], - [ - 11269, - 130 - ], - [ - 11427, - 77 - ], - [ - 11569, - 130 - ], - [ - 11726, - 78 - ], - [ - 11869, - 130 - ], - [ - 12026, - 78 - ], - [ - 12170, - 129 - ], - [ - 12326, - 77 - ], - [ - 12470, - 130 - ], - [ - 12625, - 78 - ], - [ - 12770, - 130 - ], - [ - 12925, - 78 - ], - [ - 13070, - 130 - ], - [ - 13225, - 78 - ], - [ - 13370, - 130 - ], - [ - 13524, - 78 - ], - [ - 13670, - 130 - ], - [ - 13824, - 78 - ], - [ - 13971, - 129 - ], - [ - 14123, - 79 - ], - [ - 14271, - 129 - ], - [ - 14423, - 79 - ], - [ - 14571, - 129 - ], - [ - 14723, - 79 - ], - [ - 14871, - 129 - ], - [ - 15022, - 80 - ], - [ - 15171, - 129 - ], - [ - 15322, - 80 - ], - [ - 15471, - 129 - ], - [ - 15622, - 80 - ], - [ - 15770, - 130 - ], - [ - 15921, - 81 - ], - [ - 16070, - 130 - ], - [ - 16221, - 81 - ], - [ - 16371, - 129 - ], - [ - 16521, - 81 - ], - [ - 16673, - 127 - ], - [ - 16820, - 82 - ], - [ - 16975, - 125 - ], - [ - 17120, - 82 - ], - [ - 17276, - 124 - ], - [ - 17419, - 83 - ], - [ - 17577, - 123 - ], - [ - 17719, - 83 - ], - [ - 17878, - 122 - ], - [ - 18019, - 84 - ], - [ - 18179, - 121 - ], - [ - 18318, - 85 - ], - [ - 18479, - 121 - ], - [ - 18618, - 85 - ], - [ - 18780, - 120 - ], - [ - 18918, - 86 - ], - [ - 19080, - 120 - ], - [ - 19217, - 87 - ], - [ - 19381, - 119 - ], - [ - 19517, - 88 - ], - [ - 19681, - 119 - ], - [ - 19817, - 88 - ], - [ - 19982, - 118 - ], - [ - 20116, - 90 - ], - [ - 20283, - 117 - ], - [ - 20416, - 91 - ], - [ - 20583, - 117 - ], - [ - 20715, - 93 - ], - [ - 20883, - 117 - ], - [ - 21015, - 95 - ], - [ - 21184, - 116 - ], - [ - 21315, - 96 - ], - [ - 21484, - 116 - ], - [ - 21614, - 77 - ], - [ - 21694, - 19 - ], - [ - 21784, - 116 - ], - [ - 21914, - 78 - ], - [ - 21997, - 17 - ], - [ - 22085, - 115 - ], - [ - 22214, - 79 - ], - [ - 22298, - 17 - ], - [ - 22385, - 115 - ], - [ - 22513, - 81 - ], - [ - 22600, - 17 - ], - [ - 22685, - 115 - ], - [ - 22813, - 82 - ], - [ - 22901, - 15 - ], - [ - 22986, - 114 - ], - [ - 23113, - 83 - ], - [ - 23202, - 11 - ], - [ - 23286, - 114 - ], - [ - 23412, - 85 - ], - [ - 23504, - 6 - ], - [ - 23586, - 114 - ], - [ - 23712, - 86 - ], - [ - 23887, - 113 - ], - [ - 24011, - 88 - ], - [ - 24187, - 113 - ], - [ - 24311, - 89 - ], - [ - 24476, - 2 - ], - [ - 24486, - 114 - ], - [ - 24611, - 90 - ], - [ - 24776, - 3 - ], - [ - 24785, - 115 - ], - [ - 24910, - 92 - ], - [ - 25076, - 6 - ], - [ - 25083, - 117 - ], - [ - 25210, - 93 - ], - [ - 25376, - 124 - ], - [ - 25510, - 93 - ], - [ - 25675, - 125 - ], - [ - 25809, - 94 - ], - [ - 25975, - 125 - ], - [ - 26109, - 94 - ], - [ - 26275, - 125 - ], - [ - 26409, - 95 - ], - [ - 26575, - 125 - ], - [ - 26708, - 96 - ], - [ - 26875, - 125 - ], - [ - 27008, - 96 - ], - [ - 27165, - 1 - ], - [ - 27175, - 125 - ], - [ - 27307, - 97 - ], - [ - 27475, - 125 - ], - [ - 27607, - 97 - ], - [ - 27758, - 2 - ], - [ - 27775, - 125 - ], - [ - 27907, - 97 - ], - [ - 28056, - 4 - ], - [ - 28076, - 124 - ], - [ - 28206, - 99 - ], - [ - 28350, - 10 - ], - [ - 28378, - 122 - ], - [ - 28506, - 99 - ], - [ - 28644, - 17 - ], - [ - 28667, - 2 - ], - [ - 28681, - 119 - ], - [ - 28806, - 100 - ], - [ - 28935, - 35 - ], - [ - 28983, - 117 - ], - [ - 29105, - 102 - ], - [ - 29229, - 43 - ], - [ - 29285, - 115 - ], - [ - 29405, - 103 - ], - [ - 29529, - 45 - ], - [ - 29587, - 113 - ], - [ - 29705, - 104 - ], - [ - 29829, - 47 - ], - [ - 29888, - 112 - ], - [ - 30004, - 107 - ], - [ - 30130, - 48 - ], - [ - 30189, - 111 - ], - [ - 30304, - 109 - ], - [ - 30430, - 51 - ], - [ - 30490, - 110 - ], - [ - 30603, - 114 - ], - [ - 30729, - 53 - ], - [ - 30790, - 110 - ], - [ - 30903, - 115 - ], - [ - 31028, - 55 - ], - [ - 31091, - 109 - ], - [ - 31203, - 115 - ], - [ - 31326, - 58 - ], - [ - 31390, - 110 - ], - [ - 31502, - 116 - ], - [ - 31633, - 52 - ], - [ - 31690, - 110 - ], - [ - 31802, - 116 - ], - [ - 31934, - 166 - ], - [ - 32102, - 116 - ], - [ - 32235, - 165 - ], - [ - 32401, - 125 - ], - [ - 32535, - 165 - ], - [ - 32701, - 129 - ], - [ - 32834, - 166 - ], - [ - 33001, - 11699 - ] - ], - "point": [ - 150, - 94 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.9009992, - "z": -0.5 - }, - "object_poses": [ - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.65724206, - "y": 0.9724189, - "z": -0.5409817 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.65724361, - "y": 0.970915258, - "z": 0.0621768236 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.49437249, - "y": 0.8056051, - "z": -0.629953265 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.72115719, - "y": 0.611458957, - "z": 0.350223 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.60742164, - "y": 0.8054368, - "z": 0.3496741 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.40952229, - "y": 0.44445917, - "z": 1.756274 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.73094082, - "y": 0.972387, - "z": 0.2632295 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": 2.20589662, - "y": 0.680819631, - "z": -1.62682748 - }, - "rotation": { - "x": 0.0, - "y": 270.000671, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.778841, - "y": 0.773138165, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 0.296522975, - "y": 0.774509549, - "z": -1.57947421 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.43615365, - "y": 0.972387, - "z": 0.2632302 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.636839, - "y": 1.14617419, - "z": -1.95940661 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 0.296522975, - "y": 0.836844742, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.6681695, - "y": 1.638514, - "z": -1.959407 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.296522975, - "y": 0.773138165, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 2.28326273, - "y": 0.6864845, - "z": -1.76215172 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.2832644, - "y": 0.680996, - "z": -1.62682831 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.6055131, - "y": 1.15200746, - "z": -2.41545248 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 1.02, - "y": 0.7753482, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.76216018, - "y": 1.14596128, - "z": -2.073417 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": 1.73104513, - "y": 0.68111527, - "z": 2.217842 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.50984848, - "y": 0.9823676, - "z": -0.540981352 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1522207762, - "scene_num": 330 - }, - "task_id": "trial_T20190909_064340_559511", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A22ON3MIIG0IJA_3QEMNNSB20Q5LNFOHO48EZBXA1U7DS", - "high_descs": [ - "Walk to the end of the bed then turn right.", - "Pick up the phone from the bed.", - "Turn right and walk to the left side of the black dresser.", - "Put the phone on the dresser in front of the gold dog." - ], - "task_desc": "Put a phone on the black dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A13OOAT2ORKH6V_3U088ZLJVNKQCIFVDKOPR8QV9310W1", - "high_descs": [ - "Walk straight, turn right when you reach the end of the bed, walk straight and turn right again to face the laptop on the bed.", - "Grab the phone next to the laptop.", - "Turn right, walk straight, turn left when you reach the end of the bed, walk straight, make a quick right and walk to the drawer cabinet.", - "Place the phone next to the statue on top of the drawer cabinet." - ], - "task_desc": "Place a phone on top of the drawer cabinet.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3UF6XXFFRR237_36PW28KO42NSWVRMKMRCU8V8BL7AEL", - "high_descs": [ - "go to the foot of the bed", - "pick up the phone from the bed", - "take the phone to the dresser", - "put the phone on the dresser" - ], - "task_desc": "put the phone on the dresser in front of the golden dog", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_064424_789194/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_064424_789194/traj_data.json deleted file mode 100644 index f990b9bb9..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-CellPhone-None-Dresser-330/trial_T20190909_064424_789194/traj_data.json +++ /dev/null @@ -1,2779 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 37 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|-4|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 2.150728, - 2.150728, - -3.9609892, - -3.9609892, - 3.1013928, - 3.1013928 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 4.08, - 4.08, - -2.936, - -2.936, - 0.24, - 0.24 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+00.54|+00.78|-00.99" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 2.150728, - 2.150728, - -3.9609892, - -3.9609892, - 3.1013928, - 3.1013928 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+00.54|+00.78|-00.99", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+00.54|+00.78|-00.99" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 130, - 145, - 164, - 158 - ], - "mask": [ - [ - 43333, - 29 - ], - [ - 43631, - 33 - ], - [ - 43931, - 33 - ], - [ - 44231, - 34 - ], - [ - 44531, - 34 - ], - [ - 44831, - 34 - ], - [ - 45131, - 34 - ], - [ - 45431, - 34 - ], - [ - 45731, - 34 - ], - [ - 46030, - 35 - ], - [ - 46330, - 35 - ], - [ - 46630, - 35 - ], - [ - 46930, - 35 - ], - [ - 47231, - 34 - ] - ], - "point": [ - 147, - 150 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+00.54|+00.78|-00.99", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 47 - ], - [ - 4883, - 76 - ], - [ - 4972, - 102 - ], - [ - 5134, - 40 - ], - [ - 5190, - 69 - ], - [ - 5273, - 100 - ], - [ - 5434, - 37 - ], - [ - 5493, - 65 - ], - [ - 5574, - 99 - ], - [ - 5734, - 34 - ], - [ - 5795, - 62 - ], - [ - 5875, - 98 - ], - [ - 6033, - 33 - ], - [ - 6097, - 60 - ], - [ - 6175, - 97 - ], - [ - 6333, - 32 - ], - [ - 6398, - 58 - ], - [ - 6476, - 96 - ], - [ - 6633, - 30 - ], - [ - 6699, - 56 - ], - [ - 6777, - 94 - ], - [ - 6932, - 30 - ], - [ - 7000, - 55 - ], - [ - 7077, - 94 - ], - [ - 7232, - 29 - ], - [ - 7301, - 53 - ], - [ - 7378, - 92 - ], - [ - 7531, - 29 - ], - [ - 7601, - 53 - ], - [ - 7678, - 91 - ], - [ - 7831, - 29 - ], - [ - 7902, - 51 - ], - [ - 7979, - 90 - ], - [ - 8131, - 28 - ], - [ - 8202, - 49 - ], - [ - 8279, - 89 - ], - [ - 8430, - 29 - ], - [ - 8503, - 47 - ], - [ - 8580, - 88 - ], - [ - 8730, - 28 - ], - [ - 8803, - 46 - ], - [ - 8880, - 87 - ], - [ - 9030, - 28 - ], - [ - 9103, - 44 - ], - [ - 9180, - 87 - ], - [ - 9329, - 28 - ], - [ - 9403, - 43 - ], - [ - 9481, - 86 - ], - [ - 9629, - 28 - ], - [ - 9703, - 41 - ], - [ - 9781, - 86 - ], - [ - 9929, - 28 - ], - [ - 10002, - 41 - ], - [ - 10081, - 86 - ], - [ - 10228, - 29 - ], - [ - 10302, - 38 - ], - [ - 10382, - 85 - ], - [ - 10528, - 29 - ], - [ - 10602, - 36 - ], - [ - 10682, - 85 - ], - [ - 10827, - 30 - ], - [ - 10902, - 33 - ], - [ - 10982, - 85 - ], - [ - 11127, - 31 - ], - [ - 11203, - 29 - ], - [ - 11283, - 84 - ], - [ - 11427, - 31 - ], - [ - 11504, - 23 - ], - [ - 11582, - 85 - ], - [ - 11726, - 33 - ], - [ - 11800, - 1 - ], - [ - 11805, - 18 - ], - [ - 11874, - 1 - ], - [ - 11881, - 85 - ], - [ - 12026, - 34 - ], - [ - 12099, - 2 - ], - [ - 12107, - 13 - ], - [ - 12174, - 92 - ], - [ - 12326, - 34 - ], - [ - 12398, - 4 - ], - [ - 12408, - 8 - ], - [ - 12473, - 93 - ], - [ - 12625, - 36 - ], - [ - 12697, - 6 - ], - [ - 12711, - 2 - ], - [ - 12773, - 93 - ], - [ - 12925, - 37 - ], - [ - 12995, - 9 - ], - [ - 13073, - 93 - ], - [ - 13225, - 38 - ], - [ - 13294, - 11 - ], - [ - 13373, - 93 - ], - [ - 13524, - 41 - ], - [ - 13592, - 14 - ], - [ - 13673, - 93 - ], - [ - 13824, - 43 - ], - [ - 13890, - 16 - ], - [ - 13973, - 93 - ], - [ - 14123, - 47 - ], - [ - 14186, - 21 - ], - [ - 14273, - 93 - ], - [ - 14423, - 53 - ], - [ - 14480, - 28 - ], - [ - 14573, - 93 - ], - [ - 14723, - 85 - ], - [ - 14873, - 93 - ], - [ - 15022, - 86 - ], - [ - 15172, - 94 - ], - [ - 15322, - 86 - ], - [ - 15472, - 94 - ], - [ - 15622, - 86 - ], - [ - 15763, - 1 - ], - [ - 15772, - 94 - ], - [ - 15921, - 87 - ], - [ - 16062, - 3 - ], - [ - 16072, - 94 - ], - [ - 16221, - 87 - ], - [ - 16362, - 3 - ], - [ - 16372, - 93 - ], - [ - 16521, - 87 - ], - [ - 16656, - 2 - ], - [ - 16662, - 4 - ], - [ - 16672, - 93 - ], - [ - 16820, - 89 - ], - [ - 16952, - 6 - ], - [ - 16964, - 2 - ], - [ - 16974, - 91 - ], - [ - 17120, - 89 - ], - [ - 17247, - 11 - ], - [ - 17265, - 2 - ], - [ - 17276, - 89 - ], - [ - 17419, - 90 - ], - [ - 17543, - 16 - ], - [ - 17566, - 1 - ], - [ - 17577, - 88 - ], - [ - 17719, - 91 - ], - [ - 17840, - 19 - ], - [ - 17866, - 3 - ], - [ - 17879, - 86 - ], - [ - 18019, - 91 - ], - [ - 18140, - 19 - ], - [ - 18166, - 5 - ], - [ - 18181, - 84 - ], - [ - 18318, - 94 - ], - [ - 18431, - 6 - ], - [ - 18438, - 22 - ], - [ - 18466, - 7 - ], - [ - 18483, - 82 - ], - [ - 18618, - 95 - ], - [ - 18731, - 44 - ], - [ - 18785, - 80 - ], - [ - 18918, - 96 - ], - [ - 19031, - 45 - ], - [ - 19086, - 79 - ], - [ - 19217, - 99 - ], - [ - 19332, - 46 - ], - [ - 19386, - 79 - ], - [ - 19517, - 102 - ], - [ - 19631, - 48 - ], - [ - 19687, - 78 - ], - [ - 19817, - 104 - ], - [ - 19930, - 50 - ], - [ - 19987, - 78 - ], - [ - 20116, - 105 - ], - [ - 20228, - 53 - ], - [ - 20287, - 78 - ], - [ - 20416, - 105 - ], - [ - 20527, - 55 - ], - [ - 20586, - 79 - ], - [ - 20715, - 106 - ], - [ - 20834, - 130 - ], - [ - 21015, - 106 - ], - [ - 21136, - 128 - ], - [ - 21315, - 110 - ], - [ - 21436, - 128 - ], - [ - 21614, - 117 - ], - [ - 21736, - 128 - ], - [ - 21914, - 118 - ], - [ - 22035, - 129 - ], - [ - 22214, - 250 - ], - [ - 22513, - 251 - ], - [ - 22813, - 251 - ], - [ - 23113, - 251 - ], - [ - 23412, - 252 - ], - [ - 23712, - 252 - ], - [ - 24011, - 253 - ], - [ - 24311, - 253 - ], - [ - 24611, - 253 - ], - [ - 24910, - 254 - ], - [ - 25210, - 254 - ], - [ - 25510, - 255 - ], - [ - 25809, - 257 - ], - [ - 26109, - 257 - ], - [ - 26409, - 258 - ], - [ - 26708, - 260 - ], - [ - 27008, - 261 - ], - [ - 27307, - 264 - ], - [ - 27607, - 265 - ], - [ - 27907, - 266 - ], - [ - 28206, - 268 - ], - [ - 28506, - 269 - ], - [ - 28806, - 271 - ], - [ - 29105, - 273 - ], - [ - 29405, - 274 - ], - [ - 29705, - 275 - ], - [ - 30004, - 280 - ], - [ - 30304, - 286 - ], - [ - 30603, - 292 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 299 - ], - [ - 33001, - 11699 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 2.5, - "y": 0.9009992, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.73083019, - "y": 1.14705348, - "z": -2.07341719 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": 1.65367794, - "y": 0.691063941, - "z": 2.262951 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.6681695, - "y": 1.63742185, - "z": -1.959407 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 1.49894059, - "y": 0.686652839, - "z": 2.12762928 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.72115672, - "y": 0.415858924, - "z": 0.1642571 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.69950318, - "y": 1.6432997, - "z": -2.41544962 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 1.65367627, - "y": 0.6864845, - "z": 2.12762761 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 1.57630777, - "y": 0.680996, - "z": 2.08252072 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 2.68544865, - "y": 0.434587, - "z": 1.58270049 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.66817153, - "y": 1.63940215, - "z": -2.18742871 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 0.296522975, - "y": 0.774509549, - "z": -1.28486085 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.778841, - "y": 0.773138165, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.55247235, - "y": 0.4095775, - "z": 0.441706479 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.66816807, - "y": 1.14794159, - "z": -1.84539461 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.58354783, - "y": 0.972123265, - "z": 0.4642827 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.74347711, - "y": 0.836844742, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 1.26115906, - "y": 0.836844742, - "z": -1.28486085 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.80463517, - "y": 0.973002553, - "z": -0.7420349 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": -1.628, - "y": 0.965303659, - "z": 0.084 - }, - "rotation": { - "x": 0.0, - "y": 104.999794, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.80463815, - "y": 0.9762845, - "z": 0.464282155 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.605509, - "y": 1.14635062, - "z": -1.95940685 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.69950318, - "y": 1.15200746, - "z": -2.41545153 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 0.537682, - "y": 0.7753482, - "z": -0.9902473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.77670717, - "y": 0.217503428, - "z": 0.162612423 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": 2.36063218, - "y": 0.68111527, - "z": -1.62682927 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.65724206, - "y": 0.9823676, - "z": -0.5409817 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3301674591, - "scene_num": 330 - }, - "task_id": "trial_T20190909_064424_789194", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2871R3LEPWMMK_33TIN5LC071CXHY8SHP65GC4NF29YS", - "high_descs": [ - "Head to the chair, take a left, turn left at the end of the bed and walk to the side of the bed on the left.", - "Pick up the cell phone to the right of the laptop computer on the middle of the bed.", - "Turn around and walk to the black dresser.", - "Put the cell phone on the left side of the dresser in front of the gold statue." - ], - "task_desc": "Place a cell phone on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3Z3ZLGNNSLLH9DI6KY721H6GOEC3Q3", - "high_descs": [ - "Go forward and then left and left again and the turn to face the bed.", - "Pick the phone up from the bed.", - "Turn to the left and face the dresser.", - "Put the phone down on the dresser." - ], - "task_desc": "Put a phone on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3ZPBJO59KSS2ECL0UXQK5C0RO46DHG", - "high_descs": [ - "Walk past the bed then turn left and walk past the bed then turn left and walk to the head of the bed then turn left.", - "Pick up the phone that's in front of you to the right of the laptop.", - "Turn around and walk to the black dresser then take a small step to your right.", - "Put the phone under the statue near the edge." - ], - "task_desc": "Put a phone on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190908_133414_664426/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190908_133414_664426/traj_data.json deleted file mode 100644 index 498886e62..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190908_133414_664426/traj_data.json +++ /dev/null @@ -1,3210 +0,0 @@ -{ - "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": 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": 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": 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": 21 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 23 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "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": 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": 40 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|6|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -1.668658496, - -1.668658496, - 5.74729156, - 5.74729156, - 2.1336276, - 2.1336276 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - -1.258913756, - -1.258913756, - 6.856, - 6.856, - -0.11369697, - -0.11369697 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-00.42|+00.53|+01.44" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-16|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -1.668658496, - -1.668658496, - 5.74729156, - 5.74729156, - 2.1336276, - 2.1336276 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -19.328, - -19.328, - 10.38, - 10.38, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-00.42|+00.53|+01.44", - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - } - } - ], - "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": "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": "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": "KeyChain|-00.42|+00.53|+01.44" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 157, - 138, - 172, - 160 - ], - "mask": [ - [ - 41270, - 1 - ], - [ - 41569, - 3 - ], - [ - 41869, - 2 - ], - [ - 42168, - 2 - ], - [ - 42465, - 5 - ], - [ - 42757, - 3 - ], - [ - 42765, - 5 - ], - [ - 43058, - 2 - ], - [ - 43065, - 4 - ], - [ - 43358, - 2 - ], - [ - 43364, - 1 - ], - [ - 43659, - 2 - ], - [ - 43663, - 1 - ], - [ - 43959, - 4 - ], - [ - 44258, - 5 - ], - [ - 44559, - 4 - ], - [ - 44564, - 1 - ], - [ - 44861, - 3 - ], - [ - 45160, - 1 - ], - [ - 45162, - 1 - ], - [ - 45164, - 1 - ], - [ - 45460, - 1 - ], - [ - 45462, - 3 - ], - [ - 45468, - 4 - ], - [ - 45761, - 1 - ], - [ - 45764, - 2 - ], - [ - 45767, - 6 - ], - [ - 46060, - 1 - ], - [ - 46067, - 6 - ], - [ - 46360, - 1 - ], - [ - 46367, - 6 - ], - [ - 46660, - 1 - ], - [ - 46667, - 6 - ], - [ - 46960, - 1 - ], - [ - 46966, - 1 - ], - [ - 46968, - 4 - ], - [ - 47260, - 1 - ], - [ - 47266, - 1 - ], - [ - 47560, - 1 - ], - [ - 47566, - 1 - ], - [ - 47860, - 7 - ] - ], - "point": [ - 164, - 148 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|-00.42|+00.53|+01.44", - "placeStationary": true, - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 29, - 299, - 206 - ], - "mask": [ - [ - 8400, - 39 - ], - [ - 8449, - 164 - ], - [ - 8621, - 117 - ], - [ - 8748, - 165 - ], - [ - 8922, - 116 - ], - [ - 9048, - 166 - ], - [ - 9222, - 116 - ], - [ - 9348, - 166 - ], - [ - 9522, - 115 - ], - [ - 9647, - 167 - ], - [ - 9822, - 115 - ], - [ - 9947, - 167 - ], - [ - 10122, - 115 - ], - [ - 10247, - 167 - ], - [ - 10423, - 113 - ], - [ - 10546, - 168 - ], - [ - 10723, - 113 - ], - [ - 10846, - 169 - ], - [ - 11023, - 113 - ], - [ - 11146, - 169 - ], - [ - 11323, - 112 - ], - [ - 11446, - 169 - ], - [ - 11624, - 111 - ], - [ - 11745, - 170 - ], - [ - 11924, - 111 - ], - [ - 12045, - 170 - ], - [ - 12224, - 110 - ], - [ - 12345, - 171 - ], - [ - 12524, - 110 - ], - [ - 12644, - 172 - ], - [ - 12824, - 110 - ], - [ - 12944, - 172 - ], - [ - 13125, - 108 - ], - [ - 13244, - 172 - ], - [ - 13425, - 108 - ], - [ - 13543, - 173 - ], - [ - 13725, - 108 - ], - [ - 13843, - 174 - ], - [ - 14025, - 108 - ], - [ - 14143, - 174 - ], - [ - 14325, - 108 - ], - [ - 14442, - 175 - ], - [ - 14625, - 108 - ], - [ - 14742, - 175 - ], - [ - 14925, - 108 - ], - [ - 15225, - 108 - ], - [ - 15524, - 110 - ], - [ - 15824, - 110 - ], - [ - 16124, - 111 - ], - [ - 16423, - 112 - ], - [ - 16723, - 113 - ], - [ - 17023, - 113 - ], - [ - 17322, - 115 - ], - [ - 17622, - 115 - ], - [ - 17921, - 118 - ], - [ - 18219, - 121 - ], - [ - 18518, - 15382 - ], - [ - 33910, - 2 - ], - [ - 34078, - 7 - ], - [ - 34210, - 3 - ], - [ - 34378, - 6 - ], - [ - 34511, - 2 - ], - [ - 34678, - 6 - ], - [ - 34812, - 2 - ], - [ - 34978, - 6 - ], - [ - 35113, - 2 - ], - [ - 35278, - 6 - ], - [ - 35413, - 2 - ], - [ - 35577, - 7 - ], - [ - 35714, - 2 - ], - [ - 35877, - 7 - ], - [ - 36015, - 2 - ], - [ - 36177, - 6 - ], - [ - 36316, - 2 - ], - [ - 36477, - 6 - ], - [ - 36616, - 2 - ], - [ - 36777, - 6 - ], - [ - 36917, - 2 - ], - [ - 37077, - 6 - ], - [ - 37218, - 2 - ], - [ - 37376, - 7 - ], - [ - 37519, - 2 - ], - [ - 37676, - 6 - ], - [ - 37819, - 2 - ], - [ - 37976, - 6 - ], - [ - 38119, - 3 - ], - [ - 38276, - 6 - ], - [ - 38419, - 4 - ], - [ - 38576, - 6 - ], - [ - 38719, - 5 - ], - [ - 38876, - 6 - ], - [ - 39000, - 1200 - ], - [ - 40225, - 7 - ], - [ - 40376, - 4 - ], - [ - 40526, - 5 - ], - [ - 40676, - 4 - ], - [ - 40827, - 4 - ], - [ - 40976, - 4 - ], - [ - 41128, - 3 - ], - [ - 41276, - 4 - ], - [ - 41428, - 4 - ], - [ - 41576, - 4 - ], - [ - 41729, - 3 - ], - [ - 41876, - 4 - ], - [ - 42030, - 3 - ], - [ - 42175, - 4 - ], - [ - 42331, - 3 - ], - [ - 42475, - 4 - ], - [ - 42631, - 4 - ], - [ - 42775, - 4 - ], - [ - 42932, - 3 - ], - [ - 43075, - 4 - ], - [ - 43233, - 3 - ], - [ - 43375, - 4 - ], - [ - 43534, - 3 - ], - [ - 43675, - 3 - ], - [ - 43834, - 3 - ], - [ - 43974, - 4 - ], - [ - 44135, - 3 - ], - [ - 44274, - 4 - ], - [ - 44436, - 3 - ], - [ - 44574, - 4 - ], - [ - 44737, - 3 - ], - [ - 44874, - 4 - ], - [ - 45037, - 3 - ], - [ - 45174, - 3 - ], - [ - 45338, - 3 - ], - [ - 45474, - 3 - ], - [ - 45639, - 3 - ], - [ - 45773, - 4 - ], - [ - 45940, - 3 - ], - [ - 46073, - 4 - ], - [ - 46240, - 3 - ], - [ - 46373, - 4 - ], - [ - 46541, - 3 - ], - [ - 46673, - 4 - ], - [ - 46842, - 3 - ], - [ - 46973, - 3 - ], - [ - 47143, - 3 - ], - [ - 47273, - 3 - ], - [ - 47444, - 2 - ], - [ - 47572, - 4 - ], - [ - 47744, - 3 - ], - [ - 47872, - 4 - ], - [ - 48045, - 3 - ], - [ - 48172, - 4 - ], - [ - 48346, - 2 - ], - [ - 48472, - 3 - ], - [ - 48647, - 2 - ], - [ - 48772, - 3 - ], - [ - 48899, - 1 - ], - [ - 48947, - 3 - ], - [ - 49072, - 3 - ], - [ - 49198, - 1 - ], - [ - 49248, - 3 - ], - [ - 49372, - 3 - ], - [ - 49497, - 1 - ], - [ - 49549, - 2 - ], - [ - 49671, - 4 - ], - [ - 49796, - 1 - ], - [ - 49850, - 2 - ], - [ - 49971, - 4 - ], - [ - 50150, - 3 - ], - [ - 50271, - 3 - ], - [ - 50451, - 3 - ], - [ - 50571, - 3 - ], - [ - 50692, - 1 - ], - [ - 50752, - 2 - ], - [ - 50871, - 3 - ], - [ - 50991, - 1 - ], - [ - 51053, - 2 - ], - [ - 51171, - 3 - ], - [ - 51290, - 1 - ], - [ - 51353, - 3 - ], - [ - 51470, - 4 - ], - [ - 51589, - 1 - ], - [ - 51654, - 3 - ], - [ - 51770, - 3 - ], - [ - 51888, - 1 - ], - [ - 51955, - 2 - ], - [ - 52070, - 3 - ], - [ - 52187, - 1 - ], - [ - 52256, - 2 - ], - [ - 52370, - 3 - ], - [ - 52486, - 1 - ], - [ - 52556, - 3 - ], - [ - 52670, - 3 - ], - [ - 52785, - 1 - ], - [ - 52857, - 2 - ], - [ - 52970, - 3 - ], - [ - 53084, - 1 - ], - [ - 53158, - 2 - ], - [ - 53269, - 4 - ], - [ - 53459, - 2 - ], - [ - 53569, - 3 - ], - [ - 53759, - 3 - ], - [ - 53869, - 3 - ], - [ - 54060, - 2 - ], - [ - 54169, - 3 - ], - [ - 54279, - 1 - ], - [ - 54361, - 2 - ], - [ - 54469, - 3 - ], - [ - 54578, - 1 - ], - [ - 54662, - 2 - ], - [ - 54769, - 3 - ], - [ - 54877, - 1 - ], - [ - 54962, - 3 - ], - [ - 55068, - 3 - ], - [ - 55176, - 1 - ], - [ - 55263, - 2 - ], - [ - 55368, - 3 - ], - [ - 55475, - 1 - ], - [ - 55564, - 2 - ], - [ - 55668, - 3 - ], - [ - 55774, - 1 - ], - [ - 55865, - 2 - ], - [ - 55968, - 3 - ], - [ - 56073, - 1 - ], - [ - 56165, - 3 - ], - [ - 56268, - 3 - ], - [ - 56372, - 1 - ], - [ - 56466, - 2 - ], - [ - 56568, - 2 - ], - [ - 56767, - 2 - ], - [ - 56868, - 2 - ], - [ - 57068, - 2 - ], - [ - 57167, - 3 - ], - [ - 57368, - 2 - ], - [ - 57467, - 3 - ], - [ - 57669, - 2 - ], - [ - 57767, - 3 - ], - [ - 57866, - 1 - ], - [ - 57970, - 2 - ], - [ - 58067, - 3 - ], - [ - 58165, - 1 - ], - [ - 58271, - 2 - ], - [ - 58367, - 2 - ], - [ - 58464, - 1 - ], - [ - 58571, - 2 - ], - [ - 58667, - 2 - ], - [ - 58763, - 1 - ], - [ - 58872, - 2 - ], - [ - 58966, - 3 - ], - [ - 59062, - 1 - ], - [ - 59173, - 2 - ], - [ - 59266, - 3 - ], - [ - 59361, - 1 - ], - [ - 59474, - 2 - ], - [ - 59566, - 3 - ], - [ - 59660, - 1 - ], - [ - 59773, - 3 - ], - [ - 59866, - 3 - ], - [ - 59959, - 2 - ], - [ - 60073, - 4 - ], - [ - 60166, - 3 - ], - [ - 60258, - 4 - ], - [ - 60300, - 1500 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan217", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -4.0, - "y": 0.9011413, - "z": 2.75 - }, - "object_poses": [ - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.78543854, - "y": 0.554524243, - "z": 2.35953331 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.405972, - "y": 0.554524243, - "z": 2.26329064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -2.279483, - "y": 0.453272671, - "z": 2.35953331 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -4.778103, - "y": 0.40546155, - "z": 3.37507534 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f769cdcb", - "position": { - "x": -0.417164624, - "y": 0.6110948, - "z": 3.311 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -4.774093, - "y": 0.409264028, - "z": 1.81751752 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_9691257b", - "position": { - "x": -0.2776128, - "y": -0.000669963658, - "z": 4.8605876 - }, - "rotation": { - "x": 359.9809, - "y": 359.9893, - "z": 0.00747299241 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -4.608247, - "y": 0.8870357, - "z": 1.71722889 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -0.417164624, - "y": 0.5334069, - "z": 1.43682289 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f769cdcb", - "position": { - "x": -3.294, - "y": 0.624, - "z": 0.801 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.090637 - } - }, - { - "objectName": "Laptop_d290dd79", - "position": { - "x": -4.873, - "y": 0.981, - "z": 3.44 - }, - "rotation": { - "x": 0.0, - "y": 83.8787842, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -0.329055548, - "y": 0.470283061, - "z": 3.5881772 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -2.15299416, - "y": 0.453272671, - "z": 2.64826131 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.405972, - "y": 0.554524243, - "z": 2.455776 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3140287888, - "scene_num": 217 - }, - "task_id": "trial_T20190908_133414_664426", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2KAGFQU28JY43_3DHE4R9OCZ21B6S9D2OLOTXMC4D2GO", - "high_descs": [ - "Turn around and turn left between the couch and the coffee table, then go to the chair across from you.", - "Pick up the keys from the cushion of the chair. ", - "Turn around and walk back through the couch and the coffee table to get to the entertainment stand the TV is on. ", - "Place the keys on the entertainment stand, underneath the TV." - ], - "task_desc": "Put the keys on the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3R19ZA45J8915_3VNXK88KKF9VTN33N62MYH8A5QI9VL", - "high_descs": [ - "Turn around, walk a few steps, hanging a left before you reach the couch, and walk straight across the room to the chair. ", - "Pick up the set of keys that are on the chair. ", - "Turn around, walk until you reach the end of the couch, turn right, then left to face the television stand. ", - "Place the keys down on the television stand. " - ], - "task_desc": "Move a set of keys to the television stand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3ZSANO2JCIYO25DCWXX9XQAE9JBFS4", - "high_descs": [ - "Turn around and walk to the couch then turn left and walk to the arm chair.", - "Pick up the keys that are in front of you.", - "Turn around and walk to the tv and stand right in the middle of it facing it.", - "Put the keys under the right side of the tv's base." - ], - "task_desc": "Put keys on the tv stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190910_203234_912024/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190910_203234_912024/traj_data.json deleted file mode 100644 index 850850a7c..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190910_203234_912024/traj_data.json +++ /dev/null @@ -1,2656 +0,0 @@ -{ - "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": 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": 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": 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": 1, - "image_name": "000000054.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 24 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sofa" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-11|6|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -10.80973528, - -10.80973528, - 3.374649048, - 3.374649048, - 2.1469244, - 2.1469244 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - -9.86, - -9.86, - 2.804, - 2.804, - -0.00399996, - -0.00399996 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-02.70|+00.54|+00.84" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-16|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -10.80973528, - -10.80973528, - 3.374649048, - 3.374649048, - 2.1469244, - 2.1469244 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -19.328, - -19.328, - 10.38, - 10.38, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-02.70|+00.54|+00.84", - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|-02.70|+00.54|+00.84" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 133, - 137, - 159, - 149 - ], - "mask": [ - [ - 40946, - 2 - ], - [ - 40950, - 1 - ], - [ - 40952, - 2 - ], - [ - 41234, - 6 - ], - [ - 41242, - 2 - ], - [ - 41245, - 9 - ], - [ - 41541, - 2 - ], - [ - 41545, - 5 - ], - [ - 41833, - 1 - ], - [ - 41841, - 3 - ], - [ - 41845, - 4 - ], - [ - 42133, - 1 - ], - [ - 42141, - 4 - ], - [ - 42149, - 2 - ], - [ - 42441, - 3 - ], - [ - 42445, - 1 - ], - [ - 42451, - 1 - ], - [ - 42734, - 4 - ], - [ - 42752, - 3 - ], - [ - 43038, - 5 - ], - [ - 43052, - 4 - ], - [ - 43338, - 6 - ], - [ - 43352, - 4 - ], - [ - 43637, - 7 - ], - [ - 43652, - 6 - ], - [ - 43937, - 7 - ], - [ - 43956, - 4 - ], - [ - 44238, - 6 - ], - [ - 44258, - 2 - ], - [ - 44539, - 3 - ] - ], - "point": [ - 145, - 141 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|-02.70|+00.54|+00.84", - "placeStationary": true, - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 29, - 299, - 206 - ], - "mask": [ - [ - 8400, - 39 - ], - [ - 8449, - 164 - ], - [ - 8621, - 117 - ], - [ - 8748, - 165 - ], - [ - 8922, - 116 - ], - [ - 9048, - 166 - ], - [ - 9222, - 116 - ], - [ - 9348, - 166 - ], - [ - 9522, - 115 - ], - [ - 9647, - 167 - ], - [ - 9822, - 115 - ], - [ - 9947, - 167 - ], - [ - 10122, - 115 - ], - [ - 10247, - 167 - ], - [ - 10423, - 113 - ], - [ - 10546, - 168 - ], - [ - 10723, - 113 - ], - [ - 10846, - 169 - ], - [ - 11023, - 113 - ], - [ - 11146, - 169 - ], - [ - 11323, - 112 - ], - [ - 11446, - 169 - ], - [ - 11624, - 111 - ], - [ - 11745, - 170 - ], - [ - 11924, - 111 - ], - [ - 12045, - 170 - ], - [ - 12224, - 110 - ], - [ - 12345, - 171 - ], - [ - 12524, - 110 - ], - [ - 12644, - 172 - ], - [ - 12824, - 110 - ], - [ - 12944, - 172 - ], - [ - 13125, - 108 - ], - [ - 13244, - 172 - ], - [ - 13425, - 108 - ], - [ - 13543, - 173 - ], - [ - 13725, - 108 - ], - [ - 13843, - 174 - ], - [ - 14025, - 108 - ], - [ - 14143, - 174 - ], - [ - 14325, - 108 - ], - [ - 14442, - 175 - ], - [ - 14625, - 108 - ], - [ - 14742, - 175 - ], - [ - 14925, - 108 - ], - [ - 15225, - 108 - ], - [ - 15524, - 110 - ], - [ - 15824, - 110 - ], - [ - 16124, - 111 - ], - [ - 16423, - 112 - ], - [ - 16723, - 113 - ], - [ - 17023, - 113 - ], - [ - 17322, - 115 - ], - [ - 17622, - 115 - ], - [ - 17921, - 118 - ], - [ - 18219, - 121 - ], - [ - 18518, - 15382 - ], - [ - 33910, - 2 - ], - [ - 34078, - 7 - ], - [ - 34210, - 3 - ], - [ - 34378, - 6 - ], - [ - 34511, - 2 - ], - [ - 34678, - 6 - ], - [ - 34812, - 2 - ], - [ - 34978, - 6 - ], - [ - 35113, - 2 - ], - [ - 35278, - 6 - ], - [ - 35413, - 2 - ], - [ - 35577, - 7 - ], - [ - 35714, - 2 - ], - [ - 35877, - 7 - ], - [ - 36015, - 2 - ], - [ - 36177, - 6 - ], - [ - 36316, - 2 - ], - [ - 36477, - 6 - ], - [ - 36616, - 2 - ], - [ - 36777, - 6 - ], - [ - 36917, - 2 - ], - [ - 37077, - 6 - ], - [ - 37218, - 2 - ], - [ - 37376, - 7 - ], - [ - 37519, - 2 - ], - [ - 37676, - 6 - ], - [ - 37819, - 2 - ], - [ - 37976, - 6 - ], - [ - 38119, - 3 - ], - [ - 38276, - 6 - ], - [ - 38419, - 4 - ], - [ - 38576, - 6 - ], - [ - 38719, - 5 - ], - [ - 38876, - 6 - ], - [ - 39000, - 1200 - ], - [ - 40225, - 7 - ], - [ - 40376, - 4 - ], - [ - 40526, - 5 - ], - [ - 40676, - 4 - ], - [ - 40827, - 4 - ], - [ - 40976, - 4 - ], - [ - 41128, - 3 - ], - [ - 41276, - 4 - ], - [ - 41428, - 4 - ], - [ - 41576, - 4 - ], - [ - 41729, - 3 - ], - [ - 41876, - 4 - ], - [ - 42030, - 3 - ], - [ - 42175, - 4 - ], - [ - 42331, - 3 - ], - [ - 42475, - 4 - ], - [ - 42631, - 4 - ], - [ - 42775, - 4 - ], - [ - 42932, - 3 - ], - [ - 43075, - 4 - ], - [ - 43233, - 3 - ], - [ - 43375, - 4 - ], - [ - 43534, - 3 - ], - [ - 43675, - 3 - ], - [ - 43834, - 3 - ], - [ - 43974, - 4 - ], - [ - 44135, - 3 - ], - [ - 44274, - 4 - ], - [ - 44436, - 3 - ], - [ - 44574, - 4 - ], - [ - 44737, - 3 - ], - [ - 44874, - 4 - ], - [ - 45037, - 3 - ], - [ - 45174, - 3 - ], - [ - 45338, - 3 - ], - [ - 45474, - 3 - ], - [ - 45639, - 3 - ], - [ - 45773, - 4 - ], - [ - 45940, - 3 - ], - [ - 46073, - 4 - ], - [ - 46240, - 3 - ], - [ - 46373, - 4 - ], - [ - 46541, - 3 - ], - [ - 46673, - 4 - ], - [ - 46842, - 3 - ], - [ - 46973, - 3 - ], - [ - 47143, - 3 - ], - [ - 47273, - 3 - ], - [ - 47444, - 2 - ], - [ - 47572, - 4 - ], - [ - 47744, - 3 - ], - [ - 47872, - 4 - ], - [ - 48045, - 3 - ], - [ - 48172, - 4 - ], - [ - 48346, - 2 - ], - [ - 48472, - 3 - ], - [ - 48647, - 2 - ], - [ - 48772, - 3 - ], - [ - 48899, - 1 - ], - [ - 48947, - 3 - ], - [ - 49072, - 3 - ], - [ - 49198, - 1 - ], - [ - 49248, - 3 - ], - [ - 49372, - 3 - ], - [ - 49497, - 1 - ], - [ - 49549, - 2 - ], - [ - 49671, - 4 - ], - [ - 49796, - 1 - ], - [ - 49850, - 2 - ], - [ - 49971, - 4 - ], - [ - 50150, - 3 - ], - [ - 50271, - 3 - ], - [ - 50451, - 3 - ], - [ - 50571, - 3 - ], - [ - 50692, - 1 - ], - [ - 50752, - 2 - ], - [ - 50871, - 3 - ], - [ - 50991, - 1 - ], - [ - 51053, - 2 - ], - [ - 51171, - 3 - ], - [ - 51290, - 1 - ], - [ - 51353, - 3 - ], - [ - 51470, - 4 - ], - [ - 51589, - 1 - ], - [ - 51654, - 3 - ], - [ - 51770, - 3 - ], - [ - 51888, - 1 - ], - [ - 51955, - 2 - ], - [ - 52070, - 3 - ], - [ - 52187, - 1 - ], - [ - 52256, - 2 - ], - [ - 52370, - 3 - ], - [ - 52486, - 1 - ], - [ - 52556, - 3 - ], - [ - 52670, - 3 - ], - [ - 52785, - 1 - ], - [ - 52857, - 2 - ], - [ - 52970, - 3 - ], - [ - 53084, - 1 - ], - [ - 53158, - 2 - ], - [ - 53269, - 4 - ], - [ - 53459, - 2 - ], - [ - 53569, - 3 - ], - [ - 53759, - 3 - ], - [ - 53869, - 3 - ], - [ - 54060, - 2 - ], - [ - 54169, - 3 - ], - [ - 54279, - 1 - ], - [ - 54361, - 2 - ], - [ - 54469, - 3 - ], - [ - 54578, - 1 - ], - [ - 54662, - 2 - ], - [ - 54769, - 3 - ], - [ - 54877, - 1 - ], - [ - 54962, - 3 - ], - [ - 55068, - 3 - ], - [ - 55176, - 1 - ], - [ - 55263, - 2 - ], - [ - 55368, - 3 - ], - [ - 55475, - 1 - ], - [ - 55564, - 2 - ], - [ - 55668, - 3 - ], - [ - 55774, - 1 - ], - [ - 55865, - 2 - ], - [ - 55968, - 3 - ], - [ - 56073, - 1 - ], - [ - 56165, - 3 - ], - [ - 56268, - 3 - ], - [ - 56372, - 1 - ], - [ - 56466, - 2 - ], - [ - 56568, - 2 - ], - [ - 56767, - 2 - ], - [ - 56868, - 2 - ], - [ - 57068, - 2 - ], - [ - 57167, - 3 - ], - [ - 57368, - 2 - ], - [ - 57467, - 3 - ], - [ - 57669, - 2 - ], - [ - 57767, - 3 - ], - [ - 57866, - 1 - ], - [ - 57970, - 2 - ], - [ - 58067, - 3 - ], - [ - 58165, - 1 - ], - [ - 58271, - 2 - ], - [ - 58367, - 2 - ], - [ - 58464, - 1 - ], - [ - 58571, - 2 - ], - [ - 58667, - 2 - ], - [ - 58763, - 1 - ], - [ - 58872, - 2 - ], - [ - 58966, - 3 - ], - [ - 59062, - 1 - ], - [ - 59173, - 2 - ], - [ - 59266, - 3 - ], - [ - 59361, - 1 - ], - [ - 59474, - 2 - ], - [ - 59566, - 3 - ], - [ - 59660, - 1 - ], - [ - 59773, - 3 - ], - [ - 59866, - 3 - ], - [ - 59959, - 2 - ], - [ - 60073, - 4 - ], - [ - 60166, - 3 - ], - [ - 60258, - 4 - ], - [ - 60300, - 1500 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan217", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -3.25, - "y": 0.9011413, - "z": 2.25 - }, - "object_poses": [ - { - "objectName": "Watch_50539444", - "position": { - "x": -4.567365, - "y": 0.8873124, - "z": 2.33480144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -2.465, - "y": 0.537231565, - "z": 0.9344492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -2.70243382, - "y": 0.5367311, - "z": 0.843662262 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -0.129125357, - "y": 0.708535731, - "z": 4.59879971 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -4.608247, - "y": 0.8859142, - "z": 3.21645427 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -2.227566, - "y": 0.5257737, - "z": 1.02523625 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -0.417164564, - "y": 0.7744081, - "z": 1.714 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -2.180622, - "y": 0.6704, - "z": 2.42843866 - }, - "rotation": { - "x": 0.0, - "y": 350.086456, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_9691257b", - "position": { - "x": -0.2776128, - "y": -0.000669963658, - "z": 4.8605876 - }, - "rotation": { - "x": 359.9809, - "y": 359.9893, - "z": 0.00747299241 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -1.99013209, - "y": 0.456995964, - "z": 0.6620883 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -2.465, - "y": 0.457835734, - "z": 0.9344492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f769cdcb", - "position": { - "x": -3.294, - "y": 0.624, - "z": 0.801 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.090637 - } - }, - { - "objectName": "Laptop_d290dd79", - "position": { - "x": -4.873, - "y": 0.981, - "z": 3.44 - }, - "rotation": { - "x": 0.0, - "y": 83.8787842, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -0.50527364, - "y": 0.5370237, - "z": 1.43682289 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -2.405972, - "y": 0.453272671, - "z": 2.55201864 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.570378, - "y": 0.540886, - "z": 2.57992 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3061551958, - "scene_num": 217 - }, - "task_id": "trial_T20190910_203234_912024", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1SX8IVV82M0LW_3IHR8NYAMASHRX0VKZXWBH8CXAQ4PM", - "high_descs": [ - "Walk to the front of the white sofa.", - "Grab the right set of keys from the sofa.", - "Walk behind you to the TV stand.", - "Put the keys on the TV stand." - ], - "task_desc": "Move keys from the sofa to the TV stand.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_3WS1NTTKE13O1WT0NVEPNK4VETX0FB", - "high_descs": [ - "take one step, turn left, take two steps, turn right to face the couch", - "pick up the keys that are on the couch", - "turn right, take a step, turn right, take a few steps, turn left, walk to TV stand", - "put the keys on the TV stand" - ], - "task_desc": "move keys from couch to TV stand", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3TXD01ZLD78UJ28R1LWQLNVB5ST4UV", - "high_descs": [ - "Go to the couch in front of you. ", - "Pick up the keys on the right side of the couch, closest to the throw pillow.", - "Turn around and go to the front of the dresser the TV is on. ", - "Put the keys on the dresser, under the TV." - ], - "task_desc": "Put the keys on the dresser. ", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190910_203316_646156/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190910_203316_646156/traj_data.json deleted file mode 100644 index 33a3b7d29..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-217/trial_T20190910_203316_646156/traj_data.json +++ /dev/null @@ -1,3359 +0,0 @@ -{ - "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": 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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 32 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 41 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-6|10|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -8.61197664, - -8.61197664, - 10.20807456, - 10.20807456, - 1.815343024, - 1.815343024 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -9.623888, - -9.623888, - 10.188, - 10.188, - 0.008, - 0.008 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-02.15|+00.45|+02.55" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-16|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -8.61197664, - -8.61197664, - 10.20807456, - 10.20807456, - 1.815343024, - 1.815343024 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -19.328, - -19.328, - 10.38, - 10.38, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-02.15|+00.45|+02.55", - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "KeyChain|-02.15|+00.45|+02.55" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 155, - 136, - 168, - 155 - ], - "mask": [ - [ - 40665, - 2 - ], - [ - 40965, - 2 - ], - [ - 41262, - 4 - ], - [ - 41555, - 1 - ], - [ - 41562, - 4 - ], - [ - 41855, - 2 - ], - [ - 41862, - 4 - ], - [ - 42156, - 1 - ], - [ - 42161, - 1 - ], - [ - 42163, - 1 - ], - [ - 42456, - 2 - ], - [ - 42460, - 1 - ], - [ - 42756, - 4 - ], - [ - 43056, - 4 - ], - [ - 43356, - 3 - ], - [ - 43361, - 1 - ], - [ - 43658, - 4 - ], - [ - 43957, - 1 - ], - [ - 43959, - 2 - ], - [ - 43965, - 2 - ], - [ - 44257, - 5 - ], - [ - 44264, - 5 - ], - [ - 44557, - 12 - ], - [ - 44857, - 1 - ], - [ - 44862, - 7 - ], - [ - 45157, - 1 - ], - [ - 45162, - 7 - ], - [ - 45457, - 1 - ], - [ - 45464, - 4 - ], - [ - 45757, - 1 - ], - [ - 46057, - 1 - ], - [ - 46357, - 6 - ] - ], - "point": [ - 161, - 144 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|-02.15|+00.45|+02.55", - "placeStationary": true, - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 29, - 299, - 206 - ], - "mask": [ - [ - 8400, - 39 - ], - [ - 8449, - 122 - ], - [ - 8574, - 7 - ], - [ - 8584, - 29 - ], - [ - 8621, - 117 - ], - [ - 8748, - 123 - ], - [ - 8874, - 7 - ], - [ - 8884, - 29 - ], - [ - 8922, - 116 - ], - [ - 9048, - 122 - ], - [ - 9174, - 8 - ], - [ - 9183, - 31 - ], - [ - 9222, - 116 - ], - [ - 9348, - 122 - ], - [ - 9475, - 7 - ], - [ - 9483, - 31 - ], - [ - 9522, - 115 - ], - [ - 9647, - 124 - ], - [ - 9776, - 6 - ], - [ - 9783, - 31 - ], - [ - 9822, - 115 - ], - [ - 9947, - 125 - ], - [ - 10078, - 3 - ], - [ - 10082, - 32 - ], - [ - 10122, - 115 - ], - [ - 10247, - 126 - ], - [ - 10382, - 32 - ], - [ - 10423, - 113 - ], - [ - 10546, - 127 - ], - [ - 10682, - 32 - ], - [ - 10723, - 113 - ], - [ - 10846, - 129 - ], - [ - 10981, - 34 - ], - [ - 11023, - 35 - ], - [ - 11063, - 73 - ], - [ - 11146, - 131 - ], - [ - 11279, - 36 - ], - [ - 11323, - 35 - ], - [ - 11365, - 70 - ], - [ - 11446, - 169 - ], - [ - 11624, - 33 - ], - [ - 11666, - 69 - ], - [ - 11745, - 170 - ], - [ - 11924, - 33 - ], - [ - 11967, - 68 - ], - [ - 12045, - 170 - ], - [ - 12224, - 32 - ], - [ - 12268, - 66 - ], - [ - 12345, - 171 - ], - [ - 12524, - 32 - ], - [ - 12561, - 1 - ], - [ - 12568, - 66 - ], - [ - 12644, - 172 - ], - [ - 12824, - 31 - ], - [ - 12861, - 2 - ], - [ - 12869, - 65 - ], - [ - 12944, - 172 - ], - [ - 13125, - 30 - ], - [ - 13161, - 3 - ], - [ - 13169, - 64 - ], - [ - 13244, - 172 - ], - [ - 13425, - 30 - ], - [ - 13461, - 4 - ], - [ - 13470, - 63 - ], - [ - 13543, - 173 - ], - [ - 13725, - 30 - ], - [ - 13761, - 5 - ], - [ - 13770, - 63 - ], - [ - 13843, - 174 - ], - [ - 14025, - 29 - ], - [ - 14061, - 5 - ], - [ - 14070, - 63 - ], - [ - 14143, - 174 - ], - [ - 14325, - 30 - ], - [ - 14362, - 4 - ], - [ - 14370, - 63 - ], - [ - 14442, - 175 - ], - [ - 14625, - 30 - ], - [ - 14662, - 5 - ], - [ - 14670, - 63 - ], - [ - 14742, - 175 - ], - [ - 14925, - 33 - ], - [ - 14964, - 3 - ], - [ - 14970, - 63 - ], - [ - 15225, - 34 - ], - [ - 15266, - 1 - ], - [ - 15269, - 64 - ], - [ - 15524, - 35 - ], - [ - 15568, - 66 - ], - [ - 15824, - 36 - ], - [ - 15868, - 66 - ], - [ - 16124, - 37 - ], - [ - 16167, - 68 - ], - [ - 16423, - 112 - ], - [ - 16723, - 113 - ], - [ - 17023, - 113 - ], - [ - 17322, - 115 - ], - [ - 17622, - 115 - ], - [ - 17921, - 118 - ], - [ - 18219, - 121 - ], - [ - 18518, - 15382 - ], - [ - 33910, - 2 - ], - [ - 34078, - 7 - ], - [ - 34210, - 3 - ], - [ - 34378, - 6 - ], - [ - 34511, - 2 - ], - [ - 34678, - 6 - ], - [ - 34812, - 2 - ], - [ - 34978, - 6 - ], - [ - 35113, - 2 - ], - [ - 35278, - 6 - ], - [ - 35413, - 2 - ], - [ - 35577, - 7 - ], - [ - 35714, - 2 - ], - [ - 35877, - 7 - ], - [ - 36015, - 2 - ], - [ - 36177, - 6 - ], - [ - 36316, - 2 - ], - [ - 36477, - 6 - ], - [ - 36616, - 2 - ], - [ - 36777, - 6 - ], - [ - 36917, - 2 - ], - [ - 37077, - 6 - ], - [ - 37218, - 2 - ], - [ - 37376, - 7 - ], - [ - 37519, - 2 - ], - [ - 37676, - 6 - ], - [ - 37819, - 2 - ], - [ - 37976, - 6 - ], - [ - 38119, - 3 - ], - [ - 38276, - 6 - ], - [ - 38419, - 4 - ], - [ - 38576, - 6 - ], - [ - 38719, - 5 - ], - [ - 38876, - 6 - ], - [ - 39000, - 1200 - ], - [ - 40225, - 7 - ], - [ - 40376, - 4 - ], - [ - 40526, - 5 - ], - [ - 40676, - 4 - ], - [ - 40827, - 4 - ], - [ - 40976, - 4 - ], - [ - 41128, - 3 - ], - [ - 41276, - 4 - ], - [ - 41428, - 4 - ], - [ - 41576, - 4 - ], - [ - 41729, - 3 - ], - [ - 41876, - 4 - ], - [ - 42030, - 3 - ], - [ - 42175, - 4 - ], - [ - 42331, - 3 - ], - [ - 42475, - 4 - ], - [ - 42631, - 4 - ], - [ - 42775, - 4 - ], - [ - 42932, - 3 - ], - [ - 43075, - 4 - ], - [ - 43233, - 3 - ], - [ - 43375, - 4 - ], - [ - 43534, - 3 - ], - [ - 43675, - 3 - ], - [ - 43834, - 3 - ], - [ - 43974, - 4 - ], - [ - 44135, - 3 - ], - [ - 44274, - 4 - ], - [ - 44436, - 3 - ], - [ - 44574, - 4 - ], - [ - 44737, - 3 - ], - [ - 44874, - 4 - ], - [ - 45037, - 3 - ], - [ - 45174, - 3 - ], - [ - 45338, - 3 - ], - [ - 45474, - 3 - ], - [ - 45639, - 3 - ], - [ - 45773, - 4 - ], - [ - 45940, - 3 - ], - [ - 46073, - 4 - ], - [ - 46240, - 3 - ], - [ - 46373, - 4 - ], - [ - 46541, - 3 - ], - [ - 46673, - 4 - ], - [ - 46842, - 3 - ], - [ - 46973, - 3 - ], - [ - 47143, - 3 - ], - [ - 47273, - 3 - ], - [ - 47444, - 2 - ], - [ - 47572, - 4 - ], - [ - 47744, - 3 - ], - [ - 47872, - 4 - ], - [ - 48045, - 3 - ], - [ - 48172, - 4 - ], - [ - 48346, - 2 - ], - [ - 48472, - 3 - ], - [ - 48647, - 2 - ], - [ - 48772, - 3 - ], - [ - 48899, - 1 - ], - [ - 48947, - 3 - ], - [ - 49072, - 3 - ], - [ - 49198, - 1 - ], - [ - 49248, - 3 - ], - [ - 49372, - 3 - ], - [ - 49497, - 1 - ], - [ - 49549, - 2 - ], - [ - 49671, - 4 - ], - [ - 49796, - 1 - ], - [ - 49850, - 2 - ], - [ - 49971, - 4 - ], - [ - 50150, - 3 - ], - [ - 50271, - 3 - ], - [ - 50451, - 3 - ], - [ - 50571, - 3 - ], - [ - 50692, - 1 - ], - [ - 50752, - 2 - ], - [ - 50871, - 3 - ], - [ - 50991, - 1 - ], - [ - 51053, - 2 - ], - [ - 51171, - 3 - ], - [ - 51290, - 1 - ], - [ - 51353, - 3 - ], - [ - 51470, - 4 - ], - [ - 51589, - 1 - ], - [ - 51654, - 3 - ], - [ - 51770, - 3 - ], - [ - 51888, - 1 - ], - [ - 51955, - 2 - ], - [ - 52070, - 3 - ], - [ - 52187, - 1 - ], - [ - 52256, - 2 - ], - [ - 52370, - 3 - ], - [ - 52486, - 1 - ], - [ - 52556, - 3 - ], - [ - 52670, - 3 - ], - [ - 52785, - 1 - ], - [ - 52857, - 2 - ], - [ - 52970, - 3 - ], - [ - 53084, - 1 - ], - [ - 53158, - 2 - ], - [ - 53269, - 4 - ], - [ - 53459, - 2 - ], - [ - 53569, - 3 - ], - [ - 53759, - 3 - ], - [ - 53869, - 3 - ], - [ - 54060, - 2 - ], - [ - 54169, - 3 - ], - [ - 54279, - 1 - ], - [ - 54361, - 2 - ], - [ - 54469, - 3 - ], - [ - 54578, - 1 - ], - [ - 54662, - 2 - ], - [ - 54769, - 3 - ], - [ - 54877, - 1 - ], - [ - 54962, - 3 - ], - [ - 55068, - 3 - ], - [ - 55176, - 1 - ], - [ - 55263, - 2 - ], - [ - 55368, - 3 - ], - [ - 55475, - 1 - ], - [ - 55564, - 2 - ], - [ - 55668, - 3 - ], - [ - 55774, - 1 - ], - [ - 55865, - 2 - ], - [ - 55968, - 3 - ], - [ - 56073, - 1 - ], - [ - 56165, - 3 - ], - [ - 56268, - 3 - ], - [ - 56372, - 1 - ], - [ - 56466, - 2 - ], - [ - 56568, - 2 - ], - [ - 56767, - 2 - ], - [ - 56868, - 2 - ], - [ - 57068, - 2 - ], - [ - 57167, - 3 - ], - [ - 57368, - 2 - ], - [ - 57467, - 3 - ], - [ - 57669, - 2 - ], - [ - 57767, - 3 - ], - [ - 57866, - 1 - ], - [ - 57970, - 2 - ], - [ - 58067, - 3 - ], - [ - 58165, - 1 - ], - [ - 58271, - 2 - ], - [ - 58367, - 2 - ], - [ - 58464, - 1 - ], - [ - 58571, - 2 - ], - [ - 58667, - 2 - ], - [ - 58763, - 1 - ], - [ - 58872, - 2 - ], - [ - 58966, - 3 - ], - [ - 59062, - 1 - ], - [ - 59173, - 2 - ], - [ - 59266, - 3 - ], - [ - 59361, - 1 - ], - [ - 59474, - 2 - ], - [ - 59566, - 3 - ], - [ - 59660, - 1 - ], - [ - 59773, - 3 - ], - [ - 59866, - 3 - ], - [ - 59959, - 2 - ], - [ - 60073, - 4 - ], - [ - 60166, - 3 - ], - [ - 60258, - 4 - ], - [ - 60300, - 1500 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan217", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -2.75, - "y": 0.9011413, - "z": 4.25 - }, - "object_poses": [ - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.02650547, - "y": 0.554524243, - "z": 2.84074664 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -4.832, - "y": 0.985372663, - "z": 2.595 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -2.15299416, - "y": 0.453272671, - "z": 2.744504 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -2.15299416, - "y": 0.453835756, - "z": 2.84074664 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -0.4171646, - "y": 0.470283, - "z": 1.85258853 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -0.50527364, - "y": 0.5554883, - "z": 1.714 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -4.65690374, - "y": 0.9881954, - "z": 1.74242425 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -0.417164624, - "y": 0.7744721, - "z": 3.311 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -2.180622, - "y": 0.6704, - "z": 2.42843866 - }, - "rotation": { - "x": 0.0, - "y": 350.086456, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_9691257b", - "position": { - "x": -0.2776128, - "y": -0.000669963658, - "z": 4.8605876 - }, - "rotation": { - "x": 359.9809, - "y": 359.9893, - "z": 0.00747299241 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -4.58780575, - "y": 0.8870357, - "z": 2.90658379 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -2.15299416, - "y": 0.453835756, - "z": 2.55201864 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f769cdcb", - "position": { - "x": -3.294, - "y": 0.624, - "z": 0.801 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.090637 - } - }, - { - "objectName": "Laptop_d290dd79", - "position": { - "x": -4.873, - "y": 0.981, - "z": 3.44 - }, - "rotation": { - "x": 0.0, - "y": 83.8787842, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -0.240946516, - "y": 0.470283, - "z": 1.714 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -4.74445152, - "y": 0.9884721, - "z": 2.87919188 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -4.569356, - "y": 1.08662426, - "z": 3.163384 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4022455937, - "scene_num": 217 - }, - "task_id": "trial_T20190910_203316_646156", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1NWXL4QO30M8U_3P529IW9K1C1YSIMCO08L4WJHQSFLH", - "high_descs": [ - "Turn around and take one step, then turn right and take two steps, then turn right to face the coffee table. ", - "Pick up the keys that are closest to the box on the table. ", - "Turn to the right and take one step, then turn left and walk to the end of the coffee table, then turn left and take one step, then turn right.", - "Place the keys on the table." - ], - "task_desc": "To move the keys.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3S06PH7KSUVRA10MS8NZDPKK77TD1K", - "high_descs": [ - "Turn left and walk to the left side of the coffee table.", - "Pick up the keys closest to the box.", - "Walk around the coffee table and ahead to the TV stand.", - "Place the keys on the TV stand, in front of the leftmost watch." - ], - "task_desc": "Place a set of keys on a TV stand.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2RQMEPIHW5BOS_3CTOC39K3AHIO9FGRKQJHX6AFCC7J9", - "high_descs": [ - "Turn around, walk to the lamp table, turn right and walk to the coffee table.", - "Pick up the keys.", - "Walk around the coffee table to the counter.", - "Put the keys on the counter." - ], - "task_desc": "Put the keys on the counter.", - "votes": [ - 1, - 1, - 0 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190908_062357_662469/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190908_062357_662469/traj_data.json deleted file mode 100644 index 9ea6d941e..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190908_062357_662469/traj_data.json +++ /dev/null @@ -1,2859 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 37 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 39 - }, - { - "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": 40 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 41 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|5|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.2738266, - 8.2738266, - 4.96026756, - 4.96026756, - 2.294746636, - 2.294746636 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 8.752, - 8.752, - 6.056, - 6.056, - 0.016, - 0.016 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.07|+00.57|+01.24" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.2738266, - 8.2738266, - 4.96026756, - 4.96026756, - 2.294746636, - 2.294746636 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.07|+00.57|+01.24", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - } - ], - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+02.07|+00.57|+01.24" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 146, - 186, - 163, - 215 - ], - "mask": [ - [ - 55660, - 2 - ], - [ - 55960, - 2 - ], - [ - 56259, - 2 - ], - [ - 56558, - 3 - ], - [ - 56858, - 2 - ], - [ - 57155, - 5 - ], - [ - 57446, - 2 - ], - [ - 57455, - 4 - ], - [ - 57746, - 2 - ], - [ - 57755, - 5 - ], - [ - 58046, - 2 - ], - [ - 58055, - 4 - ], - [ - 58347, - 2 - ], - [ - 58353, - 1 - ], - [ - 58647, - 2 - ], - [ - 58652, - 1 - ], - [ - 58947, - 2 - ], - [ - 59247, - 5 - ], - [ - 59547, - 5 - ], - [ - 59847, - 6 - ], - [ - 60147, - 4 - ], - [ - 60153, - 1 - ], - [ - 60449, - 4 - ], - [ - 60749, - 2 - ], - [ - 60753, - 1 - ], - [ - 61048, - 1 - ], - [ - 61053, - 1 - ], - [ - 61057, - 5 - ], - [ - 61349, - 6 - ], - [ - 61357, - 6 - ], - [ - 61649, - 2 - ], - [ - 61652, - 1 - ], - [ - 61654, - 1 - ], - [ - 61656, - 8 - ], - [ - 61949, - 1 - ], - [ - 61956, - 8 - ], - [ - 62249, - 1 - ], - [ - 62256, - 8 - ], - [ - 62548, - 1 - ], - [ - 62555, - 9 - ], - [ - 62848, - 1 - ], - [ - 62855, - 1 - ], - [ - 62857, - 6 - ], - [ - 63148, - 1 - ], - [ - 63155, - 1 - ], - [ - 63159, - 2 - ], - [ - 63448, - 1 - ], - [ - 63455, - 1 - ], - [ - 63748, - 1 - ], - [ - 63755, - 1 - ], - [ - 64048, - 1 - ], - [ - 64055, - 1 - ], - [ - 64348, - 8 - ] - ], - "point": [ - 153, - 200 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+02.07|+00.57|+01.24", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 139 - ], - [ - 3009, - 43 - ], - [ - 3118, - 139 - ], - [ - 3308, - 44 - ], - [ - 3418, - 139 - ], - [ - 3608, - 44 - ], - [ - 3718, - 139 - ], - [ - 3907, - 45 - ], - [ - 4017, - 140 - ], - [ - 4207, - 45 - ], - [ - 4317, - 140 - ], - [ - 4507, - 45 - ], - [ - 4617, - 140 - ], - [ - 4806, - 46 - ], - [ - 4917, - 140 - ], - [ - 5106, - 46 - ], - [ - 5216, - 141 - ], - [ - 5405, - 48 - ], - [ - 5516, - 141 - ], - [ - 5705, - 48 - ], - [ - 5816, - 141 - ], - [ - 6004, - 50 - ], - [ - 6116, - 141 - ], - [ - 6304, - 50 - ], - [ - 6415, - 142 - ], - [ - 6603, - 52 - ], - [ - 6715, - 143 - ], - [ - 6903, - 53 - ], - [ - 7015, - 143 - ], - [ - 7202, - 55 - ], - [ - 7315, - 143 - ], - [ - 7502, - 55 - ], - [ - 7614, - 144 - ], - [ - 7802, - 56 - ], - [ - 7914, - 145 - ], - [ - 8101, - 58 - ], - [ - 8214, - 145 - ], - [ - 8401, - 59 - ], - [ - 8514, - 145 - ], - [ - 8700, - 60 - ], - [ - 8813, - 147 - ], - [ - 9000, - 61 - ], - [ - 9113, - 147 - ], - [ - 9300, - 62 - ], - [ - 9413, - 147 - ], - [ - 9600, - 63 - ], - [ - 9713, - 148 - ], - [ - 9900, - 64 - ], - [ - 10012, - 149 - ], - [ - 10200, - 64 - ], - [ - 10312, - 149 - ], - [ - 10500, - 65 - ], - [ - 10611, - 151 - ], - [ - 10800, - 66 - ], - [ - 10911, - 151 - ], - [ - 11100, - 67 - ], - [ - 11210, - 152 - ], - [ - 11400, - 68 - ], - [ - 11509, - 154 - ], - [ - 11699, - 69 - ], - [ - 11808, - 155 - ], - [ - 11998, - 71 - ], - [ - 12107, - 157 - ], - [ - 12297, - 73 - ], - [ - 12406, - 158 - ], - [ - 12596, - 76 - ], - [ - 12704, - 161 - ], - [ - 12895, - 78 - ], - [ - 13002, - 176 - ], - [ - 13181, - 94 - ], - [ - 13300, - 178 - ], - [ - 13481, - 97 - ], - [ - 13597, - 182 - ], - [ - 13781, - 101 - ], - [ - 13892, - 187 - ], - [ - 14081, - 298 - ], - [ - 14382, - 298 - ], - [ - 14682, - 298 - ], - [ - 14982, - 298 - ], - [ - 15283, - 298 - ], - [ - 15583, - 298 - ], - [ - 15883, - 298 - ], - [ - 16184, - 297 - ], - [ - 16484, - 298 - ], - [ - 16784, - 298 - ], - [ - 17085, - 297 - ], - [ - 17385, - 298 - ], - [ - 17685, - 298 - ], - [ - 17986, - 297 - ], - [ - 18286, - 298 - ], - [ - 18586, - 298 - ], - [ - 18887, - 297 - ], - [ - 19187, - 298 - ], - [ - 19487, - 298 - ], - [ - 19788, - 297 - ], - [ - 20088, - 298 - ], - [ - 20388, - 298 - ], - [ - 20689, - 297 - ], - [ - 20989, - 297 - ], - [ - 21289, - 175 - ], - [ - 21465, - 122 - ], - [ - 21590, - 174 - ], - [ - 21765, - 122 - ], - [ - 21890, - 22 - ], - [ - 21964, - 100 - ], - [ - 22066, - 121 - ], - [ - 22190, - 19 - ], - [ - 22268, - 95 - ], - [ - 22367, - 121 - ], - [ - 22490, - 23 - ], - [ - 22565, - 98 - ], - [ - 22667, - 121 - ], - [ - 22791, - 172 - ], - [ - 22967, - 121 - ], - [ - 23091, - 172 - ], - [ - 23267, - 122 - ], - [ - 23391, - 172 - ], - [ - 23567, - 122 - ], - [ - 23691, - 172 - ], - [ - 23867, - 123 - ], - [ - 23991, - 173 - ], - [ - 24166, - 298 - ], - [ - 24466, - 298 - ], - [ - 24766, - 298 - ], - [ - 25066, - 298 - ], - [ - 25366, - 298 - ], - [ - 25667, - 297 - ], - [ - 25967, - 297 - ], - [ - 26267, - 297 - ], - [ - 26567, - 297 - ], - [ - 26867, - 297 - ], - [ - 27167, - 297 - ], - [ - 27467, - 297 - ], - [ - 27767, - 297 - ], - [ - 28067, - 297 - ], - [ - 28367, - 297 - ], - [ - 28667, - 297 - ], - [ - 28967, - 297 - ], - [ - 29267, - 297 - ], - [ - 29567, - 297 - ], - [ - 29867, - 297 - ], - [ - 30167, - 297 - ], - [ - 30467, - 297 - ], - [ - 30767, - 297 - ], - [ - 31067, - 297 - ], - [ - 31367, - 297 - ], - [ - 31667, - 297 - ], - [ - 31967, - 297 - ], - [ - 32267, - 298 - ], - [ - 32568, - 297 - ], - [ - 32868, - 297 - ], - [ - 33168, - 297 - ], - [ - 33468, - 297 - ], - [ - 33768, - 297 - ], - [ - 34068, - 297 - ], - [ - 34368, - 297 - ], - [ - 34667, - 299 - ], - [ - 34967, - 299 - ], - [ - 35267, - 4933 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.0, - "y": 0.90192616, - "z": -0.25 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": -2.24941039, - "y": 0.0584594719, - "z": -1.75465608 - }, - "rotation": { - "x": 0.0, - "y": 77.6645, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 0.6499603, - "y": 0.418882281, - "z": 0.585646749 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.201929152, - "y": 0.9764528, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.4012297, - "y": 0.9779568, - "z": -1.85263681 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 2.25251436, - "y": 0.573896766, - "z": 1.18564022 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.2001768, - "y": 0.9759007, - "z": -1.70524311 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.14513469, - "y": 0.413577348, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 1.6403091, - "y": 0.4174855, - "z": -0.4136466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 0.120971464, - "y": 0.413510948, - "z": -1.65669918 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.602282643, - "y": 0.9759007, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": -0.200176746, - "y": 0.972896039, - "z": -1.85263669 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 2.114471, - "y": 0.5728469, - "z": 1.34892035 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 2.06845665, - "y": 0.573686659, - "z": 1.24006689 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 0.649960339, - "y": 0.477432, - "z": 0.0860000253 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.14513469, - "y": 0.413577348, - "z": 0.2525489 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 0.5833866, - "y": 0.6050128, - "z": -1.54424238 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.604035, - "y": 0.9779568, - "z": -1.63154614 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3099724823, - "scene_num": 317 - }, - "task_id": "trial_T20190908_062357_662469", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3MLUEOP3CCLXL_336KAV9KYT9TC8RBB0LAU7KONSMY2O", - "high_descs": [ - "Head forward past the bed then hang right and walk to the night stand to the left of the bed", - "Pick up the set of keys laying on the nightstand", - "Turn around and head across the room, take a left after passing the bed and head to the brown dresser across the room", - "Place the keys on the dresser to the left of the right pen. " - ], - "task_desc": "Place a set of keys on a dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3GS6S824STELCPL4II161Y26NF1NWT", - "high_descs": [ - "Walk to the end of the bed, then turn to your right and walk to the night stand on the left side of the bed. ", - "Pick up the keys on the right, front corner of the night stand. ", - "Turn around and walk to the end of the bed, then turn left and go to the wooden dresser. ", - "Place the keys above the left, top drawer, on the top of the dresser. " - ], - "task_desc": "Put the keys on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HXEXQTZCJ1DW_3ZY8KE4ISMKT0XYR80ORJQEXLH3VQV", - "high_descs": [ - "walk forward to the wall. turn right and walk to the night stand", - "pick up the keys from the night stand", - "turn around and walk past the bed. turn left and walk to the dresser.", - "place the keys on the dresser" - ], - "task_desc": "move the keys from the night stand to the dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190910_183541_490131/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190910_183541_490131/traj_data.json deleted file mode 100644 index 8968d458e..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190910_183541_490131/traj_data.json +++ /dev/null @@ -1,3023 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000093.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "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": 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": 25 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 25 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 35 - }, - { - "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": 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": 45 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "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": 47 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000225.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000226.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000227.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000228.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000229.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000230.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000231.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000232.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000233.png", - "low_idx": 49 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|5|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.457884, - 8.457884, - 5.3956814, - 5.3956814, - 2.294746636, - 2.294746636 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 8.752, - 8.752, - 6.056, - 6.056, - 0.016, - 0.016 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.11|+00.57|+01.35" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.457884, - 8.457884, - 5.3956814, - 5.3956814, - 2.294746636, - 2.294746636 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.11|+00.57|+01.35", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - } - ], - "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": "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": "KeyChain|+02.11|+00.57|+01.35" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 103, - 187, - 132, - 203 - ], - "mask": [ - [ - 55923, - 4 - ], - [ - 56203, - 2 - ], - [ - 56222, - 6 - ], - [ - 56503, - 3 - ], - [ - 56522, - 7 - ], - [ - 56804, - 5 - ], - [ - 56821, - 8 - ], - [ - 57106, - 6 - ], - [ - 57121, - 8 - ], - [ - 57407, - 5 - ], - [ - 57422, - 7 - ], - [ - 57708, - 4 - ], - [ - 57723, - 5 - ], - [ - 58008, - 4 - ], - [ - 58023, - 1 - ], - [ - 58025, - 8 - ], - [ - 58309, - 1 - ], - [ - 58323, - 1 - ], - [ - 58325, - 1 - ], - [ - 58332, - 1 - ], - [ - 58612, - 1 - ], - [ - 58620, - 4 - ], - [ - 58632, - 1 - ], - [ - 58913, - 1 - ], - [ - 58917, - 1 - ], - [ - 58919, - 1 - ], - [ - 58921, - 2 - ], - [ - 58932, - 1 - ], - [ - 59215, - 5 - ], - [ - 59222, - 1 - ], - [ - 59224, - 1 - ], - [ - 59232, - 1 - ], - [ - 59515, - 6 - ], - [ - 59522, - 2 - ], - [ - 59532, - 1 - ], - [ - 59813, - 6 - ], - [ - 59820, - 9 - ], - [ - 59832, - 1 - ], - [ - 60110, - 9 - ], - [ - 60129, - 3 - ], - [ - 60408, - 5 - ], - [ - 60414, - 4 - ], - [ - 60708, - 2 - ], - [ - 60711, - 1 - ] - ], - "point": [ - 117, - 196 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+02.11|+00.57|+01.35", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 291 - ], - [ - 3009, - 291 - ], - [ - 3308, - 292 - ], - [ - 3608, - 292 - ], - [ - 3907, - 293 - ], - [ - 4207, - 293 - ], - [ - 4507, - 293 - ], - [ - 4806, - 294 - ], - [ - 5106, - 294 - ], - [ - 5405, - 295 - ], - [ - 5705, - 295 - ], - [ - 6004, - 296 - ], - [ - 6304, - 296 - ], - [ - 6603, - 297 - ], - [ - 6903, - 297 - ], - [ - 7202, - 298 - ], - [ - 7502, - 298 - ], - [ - 7802, - 298 - ], - [ - 8101, - 299 - ], - [ - 8401, - 82 - ], - [ - 8514, - 269 - ], - [ - 8815, - 267 - ], - [ - 9116, - 266 - ], - [ - 9416, - 266 - ], - [ - 9716, - 266 - ], - [ - 10016, - 265 - ], - [ - 10317, - 264 - ], - [ - 10617, - 264 - ], - [ - 10917, - 264 - ], - [ - 11217, - 263 - ], - [ - 11517, - 263 - ], - [ - 11817, - 263 - ], - [ - 12117, - 263 - ], - [ - 12418, - 262 - ], - [ - 12718, - 261 - ], - [ - 13018, - 261 - ], - [ - 13318, - 261 - ], - [ - 13618, - 261 - ], - [ - 13918, - 261 - ], - [ - 14218, - 260 - ], - [ - 14518, - 260 - ], - [ - 14818, - 140 - ], - [ - 15000, - 78 - ], - [ - 15118, - 140 - ], - [ - 15300, - 78 - ], - [ - 15418, - 140 - ], - [ - 15600, - 78 - ], - [ - 15718, - 140 - ], - [ - 15900, - 77 - ], - [ - 16018, - 141 - ], - [ - 16200, - 77 - ], - [ - 16318, - 141 - ], - [ - 16500, - 77 - ], - [ - 16618, - 141 - ], - [ - 16800, - 77 - ], - [ - 16918, - 142 - ], - [ - 17100, - 77 - ], - [ - 17218, - 142 - ], - [ - 17400, - 77 - ], - [ - 17518, - 142 - ], - [ - 17700, - 77 - ], - [ - 17818, - 142 - ], - [ - 18000, - 76 - ], - [ - 18118, - 143 - ], - [ - 18300, - 76 - ], - [ - 18418, - 143 - ], - [ - 18600, - 76 - ], - [ - 18718, - 143 - ], - [ - 18900, - 76 - ], - [ - 19018, - 144 - ], - [ - 19200, - 76 - ], - [ - 19318, - 144 - ], - [ - 19500, - 76 - ], - [ - 19618, - 38 - ], - [ - 19673, - 90 - ], - [ - 19800, - 76 - ], - [ - 19918, - 39 - ], - [ - 19973, - 203 - ], - [ - 20218, - 39 - ], - [ - 20273, - 203 - ], - [ - 20518, - 39 - ], - [ - 20573, - 203 - ], - [ - 20817, - 40 - ], - [ - 20873, - 203 - ], - [ - 21117, - 40 - ], - [ - 21173, - 204 - ], - [ - 21417, - 40 - ], - [ - 21473, - 204 - ], - [ - 21717, - 40 - ], - [ - 21773, - 204 - ], - [ - 22017, - 40 - ], - [ - 22073, - 204 - ], - [ - 22317, - 40 - ], - [ - 22373, - 204 - ], - [ - 22617, - 40 - ], - [ - 22673, - 204 - ], - [ - 22917, - 40 - ], - [ - 22973, - 204 - ], - [ - 23217, - 40 - ], - [ - 23273, - 205 - ], - [ - 23517, - 40 - ], - [ - 23573, - 205 - ], - [ - 23817, - 40 - ], - [ - 23873, - 205 - ], - [ - 24116, - 41 - ], - [ - 24174, - 204 - ], - [ - 24416, - 41 - ], - [ - 24474, - 205 - ], - [ - 24716, - 41 - ], - [ - 24774, - 205 - ], - [ - 25016, - 41 - ], - [ - 25073, - 206 - ], - [ - 25316, - 264 - ], - [ - 25616, - 264 - ], - [ - 25916, - 264 - ], - [ - 26216, - 265 - ], - [ - 26515, - 266 - ], - [ - 26815, - 267 - ], - [ - 27115, - 268 - ], - [ - 27409, - 1 - ], - [ - 27413, - 2378 - ], - [ - 29808, - 282 - ], - [ - 30108, - 282 - ], - [ - 30408, - 282 - ], - [ - 30708, - 282 - ], - [ - 31008, - 282 - ], - [ - 31308, - 282 - ], - [ - 31608, - 281 - ], - [ - 31907, - 282 - ], - [ - 32207, - 282 - ], - [ - 32507, - 282 - ], - [ - 32807, - 282 - ], - [ - 33107, - 282 - ], - [ - 33407, - 282 - ], - [ - 33707, - 281 - ], - [ - 34007, - 281 - ], - [ - 34307, - 281 - ], - [ - 34607, - 281 - ], - [ - 34906, - 282 - ], - [ - 35206, - 282 - ], - [ - 35506, - 282 - ], - [ - 35806, - 281 - ], - [ - 36106, - 282 - ], - [ - 36405, - 3795 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -2.25, - "y": 0.90192616, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": -0.488223642, - "y": 0.605412841, - "z": -1.6004709 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.3059375, - "y": 0.6110589, - "z": -1.54424238 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.207072735, - "y": 0.8056051, - "z": -1.768467 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.402982, - "y": 0.970796, - "z": -1.48415256 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": -0.303257585, - "y": 0.6058021, - "z": -1.54424262 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 1.14513469, - "y": 0.4174855, - "z": -0.413646638 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 0.402982026, - "y": 0.9713921, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.6499604, - "y": 0.4174855, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": -0.200176775, - "y": 0.974104941, - "z": -1.70524311 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 2.25948787, - "y": 0.5743141, - "z": 1.17154419 - }, - "rotation": { - "x": 30.734148, - "y": 355.267548, - "z": 177.238327 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 2.15346122, - "y": 0.565650761, - "z": 1.20815 - }, - "rotation": { - "x": 0.008821761, - "y": 214.958313, - "z": -0.004831763 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.201929152, - "y": 0.970796, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 2.114471, - "y": 0.573686659, - "z": 1.34892035 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.64030886, - "y": 0.413577348, - "z": 0.2525489 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": -0.401229739, - "y": 0.9737445, - "z": -1.77894 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 1.69676459, - "y": 0.0400984623, - "z": -1.9719317 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -2.19448185, - "y": 0.0603185631, - "z": -1.78557539 - }, - "rotation": { - "x": 0.0, - "y": 77.6645, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 352140769, - "scene_num": 317 - }, - "task_id": "trial_T20190910_183541_490131", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A255A9FFZD8PQW_3F1567XTNZMV3QLO5ZJVR8P0UPE9QN", - "high_descs": [ - "Turn around completely and walk forward to the side table.", - "Pick up the keys off the table.", - "Turn around completely and move forward. Make a left at the bed and go forward to the dresser.", - "Place the keys on top of the dresser." - ], - "task_desc": "Move keys from a side table to a dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AISNLDPD2DFEG_3PDJHANYK8XV8EKNO2TPYK6XD1A6HD", - "high_descs": [ - "Turn left, go forward a bit, turn left, go to the wall, turn right and go to the nightstand", - "Pick up the keys on the nightstand", - "Turn around, go forward, turn left at the end of the bed, go forward, turn right at the end of the bed, go forward a bit and turn right in front of the dresser", - "Put the keys on the dresser" - ], - "task_desc": "Bring the keys to the dresser from the nightstand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A002160837SWJFPIAI7L7_3VNXK88KKFZN8YH5RYD5XVO8BHYV98", - "high_descs": [ - "Turn left and walk forward to the nightstand next to the bed.", - "Grab the keys from the nightstand.", - "Turn around walk some steps then turn left and face the dresser.", - "Place the keys under the red credit card that is beside the clock." - ], - "task_desc": "Place some keys on top of the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190910_184933_511149/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190910_184933_511149/traj_data.json deleted file mode 100644 index 450934320..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-KeyChain-None-Dresser-317/trial_T20190910_184933_511149/traj_data.json +++ /dev/null @@ -1,2697 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "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": 2, - "image_name": "000000053.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000054.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "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": 13 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 35 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|5|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.64194204, - 8.64194204, - 5.3956814, - 5.3956814, - 2.294746636, - 2.294746636 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 8.752, - 8.752, - 6.056, - 6.056, - 0.016, - 0.016 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.16|+00.57|+01.35" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.64194204, - 8.64194204, - 5.3956814, - 5.3956814, - 2.294746636, - 2.294746636 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.16|+00.57|+01.35", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - } - ], - "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": "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": "KeyChain|+02.16|+00.57|+01.35" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 119, - 181, - 148, - 196 - ], - "mask": [ - [ - 54141, - 2 - ], - [ - 54433, - 10 - ], - [ - 54719, - 21 - ], - [ - 55019, - 1 - ], - [ - 55027, - 2 - ], - [ - 55031, - 6 - ], - [ - 55319, - 1 - ], - [ - 55327, - 1 - ], - [ - 55330, - 1 - ], - [ - 55332, - 5 - ], - [ - 55627, - 1 - ], - [ - 55630, - 1 - ], - [ - 55634, - 1 - ], - [ - 55637, - 1 - ], - [ - 55919, - 1 - ], - [ - 55928, - 4 - ], - [ - 55933, - 1 - ], - [ - 55938, - 1 - ], - [ - 56219, - 1 - ], - [ - 56227, - 2 - ], - [ - 56239, - 1 - ], - [ - 56519, - 5 - ], - [ - 56526, - 1 - ], - [ - 56540, - 4 - ], - [ - 56825, - 4 - ], - [ - 56839, - 5 - ], - [ - 57124, - 6 - ], - [ - 57139, - 5 - ], - [ - 57423, - 7 - ], - [ - 57440, - 6 - ], - [ - 57723, - 8 - ], - [ - 57741, - 1 - ], - [ - 57743, - 4 - ], - [ - 58023, - 8 - ], - [ - 58044, - 5 - ], - [ - 58323, - 7 - ], - [ - 58347, - 2 - ], - [ - 58624, - 5 - ] - ], - "point": [ - 133, - 186 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+02.16|+00.57|+01.35", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 90 - ], - [ - 3521, - 79 - ], - [ - 3608, - 44 - ], - [ - 3718, - 90 - ], - [ - 3821, - 79 - ], - [ - 3907, - 45 - ], - [ - 4017, - 91 - ], - [ - 4122, - 78 - ], - [ - 4207, - 45 - ], - [ - 4317, - 91 - ], - [ - 4422, - 78 - ], - [ - 4507, - 45 - ], - [ - 4617, - 91 - ], - [ - 4722, - 77 - ], - [ - 4806, - 46 - ], - [ - 4917, - 91 - ], - [ - 5022, - 77 - ], - [ - 5106, - 46 - ], - [ - 5216, - 92 - ], - [ - 5323, - 76 - ], - [ - 5405, - 48 - ], - [ - 5516, - 93 - ], - [ - 5623, - 76 - ], - [ - 5705, - 48 - ], - [ - 5816, - 93 - ], - [ - 5923, - 75 - ], - [ - 6004, - 50 - ], - [ - 6116, - 93 - ], - [ - 6223, - 75 - ], - [ - 6304, - 50 - ], - [ - 6415, - 94 - ], - [ - 6523, - 75 - ], - [ - 6603, - 52 - ], - [ - 6715, - 94 - ], - [ - 6824, - 74 - ], - [ - 6903, - 53 - ], - [ - 7015, - 95 - ], - [ - 7124, - 73 - ], - [ - 7202, - 55 - ], - [ - 7315, - 95 - ], - [ - 7424, - 73 - ], - [ - 7502, - 55 - ], - [ - 7614, - 183 - ], - [ - 7802, - 56 - ], - [ - 7914, - 183 - ], - [ - 8101, - 58 - ], - [ - 8214, - 182 - ], - [ - 8401, - 59 - ], - [ - 8514, - 182 - ], - [ - 8700, - 60 - ], - [ - 8813, - 183 - ], - [ - 9000, - 61 - ], - [ - 9113, - 183 - ], - [ - 9300, - 62 - ], - [ - 9413, - 182 - ], - [ - 9600, - 63 - ], - [ - 9713, - 182 - ], - [ - 9900, - 64 - ], - [ - 10012, - 183 - ], - [ - 10200, - 64 - ], - [ - 10312, - 182 - ], - [ - 10500, - 65 - ], - [ - 10611, - 183 - ], - [ - 10800, - 66 - ], - [ - 10911, - 183 - ], - [ - 11100, - 67 - ], - [ - 11210, - 184 - ], - [ - 11400, - 68 - ], - [ - 11509, - 184 - ], - [ - 11700, - 68 - ], - [ - 11808, - 185 - ], - [ - 12000, - 69 - ], - [ - 12107, - 186 - ], - [ - 12300, - 70 - ], - [ - 12406, - 187 - ], - [ - 12600, - 72 - ], - [ - 12704, - 188 - ], - [ - 12900, - 73 - ], - [ - 13002, - 190 - ], - [ - 13200, - 75 - ], - [ - 13312, - 180 - ], - [ - 13500, - 78 - ], - [ - 13613, - 179 - ], - [ - 13800, - 79 - ], - [ - 13914, - 177 - ], - [ - 14100, - 79 - ], - [ - 14214, - 177 - ], - [ - 14400, - 79 - ], - [ - 14515, - 176 - ], - [ - 14700, - 78 - ], - [ - 14815, - 175 - ], - [ - 15000, - 78 - ], - [ - 15115, - 175 - ], - [ - 15300, - 78 - ], - [ - 15416, - 174 - ], - [ - 15600, - 78 - ], - [ - 15718, - 172 - ], - [ - 15900, - 77 - ], - [ - 16019, - 170 - ], - [ - 16200, - 77 - ], - [ - 16320, - 169 - ], - [ - 16500, - 77 - ], - [ - 16620, - 169 - ], - [ - 16800, - 77 - ], - [ - 16921, - 168 - ], - [ - 17100, - 77 - ], - [ - 17221, - 167 - ], - [ - 17400, - 76 - ], - [ - 17521, - 167 - ], - [ - 17700, - 76 - ], - [ - 17821, - 167 - ], - [ - 18000, - 76 - ], - [ - 18121, - 167 - ], - [ - 18300, - 76 - ], - [ - 18421, - 166 - ], - [ - 18600, - 76 - ], - [ - 18720, - 167 - ], - [ - 18900, - 75 - ], - [ - 19020, - 167 - ], - [ - 19200, - 75 - ], - [ - 19320, - 167 - ], - [ - 19500, - 75 - ], - [ - 19619, - 167 - ], - [ - 19800, - 75 - ], - [ - 19918, - 168 - ], - [ - 20100, - 74 - ], - [ - 20217, - 169 - ], - [ - 20400, - 74 - ], - [ - 20517, - 169 - ], - [ - 20700, - 74 - ], - [ - 20817, - 171 - ], - [ - 21000, - 74 - ], - [ - 21117, - 175 - ], - [ - 21300, - 74 - ], - [ - 21417, - 178 - ], - [ - 21600, - 73 - ], - [ - 21717, - 182 - ], - [ - 21900, - 73 - ], - [ - 22017, - 256 - ], - [ - 22317, - 256 - ], - [ - 22617, - 256 - ], - [ - 22917, - 256 - ], - [ - 23217, - 256 - ], - [ - 23517, - 255 - ], - [ - 23817, - 255 - ], - [ - 24116, - 256 - ], - [ - 24416, - 256 - ], - [ - 24716, - 256 - ], - [ - 25016, - 256 - ], - [ - 25316, - 256 - ], - [ - 25616, - 256 - ], - [ - 25916, - 256 - ], - [ - 26216, - 256 - ], - [ - 26516, - 256 - ], - [ - 26816, - 256 - ], - [ - 27116, - 257 - ], - [ - 27415, - 258 - ], - [ - 27715, - 258 - ], - [ - 28015, - 258 - ], - [ - 28315, - 258 - ], - [ - 28615, - 258 - ], - [ - 28915, - 258 - ], - [ - 29215, - 259 - ], - [ - 29515, - 259 - ], - [ - 29815, - 259 - ], - [ - 30115, - 259 - ], - [ - 30415, - 260 - ], - [ - 30714, - 261 - ], - [ - 31014, - 261 - ], - [ - 31314, - 262 - ], - [ - 31614, - 262 - ], - [ - 31914, - 263 - ], - [ - 32214, - 263 - ], - [ - 32513, - 265 - ], - [ - 32813, - 266 - ], - [ - 33112, - 7088 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -0.25, - "y": 0.90192616, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": 0.11781875, - "y": 0.0361987166, - "z": -1.59889674 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": -2.20344162, - "y": 0.0584594719, - "z": -1.7446034 - }, - "rotation": { - "x": 0.0, - "y": 77.6645, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.69852, - "y": 0.043796692, - "z": -2.024164 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 0.6499603, - "y": 0.418882281, - "z": 0.252548873 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.207072675, - "y": 0.042244833, - "z": -1.76846719 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.000876246952, - "y": 0.970796, - "z": -1.92633355 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 1.64030886, - "y": 0.4174855, - "z": 0.419097781 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 2.06845665, - "y": 0.573604941, - "z": 1.34892035 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.3006131, - "y": 0.221493468, - "z": -1.600204 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 0.402982116, - "y": 0.972896039, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": -0.207072675, - "y": 0.0365879945, - "z": -1.598897 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 2.16048551, - "y": 0.573686659, - "z": 1.34892035 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": -0.5, - "y": 0.965303957, - "z": -1.715 - }, - "rotation": { - "x": 0.0, - "y": 24.1564865, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 0.402982116, - "y": 0.971910655, - "z": -1.70524311 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 2.16048551, - "y": 0.5785037, - "z": 1.18564022 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3157502885, - "scene_num": 317 - }, - "task_id": "trial_T20190910_184933_511149", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AM2KK02JXXW48_31UV0MXWNTTZL5VTP1156QTCHKY5IB", - "high_descs": [ - "Move forward to the small table left of the bed.", - "Pick up the keys on the table. ", - "Turn around, bring the keys around the bed to the dresser across the room.", - "Put the keys on the dresser." - ], - "task_desc": "Put keys on the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A38Z99XF4NDNH0_3UJ1CZ6IZK6OFJYPUDVJASZZQHIS56", - "high_descs": [ - "Move across the room to the night stand to the left of the bed", - "Pick up the keys on the night stand", - "Carry the keys to the left side of the wood dresser", - "Place the keys on the dresser to the right of the clock" - ], - "task_desc": "Move keys to the dresser", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_31Z0PCVWUNW4HNPN76F6IH9HJ6IT72", - "high_descs": [ - "walk forward to the small table", - "pick up keys that are on the table", - "turn around, walk forward, turn left after bed, walk forward to the dresser", - "put the keys on the dresser" - ], - "task_desc": "move keys from table to dresser", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152854_416951/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152854_416951/traj_data.json deleted file mode 100644 index dd8b3d4d3..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152854_416951/traj_data.json +++ /dev/null @@ -1,3465 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 25 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 40 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Mug", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-6|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 11.034724, - 11.034724, - -6.0858898, - -6.0858898, - 2.9697504, - 2.9697504 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.76|+00.74|-01.52" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 11.034724, - 11.034724, - -6.0858898, - -6.0858898, - 2.9697504, - 2.9697504 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.76|+00.74|-01.52", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "PickupObject", - "objectId": "Mug|+02.76|+00.74|-01.52" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 145, - 150, - 166, - 172 - ], - "mask": [ - [ - 44865, - 2 - ], - [ - 45163, - 4 - ], - [ - 45460, - 7 - ], - [ - 45757, - 10 - ], - [ - 46052, - 15 - ], - [ - 46345, - 22 - ], - [ - 46645, - 22 - ], - [ - 46945, - 22 - ], - [ - 47246, - 21 - ], - [ - 47546, - 21 - ], - [ - 47846, - 21 - ], - [ - 48146, - 21 - ], - [ - 48446, - 21 - ], - [ - 48746, - 20 - ], - [ - 49046, - 20 - ], - [ - 49346, - 20 - ], - [ - 49646, - 20 - ], - [ - 49946, - 20 - ], - [ - 50246, - 19 - ], - [ - 50546, - 19 - ], - [ - 50846, - 18 - ], - [ - 51148, - 14 - ], - [ - 51449, - 12 - ] - ], - "point": [ - 155, - 160 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.76|+00.74|-01.52", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18953, - 45 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 22 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 29 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 24 - ], - [ - 20014, - 29 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 95 - ], - [ - 20314, - 29 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 95 - ], - [ - 20615, - 28 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 94 - ], - [ - 20915, - 28 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 95 - ], - [ - 21215, - 27 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 94 - ], - [ - 21515, - 27 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 94 - ], - [ - 21815, - 27 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 93 - ], - [ - 22115, - 27 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 93 - ], - [ - 22416, - 25 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 93 - ], - [ - 22716, - 25 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 93 - ], - [ - 23016, - 25 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 92 - ], - [ - 23316, - 24 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 93 - ], - [ - 23616, - 24 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 92 - ], - [ - 23916, - 23 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 32 - ], - [ - 29480, - 43 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 10 - ], - [ - 29755, - 19 - ], - [ - 29781, - 43 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 10 - ], - [ - 30056, - 1 - ], - [ - 30058, - 15 - ], - [ - 30081, - 45 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 11 - ], - [ - 30359, - 14 - ], - [ - 30382, - 45 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 13 - ], - [ - 30663, - 10 - ], - [ - 30681, - 48 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 15 - ], - [ - 30963, - 10 - ], - [ - 30981, - 49 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 15 - ], - [ - 31263, - 11 - ], - [ - 31280, - 3 - ], - [ - 31284, - 48 - ], - [ - 31436, - 64 - ], - [ - 31542, - 16 - ], - [ - 31562, - 12 - ], - [ - 31579, - 5 - ], - [ - 31585, - 49 - ], - [ - 31734, - 66 - ], - [ - 31841, - 21 - ], - [ - 31863, - 6 - ], - [ - 31872, - 1 - ], - [ - 31874, - 1 - ], - [ - 31877, - 8 - ], - [ - 31886, - 50 - ], - [ - 32032, - 68 - ], - [ - 32141, - 22 - ], - [ - 32164, - 4 - ], - [ - 32169, - 1 - ], - [ - 32172, - 1 - ], - [ - 32175, - 10 - ], - [ - 32186, - 51 - ], - [ - 32331, - 69 - ], - [ - 32441, - 23 - ], - [ - 32469, - 4 - ], - [ - 32474, - 1 - ], - [ - 32476, - 8 - ], - [ - 32486, - 53 - ], - [ - 32628, - 72 - ], - [ - 32741, - 24 - ], - [ - 32769, - 1 - ], - [ - 32772, - 1 - ], - [ - 32775, - 9 - ], - [ - 32785, - 57 - ], - [ - 32926, - 74 - ], - [ - 33040, - 24 - ], - [ - 33079, - 5 - ], - [ - 33085, - 59 - ], - [ - 33224, - 76 - ], - [ - 33340, - 20 - ], - [ - 33369, - 10 - ], - [ - 33384, - 63 - ], - [ - 33522, - 78 - ], - [ - 33640, - 17 - ], - [ - 33664, - 1 - ], - [ - 33668, - 81 - ], - [ - 33819, - 81 - ], - [ - 33940, - 17 - ], - [ - 33962, - 91 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 262 - ], - [ - 35738, - 262 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 1.0, - "y": 0.9101201, - "z": 2.5 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.49651241, - "y": 0.743872, - "z": -1.44422 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.758681, - "y": 0.7424376, - "z": -1.52147245 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.576072, - "y": 0.809822559, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.618261, - "y": 0.461529136, - "z": 0.917760432 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.68043351, - "y": 0.8073, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.44725227, - "y": 0.7500904, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.85065842, - "y": 0.84865284, - "z": 0.49285984 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.53340769, - "y": 0.461615622, - "z": 0.3302396 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.490981, - "y": 0.458984017, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.60967064, - "y": 0.8438358, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.88915682, - "y": 0.8082262, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -0.815475941, - "y": 0.9147331, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.833904862, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.8811438, - "y": 0.911498964, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.833904862, - "y": 0.713601649, - "z": 3.105091 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.576072, - "y": 0.8163972, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.3991785, - "y": 0.7457815, - "z": -1.66925287 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.576072, - "y": 0.809822559, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.57583427, - "y": 0.458984017, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.66068769, - "y": 0.4598238, - "z": 0.8198403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.85065842, - "y": 0.844234169, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.312467, - "y": 0.7123361, - "z": 2.53943944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.471079, - "y": 0.749212861, - "z": -1.61999261 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": 0.123219371, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.12801814, - "y": 0.4706937, - "z": -1.14051306 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -1.07814765, - "y": 0.913105667, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -0.8811438, - "y": 0.9191518, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.88915682, - "y": 0.806327343, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4140787327, - "scene_num": 311 - }, - "task_id": "trial_T20190909_152854_416951", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A4UAFZ5LW71K_33C7UALJVOPFT64VB0CJRX6JWW7189", - "high_descs": [ - "turn left, walk across room, turn left, walk to table", - "pick up the mug that is on the table", - "turn around, take a step, turn right, walk forward, turn right to face tv stand", - "put the mug on the tv stand" - ], - "task_desc": "move mug from table to tv stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2TBXASXZIRNNW_3C44YUNSI4GURTJODAYPEL2IA3DPDA", - "high_descs": [ - "Walk over to the lamp.", - "Grab the cup.", - "Walk over to the television.", - "Place the cup on the tv stand." - ], - "task_desc": "Put the cup on the tv stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1CY7IOJ9YH136_3GNA64GUZHVKNS5AYHVVGE402IB5QJ", - "high_descs": [ - "turn left, go to round table with lamp to the right of green chair", - "pick up white coffee mug from behind lamp on round table", - "turn left, go to white dresser with television on the right", - "place white coffee mug to the right of keys on white dresser" - ], - "task_desc": "place white coffee mug on white dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152910_413839/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152910_413839/traj_data.json deleted file mode 100644 index 45ccd2c2e..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152910_413839/traj_data.json +++ /dev/null @@ -1,3348 +0,0 @@ -{ - "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": 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": 0, - "image_name": "000000044.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 21 - }, - { - "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": 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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 37 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Mug", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-6|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 9.884316, - 9.884316, - -5.8888488, - -5.8888488, - 2.975488, - 2.975488 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.47|+00.74|-01.47" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 9.884316, - 9.884316, - -5.8888488, - -5.8888488, - 2.975488, - 2.975488 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.47|+00.74|-01.47", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "Mug|+02.47|+00.74|-01.47" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 120, - 128, - 156, - 166 - ], - "mask": [ - [ - 38239, - 6 - ], - [ - 38535, - 14 - ], - [ - 38834, - 16 - ], - [ - 39132, - 20 - ], - [ - 39431, - 22 - ], - [ - 39730, - 24 - ], - [ - 40029, - 26 - ], - [ - 40329, - 26 - ], - [ - 40628, - 28 - ], - [ - 40928, - 28 - ], - [ - 41227, - 29 - ], - [ - 41522, - 34 - ], - [ - 41821, - 36 - ], - [ - 42121, - 36 - ], - [ - 42420, - 36 - ], - [ - 42720, - 36 - ], - [ - 43020, - 3 - ], - [ - 43027, - 29 - ], - [ - 43320, - 4 - ], - [ - 43328, - 28 - ], - [ - 43620, - 5 - ], - [ - 43628, - 28 - ], - [ - 43921, - 5 - ], - [ - 43928, - 28 - ], - [ - 44221, - 35 - ], - [ - 44522, - 34 - ], - [ - 44823, - 33 - ], - [ - 45124, - 32 - ], - [ - 45425, - 31 - ], - [ - 45728, - 28 - ], - [ - 46029, - 27 - ], - [ - 46329, - 27 - ], - [ - 46629, - 27 - ], - [ - 46929, - 27 - ], - [ - 47230, - 25 - ], - [ - 47530, - 25 - ], - [ - 47831, - 23 - ], - [ - 48131, - 22 - ], - [ - 48432, - 21 - ], - [ - 48733, - 19 - ], - [ - 49035, - 15 - ], - [ - 49337, - 11 - ], - [ - 49640, - 5 - ] - ], - "point": [ - 138, - 146 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.47|+00.74|-01.47", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 4 - ], - [ - 18353, - 5 - ], - [ - 18653, - 5 - ], - [ - 18894, - 6 - ], - [ - 18953, - 5 - ], - [ - 18994, - 4 - ], - [ - 19176, - 24 - ], - [ - 19253, - 6 - ], - [ - 19281, - 21 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 8 - ], - [ - 19574, - 28 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 9 - ], - [ - 19870, - 32 - ], - [ - 19917, - 31 - ], - [ - 19949, - 37 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 11 - ], - [ - 20164, - 39 - ], - [ - 20217, - 31 - ], - [ - 20250, - 93 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 31 - ], - [ - 20550, - 93 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 30 - ], - [ - 20850, - 93 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 30 - ], - [ - 21150, - 92 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 29 - ], - [ - 21450, - 92 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 29 - ], - [ - 21750, - 92 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 28 - ], - [ - 22050, - 92 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 28 - ], - [ - 22350, - 91 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 28 - ], - [ - 22650, - 91 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 27 - ], - [ - 22950, - 91 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 26 - ], - [ - 23250, - 90 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 26 - ], - [ - 23550, - 90 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 25 - ], - [ - 23850, - 89 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 24 - ], - [ - 24150, - 88 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 23 - ], - [ - 24450, - 88 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 22 - ], - [ - 24750, - 87 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 21 - ], - [ - 25050, - 86 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 20 - ], - [ - 25350, - 85 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 19 - ], - [ - 25650, - 84 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 18 - ], - [ - 25950, - 83 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 262 - ], - [ - 35738, - 262 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.25, - "y": 0.9101201, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.471079, - "y": 0.743872, - "z": -1.4722122 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -1.07318592, - "y": 0.7142456, - "z": 2.53943944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -0.8811438, - "y": 0.913408458, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -1.01247966, - "y": 0.9191518, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.53340769, - "y": 0.464960515, - "z": 0.3302396 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.6841401, - "y": 0.913494945, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.946811736, - "y": 0.913494945, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.85065842, - "y": 0.844234169, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -1.01247966, - "y": 0.9215688, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 0.123219371, - "y": 0.713601649, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.61488, - "y": 0.752507448, - "z": -1.61999273 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.53340769, - "y": 0.0972365141, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.78479528, - "y": 0.809822559, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.815475941, - "y": 0.913494945, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.49651241, - "y": 0.746707737, - "z": -1.58802092 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -1.01247966, - "y": 0.9147331, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.07318592, - "y": 0.7123361, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.77032924, - "y": 0.8463409, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.116061687, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.59503245, - "y": 0.7440443, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.53340769, - "y": 0.102979839, - "z": 0.917760432 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.6841401, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2865792292, - "scene_num": 311 - }, - "task_id": "trial_T20190909_152910_413839", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A31681CCEVDIH3_3LBXNTKX0UMNXC8YNL34M25VLIQ9XM", - "high_descs": [ - "Turn to walk to the small round white table in the corner of the room.", - "Pick up the white cup from the table.", - "Turn left to walk to the TV console.", - "Set the white cup down on the TV console." - ], - "task_desc": "Move a white cup to the TV console.", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3NVC2EB65TQQIF9SB8OWE39INW8Y3Y", - "high_descs": [ - "Move forward toward the wall, then turn left to go to the black table.", - "Pick up the mug from the black table.", - "Turn around and step forward, then go to the right, then turn right at the entertainment center.", - "Place the mug on the entertainment center, in front of the TV." - ], - "task_desc": "Put a mug on the entertainment center.", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2871R3LEPWMMK_39ASUFLU60Y4S8ZFVWJQEG66DUPXEY", - "high_descs": [ - "Hang a left at the wall and walk to the round black table.", - "Pick up the white mug from the round table.", - "Turn around and walk to the television stand to the right.", - "Put the white mug on the left side of the stand." - ], - "task_desc": "Place a white mug on a television stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071051_120393/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071051_120393/traj_data.json deleted file mode 100644 index 59151fea1..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071051_120393/traj_data.json +++ /dev/null @@ -1,3509 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 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": 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": 20 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 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": 31 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000122.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000123.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000124.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000125.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000126.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000127.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 35 - }, - { - "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": 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": 44 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "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": 55 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 56 - }, - { - "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": 62 - }, - { - "high_idx": 2, - "image_name": "000000239.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000240.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000241.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000242.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000243.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000244.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000245.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000246.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000249.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000250.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000251.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000252.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000253.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000254.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000255.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000256.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000257.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000258.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000259.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000260.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000261.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000262.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000263.png", - "low_idx": 66 - }, - { - "high_idx": 3, - "image_name": "000000264.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000265.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000266.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000267.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000268.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000269.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000270.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000271.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000272.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000273.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000274.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000275.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000276.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000277.png", - "low_idx": 67 - }, - { - "high_idx": 3, - "image_name": "000000278.png", - "low_idx": 67 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|-5|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.06147672, - 10.06147672, - -6.14646148, - -6.14646148, - 2.745938, - 2.745938 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 9.752, - 9.752, - -6.412, - -6.412, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.52|+00.69|-01.54" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.06147672, - 10.06147672, - -6.14646148, - -6.14646148, - 2.745938, - 2.745938 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.52|+00.69|-01.54", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "Pencil|+02.52|+00.69|-01.54" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 120, - 207, - 169, - 208 - ], - "mask": [ - [ - 61920, - 50 - ], - [ - 62223, - 47 - ] - ], - "point": [ - 144, - 206 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+02.52|+00.69|-01.54", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 80 - ], - [ - 4932, - 3 - ], - [ - 4940, - 17 - ], - [ - 4963, - 6 - ], - [ - 4977, - 123 - ], - [ - 5134, - 82 - ], - [ - 5241, - 17 - ], - [ - 5264, - 6 - ], - [ - 5278, - 122 - ], - [ - 5434, - 83 - ], - [ - 5541, - 17 - ], - [ - 5564, - 8 - ], - [ - 5580, - 120 - ], - [ - 5734, - 84 - ], - [ - 5837, - 1 - ], - [ - 5841, - 17 - ], - [ - 5865, - 8 - ], - [ - 5881, - 119 - ], - [ - 6033, - 86 - ], - [ - 6134, - 26 - ], - [ - 6164, - 11 - ], - [ - 6182, - 118 - ], - [ - 6333, - 89 - ], - [ - 6433, - 42 - ], - [ - 6482, - 118 - ], - [ - 6633, - 92 - ], - [ - 6732, - 44 - ], - [ - 6783, - 117 - ], - [ - 6932, - 92 - ], - [ - 7031, - 46 - ], - [ - 7082, - 118 - ], - [ - 7232, - 92 - ], - [ - 7330, - 50 - ], - [ - 7382, - 118 - ], - [ - 7531, - 93 - ], - [ - 7632, - 168 - ], - [ - 7831, - 93 - ], - [ - 7936, - 164 - ], - [ - 8131, - 96 - ], - [ - 8238, - 162 - ], - [ - 8430, - 101 - ], - [ - 8538, - 162 - ], - [ - 8730, - 104 - ], - [ - 8837, - 163 - ], - [ - 9030, - 270 - ], - [ - 9329, - 271 - ], - [ - 9629, - 271 - ], - [ - 9929, - 271 - ], - [ - 10228, - 272 - ], - [ - 10528, - 272 - ], - [ - 10827, - 273 - ], - [ - 11127, - 273 - ], - [ - 11427, - 273 - ], - [ - 11726, - 274 - ], - [ - 12026, - 274 - ], - [ - 12326, - 274 - ], - [ - 12625, - 275 - ], - [ - 12925, - 275 - ], - [ - 13225, - 275 - ], - [ - 13524, - 276 - ], - [ - 13824, - 276 - ], - [ - 14123, - 277 - ], - [ - 14423, - 277 - ], - [ - 14723, - 277 - ], - [ - 15022, - 57 - ], - [ - 15080, - 220 - ], - [ - 15322, - 57 - ], - [ - 15380, - 220 - ], - [ - 15622, - 56 - ], - [ - 15680, - 220 - ], - [ - 15921, - 57 - ], - [ - 15981, - 219 - ], - [ - 16221, - 57 - ], - [ - 16281, - 219 - ], - [ - 16521, - 57 - ], - [ - 16580, - 220 - ], - [ - 16820, - 57 - ], - [ - 16880, - 220 - ], - [ - 17120, - 57 - ], - [ - 17180, - 220 - ], - [ - 17419, - 58 - ], - [ - 17480, - 220 - ], - [ - 17719, - 58 - ], - [ - 17780, - 170 - ], - [ - 17965, - 35 - ], - [ - 18019, - 58 - ], - [ - 18079, - 171 - ], - [ - 18266, - 34 - ], - [ - 18318, - 58 - ], - [ - 18379, - 171 - ], - [ - 18566, - 34 - ], - [ - 18618, - 58 - ], - [ - 18679, - 172 - ], - [ - 18867, - 33 - ], - [ - 18918, - 58 - ], - [ - 18979, - 172 - ], - [ - 19167, - 33 - ], - [ - 19217, - 59 - ], - [ - 19279, - 172 - ], - [ - 19467, - 33 - ], - [ - 19517, - 59 - ], - [ - 19578, - 173 - ], - [ - 19768, - 32 - ], - [ - 19817, - 58 - ], - [ - 19878, - 174 - ], - [ - 20068, - 32 - ], - [ - 20116, - 59 - ], - [ - 20178, - 174 - ], - [ - 20368, - 32 - ], - [ - 20416, - 59 - ], - [ - 20478, - 174 - ], - [ - 20669, - 31 - ], - [ - 20715, - 60 - ], - [ - 20778, - 174 - ], - [ - 20969, - 31 - ], - [ - 21015, - 60 - ], - [ - 21077, - 176 - ], - [ - 21269, - 31 - ], - [ - 21315, - 59 - ], - [ - 21377, - 176 - ], - [ - 21570, - 30 - ], - [ - 21614, - 60 - ], - [ - 21677, - 176 - ], - [ - 21870, - 30 - ], - [ - 21914, - 60 - ], - [ - 21977, - 177 - ], - [ - 22170, - 30 - ], - [ - 22214, - 60 - ], - [ - 22277, - 177 - ], - [ - 22471, - 29 - ], - [ - 22513, - 60 - ], - [ - 22576, - 178 - ], - [ - 22771, - 29 - ], - [ - 22813, - 60 - ], - [ - 22876, - 178 - ], - [ - 23071, - 29 - ], - [ - 23113, - 60 - ], - [ - 23176, - 179 - ], - [ - 23371, - 29 - ], - [ - 23412, - 61 - ], - [ - 23476, - 224 - ], - [ - 23712, - 61 - ], - [ - 23776, - 224 - ], - [ - 24011, - 61 - ], - [ - 24075, - 225 - ], - [ - 24311, - 61 - ], - [ - 24375, - 225 - ], - [ - 24611, - 61 - ], - [ - 24675, - 225 - ], - [ - 24910, - 62 - ], - [ - 24975, - 225 - ], - [ - 25210, - 62 - ], - [ - 25275, - 225 - ], - [ - 25510, - 61 - ], - [ - 25574, - 226 - ], - [ - 25809, - 62 - ], - [ - 25874, - 226 - ], - [ - 26109, - 62 - ], - [ - 26174, - 226 - ], - [ - 26409, - 62 - ], - [ - 26474, - 226 - ], - [ - 26708, - 63 - ], - [ - 26773, - 227 - ], - [ - 27008, - 63 - ], - [ - 27073, - 227 - ], - [ - 27307, - 64 - ], - [ - 27372, - 228 - ], - [ - 27607, - 293 - ], - [ - 27907, - 293 - ], - [ - 28206, - 294 - ], - [ - 28506, - 294 - ], - [ - 28806, - 294 - ], - [ - 29105, - 295 - ], - [ - 29405, - 295 - ], - [ - 29705, - 295 - ], - [ - 30004, - 296 - ], - [ - 30304, - 296 - ], - [ - 30603, - 297 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 299 - ], - [ - 33001, - 11699 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.5, - "y": 0.9009992, - "z": 2.25 - }, - "object_poses": [ - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.8783325, - "y": 0.9808639, - "z": -0.540982246 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.66817153, - "y": 1.63742185, - "z": -2.18742871 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.65724158, - "y": 0.9779565, - "z": -0.742034554 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.657243, - "y": 0.970796, - "z": -0.138876021 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.69146633, - "y": 0.437836736, - "z": 2.0067606 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 1.502318, - "y": 0.774509549, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.58354735, - "y": 0.971675038, - "z": 0.263229847 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 2.410725, - "y": 0.5136745, - "z": 1.84108567 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.74347711, - "y": 0.773138165, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.02, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 0.296522975, - "y": 0.774509549, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 1.73104513, - "y": 0.682587, - "z": 2.217842 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.6994971, - "y": 1.63763475, - "z": -1.73138523 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.413, - "y": 0.794, - "z": -1.505 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.537682, - "y": 0.836844742, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.66817, - "y": 1.14705348, - "z": -2.073418 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.502318, - "y": 0.773138165, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 2.51536918, - "y": 0.6864845, - "z": -1.53661537 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.699498, - "y": 1.14635062, - "z": -1.84539437 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.55220366, - "y": 0.222588435, - "z": -0.350364655 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 1.80841351, - "y": 0.681210041, - "z": 2.262949 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.66394329, - "y": 0.799559, - "z": -0.349352 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.68482971, - "y": 1.13501811, - "z": -2.30082417 - }, - "rotation": { - "x": 0.0, - "y": 346.9008, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": 1.57630992, - "y": 0.691063941, - "z": 2.26295185 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2806613427, - "scene_num": 330 - }, - "task_id": "trial_T20190909_071051_120393", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1CY7IOJ9YH136_3IQ1VMJRYWBB1Z05CBBQ2UUXKOPA99", - "high_descs": [ - "turn around, go to bedside table with lamp on the left of bed", - "pick up pencil from bedside table with lamp", - "turn around, go to brown dresser with gold dog figure", - "place pencil on brown dresser" - ], - "task_desc": "Place pencil on brown dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2Z43TA0WZ0EG0_3JWH6J9I9V419B9RJZURF69N7VWNBL", - "high_descs": [ - "Turn around turn left, pass the bed and turn right to the black side table with the lamp.", - "Grab the pencil from in front of the lamp on the side table.", - "Turn around and go left toward the black dresser in front of the mirror with the dog statue.", - "Place the pencil onto the black dresser in front of the dog statue." - ], - "task_desc": "To place the pencil onto the black dresser in front of the statue. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2871R3LEPWMMK_3KWTYT0873U9WVPX6CNZZS56S4Y5LO", - "high_descs": [ - "Turn around, head left to the wall and walk to the small nightstand on the right.", - "Pick up the pencil in front of the small lamp on the nightstand.", - "Turn around, head left at the chair and walk to the wooden dresser on the left ahead.", - "Put the pencil on the left side of the dresser in front of the statue." - ], - "task_desc": "Place a pencil on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071208_686774/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071208_686774/traj_data.json deleted file mode 100644 index f73a23a27..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071208_686774/traj_data.json +++ /dev/null @@ -1,2933 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 6 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 21 - }, - { - "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": 2, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 22 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 23 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 46 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 6.614707, - 6.614707, - 8.6909418, - 8.6909418, - 2.745938, - 2.745938 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 6.30523444, - 6.30523444, - 8.56312752, - 8.56312752, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+01.65|+00.69|+02.17" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 6.614707, - 6.614707, - 8.6909418, - 8.6909418, - 2.745938, - 2.745938 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+01.65|+00.69|+02.17", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pencil|+01.65|+00.69|+02.17" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 190, - 172, - 213, - 173 - ], - "mask": [ - [ - 51490, - 24 - ], - [ - 51791, - 21 - ] - ], - "point": [ - 201, - 171 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+01.65|+00.69|+02.17", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 36 - ], - [ - 4903, - 171 - ], - [ - 5134, - 36 - ], - [ - 5204, - 169 - ], - [ - 5434, - 34 - ], - [ - 5504, - 169 - ], - [ - 5734, - 33 - ], - [ - 5804, - 169 - ], - [ - 6033, - 33 - ], - [ - 6104, - 168 - ], - [ - 6333, - 32 - ], - [ - 6404, - 168 - ], - [ - 6633, - 30 - ], - [ - 6704, - 167 - ], - [ - 6932, - 30 - ], - [ - 7004, - 167 - ], - [ - 7232, - 28 - ], - [ - 7304, - 166 - ], - [ - 7531, - 27 - ], - [ - 7596, - 2 - ], - [ - 7604, - 165 - ], - [ - 7831, - 26 - ], - [ - 7895, - 4 - ], - [ - 7905, - 164 - ], - [ - 8131, - 24 - ], - [ - 8194, - 5 - ], - [ - 8208, - 160 - ], - [ - 8430, - 24 - ], - [ - 8494, - 6 - ], - [ - 8512, - 156 - ], - [ - 8730, - 3 - ], - [ - 8739, - 14 - ], - [ - 8794, - 7 - ], - [ - 8817, - 150 - ], - [ - 9030, - 5 - ], - [ - 9041, - 10 - ], - [ - 9094, - 9 - ], - [ - 9118, - 149 - ], - [ - 9329, - 8 - ], - [ - 9342, - 8 - ], - [ - 9394, - 13 - ], - [ - 9419, - 148 - ], - [ - 9629, - 9 - ], - [ - 9644, - 5 - ], - [ - 9689, - 1 - ], - [ - 9695, - 16 - ], - [ - 9719, - 148 - ], - [ - 9929, - 10 - ], - [ - 9987, - 3 - ], - [ - 9997, - 16 - ], - [ - 10019, - 148 - ], - [ - 10228, - 13 - ], - [ - 10286, - 5 - ], - [ - 10298, - 15 - ], - [ - 10319, - 148 - ], - [ - 10528, - 14 - ], - [ - 10584, - 7 - ], - [ - 10598, - 169 - ], - [ - 10827, - 16 - ], - [ - 10883, - 9 - ], - [ - 10898, - 169 - ], - [ - 11127, - 18 - ], - [ - 11181, - 12 - ], - [ - 11196, - 171 - ], - [ - 11427, - 19 - ], - [ - 11479, - 188 - ], - [ - 11726, - 20 - ], - [ - 11777, - 189 - ], - [ - 12026, - 20 - ], - [ - 12075, - 191 - ], - [ - 12326, - 20 - ], - [ - 12375, - 191 - ], - [ - 12625, - 22 - ], - [ - 12676, - 190 - ], - [ - 12925, - 22 - ], - [ - 12976, - 190 - ], - [ - 13225, - 23 - ], - [ - 13275, - 191 - ], - [ - 13524, - 25 - ], - [ - 13572, - 194 - ], - [ - 13824, - 26 - ], - [ - 13873, - 193 - ], - [ - 14123, - 28 - ], - [ - 14173, - 193 - ], - [ - 14423, - 28 - ], - [ - 14472, - 194 - ], - [ - 14723, - 29 - ], - [ - 14772, - 194 - ], - [ - 15022, - 32 - ], - [ - 15071, - 195 - ], - [ - 15322, - 35 - ], - [ - 15364, - 1 - ], - [ - 15371, - 4 - ], - [ - 15376, - 190 - ], - [ - 15622, - 42 - ], - [ - 15670, - 1 - ], - [ - 15678, - 188 - ], - [ - 15921, - 43 - ], - [ - 15978, - 188 - ], - [ - 16221, - 43 - ], - [ - 16277, - 188 - ], - [ - 16521, - 43 - ], - [ - 16572, - 3 - ], - [ - 16576, - 189 - ], - [ - 16820, - 245 - ], - [ - 17120, - 245 - ], - [ - 17419, - 246 - ], - [ - 17719, - 246 - ], - [ - 18019, - 246 - ], - [ - 18318, - 247 - ], - [ - 18618, - 247 - ], - [ - 18918, - 247 - ], - [ - 19217, - 248 - ], - [ - 19517, - 248 - ], - [ - 19817, - 248 - ], - [ - 20116, - 249 - ], - [ - 20416, - 249 - ], - [ - 20715, - 249 - ], - [ - 21015, - 249 - ], - [ - 21315, - 249 - ], - [ - 21614, - 250 - ], - [ - 21914, - 250 - ], - [ - 22214, - 250 - ], - [ - 22513, - 251 - ], - [ - 22813, - 251 - ], - [ - 23113, - 251 - ], - [ - 23412, - 252 - ], - [ - 23712, - 252 - ], - [ - 24011, - 253 - ], - [ - 24311, - 253 - ], - [ - 24611, - 189 - ], - [ - 24801, - 63 - ], - [ - 24910, - 190 - ], - [ - 25101, - 63 - ], - [ - 25210, - 190 - ], - [ - 25402, - 62 - ], - [ - 25510, - 190 - ], - [ - 25702, - 63 - ], - [ - 25809, - 191 - ], - [ - 26003, - 63 - ], - [ - 26109, - 191 - ], - [ - 26303, - 63 - ], - [ - 26409, - 191 - ], - [ - 26603, - 64 - ], - [ - 26708, - 192 - ], - [ - 26903, - 65 - ], - [ - 27008, - 192 - ], - [ - 27203, - 66 - ], - [ - 27307, - 193 - ], - [ - 27503, - 68 - ], - [ - 27607, - 193 - ], - [ - 27803, - 69 - ], - [ - 27907, - 194 - ], - [ - 28103, - 70 - ], - [ - 28206, - 195 - ], - [ - 28404, - 70 - ], - [ - 28506, - 195 - ], - [ - 28704, - 71 - ], - [ - 28806, - 195 - ], - [ - 29004, - 73 - ], - [ - 29105, - 196 - ], - [ - 29304, - 74 - ], - [ - 29405, - 196 - ], - [ - 29604, - 75 - ], - [ - 29705, - 196 - ], - [ - 29904, - 76 - ], - [ - 30004, - 197 - ], - [ - 30204, - 80 - ], - [ - 30304, - 198 - ], - [ - 30505, - 85 - ], - [ - 30603, - 199 - ], - [ - 30805, - 90 - ], - [ - 30903, - 199 - ], - [ - 31105, - 95 - ], - [ - 31203, - 199 - ], - [ - 31405, - 95 - ], - [ - 31502, - 200 - ], - [ - 31705, - 95 - ], - [ - 31802, - 200 - ], - [ - 32005, - 95 - ], - [ - 32102, - 200 - ], - [ - 32305, - 95 - ], - [ - 32401, - 201 - ], - [ - 32605, - 95 - ], - [ - 32701, - 202 - ], - [ - 32906, - 94 - ], - [ - 33001, - 202 - ], - [ - 33206, - 297 - ], - [ - 33506, - 297 - ], - [ - 33806, - 297 - ], - [ - 34106, - 297 - ], - [ - 34406, - 297 - ], - [ - 34706, - 298 - ], - [ - 35007, - 297 - ], - [ - 35307, - 297 - ], - [ - 35607, - 297 - ], - [ - 35907, - 297 - ], - [ - 36207, - 297 - ], - [ - 36507, - 297 - ], - [ - 36807, - 297 - ], - [ - 37108, - 297 - ], - [ - 37408, - 297 - ], - [ - 37708, - 297 - ], - [ - 38008, - 297 - ], - [ - 38308, - 297 - ], - [ - 38608, - 298 - ], - [ - 38908, - 298 - ], - [ - 39208, - 5492 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.5, - "y": 0.9009992, - "z": -0.5 - }, - "object_poses": [ - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.6995002, - "y": 1.638514, - "z": -2.07341766 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 2.43799973, - "y": 0.373823673, - "z": -1.59202826 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 1.7310462, - "y": 0.686652839, - "z": 2.30805779 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.72046757, - "y": 0.8062553, - "z": 0.06907219 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 1.26115906, - "y": 0.774509549, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 2.410725, - "y": 0.451339275, - "z": 1.84108567 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": 2.43799829, - "y": 0.680819631, - "z": -1.76215351 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": 1.57630992, - "y": 0.680819631, - "z": 2.26295185 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 0.537682, - "y": 0.774509549, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.7309413, - "y": 0.973890662, - "z": 0.464282334 - }, - "rotation": { - "x": 0.0, - "y": 269.999878, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.69949913, - "y": 1.14617419, - "z": -1.959406 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 0.778841, - "y": 0.836844742, - "z": -0.9902473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 1.74347711, - "y": 0.836844742, - "z": -0.9902473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": 1.57630837, - "y": 0.6816989, - "z": 2.12762856 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": -1.628, - "y": 0.965303659, - "z": 0.084 - }, - "rotation": { - "x": 0.0, - "y": 104.999794, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 1.65367675, - "y": 0.6864845, - "z": 2.17273545 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.20589566, - "y": 0.680996, - "z": -1.717043 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.509849, - "y": 0.9764528, - "z": -0.339928567 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.43799973, - "y": 0.08286172, - "z": -1.61593139 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 2.670104, - "y": 0.6806067, - "z": -1.581725 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.68482971, - "y": 1.13501811, - "z": -2.30082417 - }, - "rotation": { - "x": 0.0, - "y": 346.9008, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.764, - "y": 0.9653037, - "z": -0.758 - }, - "rotation": { - "x": 0.0, - "y": 59.7189941, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1735203798, - "scene_num": 330 - }, - "task_id": "trial_T20190909_071208_686774", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A255A9FFZD8PQW_32RIADZISVVE4PGNCG1Q6MDNK2G4S1", - "high_descs": [ - "Walk forward then right then turn left and go to the side table.", - "Pick up the pencil on the side table.", - "Turn to the left and go around then bed then turn right to face the dresser. ", - "Place the pencil on the dresser next to the pen. " - ], - "task_desc": "Move a pencil to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A23HZ18KTCK2DA_3EO896NRAZM5M7CN4NTKMTYS4IKTJ6", - "high_descs": [ - "Turn and go to the small black dresser next to the brown chair.", - "Pick up the pencil that is to the right of the yellow object.", - "With the pencil in your hand turn and go to the big dresser with the mirror.", - "Place the pencil on the dresser to the left of the pen." - ], - "task_desc": "Place pencil on dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3VHP9MDGRQB8VOOGZB79IL6WNP5CF5", - "high_descs": [ - "walk to face small table left of plush chair", - "pick up pencil from table", - "walk to left side of bureau", - "put pencil on top of bureau" - ], - "task_desc": "put pencil on top of bureau", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013508_041432/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013508_041432/traj_data.json deleted file mode 100644 index 8a0aa56dc..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013508_041432/traj_data.json +++ /dev/null @@ -1,3767 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 13 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 20 - }, - { - "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": 2, - "image_name": "000000116.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 55 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Plate", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-23|25|2|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "plate" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Plate", - [ - -23.050312, - -23.050312, - 22.30155372, - 22.30155372, - 3.1612524, - 3.1612524 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -22.55729104, - -22.55729104, - 19.643744, - 19.643744, - -0.01804161072, - -0.01804161072 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.76|+00.79|+05.58" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|20|2|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "plate", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Plate", - [ - -23.050312, - -23.050312, - 22.30155372, - 22.30155372, - 3.1612524, - 3.1612524 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 3.388, - 3.388, - 14.856, - 14.856, - 0.017264604, - 0.017264604 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.76|+00.79|+05.58", - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - } - }, - { - "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": "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": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Plate|-05.76|+00.79|+05.58" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 119, - 145, - 186, - 196 - ], - "mask": [ - [ - 43344, - 18 - ], - [ - 43638, - 30 - ], - [ - 43934, - 38 - ], - [ - 44229, - 48 - ], - [ - 44527, - 52 - ], - [ - 44826, - 54 - ], - [ - 45126, - 54 - ], - [ - 45425, - 56 - ], - [ - 45725, - 56 - ], - [ - 46024, - 58 - ], - [ - 46324, - 58 - ], - [ - 46623, - 60 - ], - [ - 46923, - 61 - ], - [ - 47222, - 62 - ], - [ - 47522, - 62 - ], - [ - 47821, - 64 - ], - [ - 48121, - 64 - ], - [ - 48421, - 65 - ], - [ - 48720, - 66 - ], - [ - 49020, - 66 - ], - [ - 49320, - 67 - ], - [ - 49620, - 67 - ], - [ - 49919, - 68 - ], - [ - 50219, - 68 - ], - [ - 50519, - 68 - ], - [ - 50819, - 68 - ], - [ - 51119, - 68 - ], - [ - 51419, - 68 - ], - [ - 51719, - 68 - ], - [ - 52019, - 68 - ], - [ - 52319, - 68 - ], - [ - 52620, - 67 - ], - [ - 52920, - 67 - ], - [ - 53220, - 67 - ], - [ - 53520, - 67 - ], - [ - 53820, - 66 - ], - [ - 54121, - 65 - ], - [ - 54421, - 65 - ], - [ - 54721, - 65 - ], - [ - 55021, - 64 - ], - [ - 55322, - 63 - ], - [ - 55622, - 63 - ], - [ - 55922, - 63 - ], - [ - 56222, - 62 - ], - [ - 56523, - 61 - ], - [ - 56823, - 61 - ], - [ - 57124, - 59 - ], - [ - 57428, - 51 - ], - [ - 57731, - 45 - ], - [ - 58035, - 37 - ], - [ - 58339, - 29 - ], - [ - 58645, - 17 - ] - ], - "point": [ - 152, - 169 - ] - } - }, - "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": "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": "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "Plate|-05.76|+00.79|+05.58", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 6, - 205, - 241 - ], - "mask": [ - [ - 1610, - 5 - ], - [ - 1910, - 5 - ], - [ - 2210, - 5 - ], - [ - 2510, - 5 - ], - [ - 2811, - 5 - ], - [ - 3111, - 5 - ], - [ - 3124, - 1 - ], - [ - 4597, - 1 - ], - [ - 4897, - 1 - ], - [ - 5197, - 1 - ], - [ - 5496, - 1 - ], - [ - 6112, - 13 - ], - [ - 6412, - 13 - ], - [ - 6712, - 13 - ], - [ - 7012, - 13 - ], - [ - 7312, - 13 - ], - [ - 7612, - 13 - ], - [ - 7898, - 1 - ], - [ - 7912, - 14 - ], - [ - 7975, - 1 - ], - [ - 8196, - 3 - ], - [ - 8212, - 15 - ], - [ - 8275, - 1 - ], - [ - 8495, - 4 - ], - [ - 8512, - 15 - ], - [ - 8575, - 1 - ], - [ - 8794, - 5 - ], - [ - 8813, - 15 - ], - [ - 8875, - 1 - ], - [ - 9092, - 8 - ], - [ - 9113, - 15 - ], - [ - 9175, - 1 - ], - [ - 9391, - 9 - ], - [ - 9413, - 16 - ], - [ - 9476, - 1 - ], - [ - 9690, - 10 - ], - [ - 9713, - 17 - ], - [ - 9990, - 10 - ], - [ - 10013, - 17 - ], - [ - 10289, - 11 - ], - [ - 10313, - 18 - ], - [ - 10589, - 11 - ], - [ - 10613, - 19 - ], - [ - 10889, - 11 - ], - [ - 10913, - 19 - ], - [ - 10977, - 1 - ], - [ - 11188, - 12 - ], - [ - 11213, - 20 - ], - [ - 11274, - 4 - ], - [ - 11488, - 13 - ], - [ - 11513, - 20 - ], - [ - 11574, - 4 - ], - [ - 11787, - 14 - ], - [ - 11814, - 20 - ], - [ - 11874, - 4 - ], - [ - 12087, - 14 - ], - [ - 12114, - 21 - ], - [ - 12174, - 4 - ], - [ - 12386, - 15 - ], - [ - 12414, - 21 - ], - [ - 12474, - 4 - ], - [ - 12686, - 15 - ], - [ - 12714, - 22 - ], - [ - 12774, - 5 - ], - [ - 12986, - 15 - ], - [ - 13014, - 22 - ], - [ - 13074, - 5 - ], - [ - 13285, - 16 - ], - [ - 13314, - 23 - ], - [ - 13374, - 5 - ], - [ - 13585, - 17 - ], - [ - 13614, - 24 - ], - [ - 13674, - 5 - ], - [ - 13884, - 18 - ], - [ - 13914, - 24 - ], - [ - 13974, - 5 - ], - [ - 14184, - 18 - ], - [ - 14214, - 25 - ], - [ - 14274, - 6 - ], - [ - 14484, - 18 - ], - [ - 14514, - 26 - ], - [ - 14574, - 6 - ], - [ - 14783, - 19 - ], - [ - 14815, - 25 - ], - [ - 14874, - 6 - ], - [ - 15083, - 19 - ], - [ - 15115, - 26 - ], - [ - 15173, - 7 - ], - [ - 15382, - 20 - ], - [ - 15415, - 26 - ], - [ - 15473, - 7 - ], - [ - 15682, - 20 - ], - [ - 15715, - 27 - ], - [ - 15773, - 8 - ], - [ - 15981, - 10 - ], - [ - 16073, - 8 - ], - [ - 16281, - 7 - ], - [ - 16373, - 8 - ], - [ - 16581, - 6 - ], - [ - 16673, - 8 - ], - [ - 16880, - 6 - ], - [ - 16973, - 8 - ], - [ - 17180, - 5 - ], - [ - 17273, - 8 - ], - [ - 17479, - 4 - ], - [ - 17573, - 9 - ], - [ - 17779, - 3 - ], - [ - 17873, - 9 - ], - [ - 18078, - 3 - ], - [ - 18173, - 9 - ], - [ - 18378, - 2 - ], - [ - 18473, - 9 - ], - [ - 18678, - 1 - ], - [ - 18773, - 9 - ], - [ - 18977, - 1 - ], - [ - 19073, - 10 - ], - [ - 19373, - 10 - ], - [ - 19672, - 11 - ], - [ - 19892, - 56 - ], - [ - 19972, - 11 - ], - [ - 20189, - 61 - ], - [ - 20272, - 11 - ], - [ - 20488, - 62 - ], - [ - 20572, - 12 - ], - [ - 20786, - 64 - ], - [ - 20873, - 11 - ], - [ - 21085, - 65 - ], - [ - 21174, - 10 - ], - [ - 21383, - 67 - ], - [ - 21476, - 8 - ], - [ - 21682, - 68 - ], - [ - 21777, - 7 - ], - [ - 21980, - 70 - ], - [ - 22078, - 6 - ], - [ - 22279, - 71 - ], - [ - 22380, - 5 - ], - [ - 22577, - 73 - ], - [ - 22681, - 4 - ], - [ - 22876, - 74 - ], - [ - 22982, - 3 - ], - [ - 23174, - 76 - ], - [ - 23284, - 1 - ], - [ - 23473, - 77 - ], - [ - 23771, - 79 - ], - [ - 23885, - 1 - ], - [ - 24070, - 80 - ], - [ - 24172, - 1 - ], - [ - 24370, - 80 - ], - [ - 24471, - 3 - ], - [ - 24669, - 81 - ], - [ - 24771, - 5 - ], - [ - 24969, - 81 - ], - [ - 25071, - 7 - ], - [ - 25268, - 82 - ], - [ - 25371, - 8 - ], - [ - 25386, - 1 - ], - [ - 25568, - 82 - ], - [ - 25671, - 10 - ], - [ - 25686, - 1 - ], - [ - 25868, - 82 - ], - [ - 25971, - 16 - ], - [ - 26167, - 83 - ], - [ - 26271, - 16 - ], - [ - 26467, - 83 - ], - [ - 26571, - 16 - ], - [ - 26766, - 84 - ], - [ - 26870, - 17 - ], - [ - 27066, - 84 - ], - [ - 27170, - 18 - ], - [ - 27365, - 85 - ], - [ - 27470, - 18 - ], - [ - 27665, - 85 - ], - [ - 27769, - 19 - ], - [ - 27965, - 85 - ], - [ - 28069, - 19 - ], - [ - 28264, - 87 - ], - [ - 28369, - 19 - ], - [ - 28564, - 87 - ], - [ - 28669, - 20 - ], - [ - 28863, - 88 - ], - [ - 28968, - 21 - ], - [ - 29163, - 88 - ], - [ - 29268, - 21 - ], - [ - 29463, - 88 - ], - [ - 29567, - 22 - ], - [ - 29762, - 90 - ], - [ - 29866, - 23 - ], - [ - 30062, - 90 - ], - [ - 30165, - 25 - ], - [ - 30361, - 91 - ], - [ - 30463, - 27 - ], - [ - 30661, - 92 - ], - [ - 30761, - 29 - ], - [ - 30960, - 94 - ], - [ - 31059, - 31 - ], - [ - 31260, - 130 - ], - [ - 31560, - 131 - ], - [ - 31859, - 132 - ], - [ - 32159, - 132 - ], - [ - 32458, - 133 - ], - [ - 32758, - 133 - ], - [ - 33057, - 134 - ], - [ - 33357, - 135 - ], - [ - 33657, - 135 - ], - [ - 33956, - 136 - ], - [ - 34256, - 136 - ], - [ - 34555, - 137 - ], - [ - 34855, - 138 - ], - [ - 35155, - 138 - ], - [ - 35454, - 139 - ], - [ - 35754, - 139 - ], - [ - 36053, - 140 - ], - [ - 36353, - 141 - ], - [ - 36652, - 142 - ], - [ - 36952, - 142 - ], - [ - 37252, - 142 - ], - [ - 37551, - 143 - ], - [ - 37851, - 143 - ], - [ - 38150, - 145 - ], - [ - 38450, - 145 - ], - [ - 38749, - 146 - ], - [ - 39049, - 146 - ], - [ - 39349, - 146 - ], - [ - 39648, - 148 - ], - [ - 39948, - 148 - ], - [ - 40247, - 149 - ], - [ - 40547, - 149 - ], - [ - 40847, - 149 - ], - [ - 41146, - 151 - ], - [ - 41446, - 151 - ], - [ - 41745, - 152 - ], - [ - 42045, - 152 - ], - [ - 42344, - 153 - ], - [ - 42644, - 153 - ], - [ - 42944, - 154 - ], - [ - 43243, - 155 - ], - [ - 43543, - 155 - ], - [ - 43842, - 156 - ], - [ - 44142, - 156 - ], - [ - 44442, - 157 - ], - [ - 44741, - 158 - ], - [ - 45041, - 158 - ], - [ - 45340, - 159 - ], - [ - 45640, - 159 - ], - [ - 45939, - 161 - ], - [ - 46239, - 161 - ], - [ - 46539, - 161 - ], - [ - 46838, - 162 - ], - [ - 47138, - 162 - ], - [ - 47437, - 163 - ], - [ - 47737, - 164 - ], - [ - 48036, - 165 - ], - [ - 48336, - 165 - ], - [ - 48636, - 165 - ], - [ - 48935, - 166 - ], - [ - 49235, - 167 - ], - [ - 49534, - 168 - ], - [ - 49834, - 168 - ], - [ - 50134, - 168 - ], - [ - 50433, - 169 - ], - [ - 50733, - 170 - ], - [ - 51032, - 171 - ], - [ - 51332, - 171 - ], - [ - 51631, - 172 - ], - [ - 51931, - 172 - ], - [ - 52231, - 172 - ], - [ - 52530, - 174 - ], - [ - 52830, - 174 - ], - [ - 53129, - 175 - ], - [ - 53429, - 106 - ], - [ - 53565, - 39 - ], - [ - 53728, - 101 - ], - [ - 53871, - 33 - ], - [ - 54028, - 95 - ], - [ - 54177, - 28 - ], - [ - 54328, - 90 - ], - [ - 54482, - 23 - ], - [ - 54627, - 86 - ], - [ - 54787, - 18 - ], - [ - 54927, - 82 - ], - [ - 55091, - 14 - ], - [ - 55226, - 79 - ], - [ - 55395, - 10 - ], - [ - 55526, - 75 - ], - [ - 55699, - 7 - ], - [ - 55826, - 71 - ], - [ - 56003, - 3 - ], - [ - 56126, - 67 - ], - [ - 56427, - 62 - ], - [ - 56727, - 59 - ], - [ - 57028, - 57 - ], - [ - 57328, - 56 - ], - [ - 57629, - 55 - ], - [ - 57929, - 54 - ], - [ - 58230, - 52 - ], - [ - 58530, - 52 - ], - [ - 58831, - 50 - ], - [ - 59132, - 49 - ], - [ - 59435, - 45 - ], - [ - 59736, - 43 - ], - [ - 60036, - 43 - ], - [ - 60337, - 41 - ], - [ - 60637, - 40 - ], - [ - 60938, - 39 - ], - [ - 61238, - 38 - ], - [ - 61539, - 37 - ], - [ - 61839, - 36 - ], - [ - 62140, - 35 - ], - [ - 62440, - 34 - ], - [ - 62741, - 33 - ], - [ - 63042, - 31 - ], - [ - 63342, - 30 - ], - [ - 63643, - 29 - ], - [ - 63943, - 28 - ], - [ - 64244, - 27 - ], - [ - 64544, - 26 - ], - [ - 64845, - 25 - ], - [ - 65145, - 24 - ], - [ - 65446, - 22 - ], - [ - 65746, - 22 - ], - [ - 66047, - 20 - ], - [ - 66348, - 19 - ], - [ - 66648, - 19 - ], - [ - 66949, - 17 - ], - [ - 67249, - 17 - ], - [ - 67550, - 15 - ], - [ - 67850, - 15 - ], - [ - 68151, - 13 - ], - [ - 68451, - 13 - ], - [ - 68752, - 11 - ], - [ - 69052, - 11 - ], - [ - 69353, - 9 - ], - [ - 69654, - 8 - ], - [ - 69954, - 7 - ], - [ - 70255, - 6 - ], - [ - 70555, - 5 - ], - [ - 70856, - 4 - ], - [ - 71156, - 4 - ], - [ - 71457, - 2 - ], - [ - 71757, - 2 - ], - [ - 72058, - 1 - ] - ], - "point": [ - 115, - 122 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan218", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -6.75, - "y": 0.9008399, - "z": 3.5 - }, - "object_poses": [ - { - "objectName": "Plate_0d99fab1", - "position": { - "x": -3.31177449, - "y": 0.552910268, - "z": 1.56086373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plate_0d99fab1", - "position": { - "x": -5.762578, - "y": 0.7860837, - "z": 4.24648333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -2.19585466, - "y": 0.5221519, - "z": 4.00998974 - }, - "rotation": { - "x": 0.0, - "y": 38.00194, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -5.885833, - "y": 0.7875548, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": -6.009088, - "y": 0.7857945, - "z": 5.57538843 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": -3.12132335, - "y": 0.552621067, - "z": 1.56086373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 0.7878988, - "y": 0.5382027, - "z": 4.096903 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -1.29911113, - "y": 0.50909555, - "z": 2.65948 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -1.63260186, - "y": 0.50909555, - "z": 2.43390131 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -5.63932276, - "y": 0.982204, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": 0.7186575, - "y": 0.541511655, - "z": 4.262885 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_c192383b", - "position": { - "x": 0.8299264, - "y": -0.00101917982, - "z": 2.339594 - }, - "rotation": { - "x": 0.0007589513, - "y": 45.1253052, - "z": 0.0009456006 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -1.49108422, - "y": 0.312961042, - "z": 2.98034763 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -1.359779, - "y": 0.310152, - "z": 2.2127943 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Plate_0d99fab1", - "position": { - "x": -5.762578, - "y": 0.7903131, - "z": 5.57538843 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_76f16fe2", - "position": { - "x": -2.719, - "y": 0.6093162, - "z": 2.768 - }, - "rotation": { - "x": 0.0, - "y": 320.6474, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": -3.12132335, - "y": 0.5521387, - "z": 1.73504448 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 0.7532782, - "y": 0.09950298, - "z": 3.405991 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4dbc7255", - "position": { - "x": -5.464, - "y": 0.7793162, - "z": 5.252 - }, - "rotation": { - "x": 0.0, - "y": 306.8717, - "z": 0.0 - } - }, - { - "objectName": "Statue_4a123fac", - "position": { - "x": -1.82457507, - "y": 0.319380224, - "z": 2.75476885 - }, - "rotation": { - "x": 0.0, - "y": 309.022736, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 352954386, - "scene_num": 218 - }, - "task_id": "trial_T20190907_013508_041432", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AM2KK02JXXW48_308Q0PEVBBUIMSX5SREMI6YE2XN9I9", - "high_descs": [ - "Move to the table. ", - "Pick up the plate from the table. ", - "Bring the plate to the TV stand.", - "Put the plate on the TV stand. " - ], - "task_desc": "Put a plate on the the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AD0NVUGLDYDYN_33LKR6A5KH1Q61ALIQYXH7I4F0KT12", - "high_descs": [ - "Turn right, walk around the table to the phone", - "Grab the plate by the phone", - "Turn left, walk to the white chair, turn right, walk to the TV cabinet", - "Put the plate on the cabinet" - ], - "task_desc": "Move the plate by the phone to the TV cabinet", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3ZDAD0O1T4UYW2VEPJJ4CGM5KH6TX5", - "high_descs": [ - "walk over to the dining room table", - "grab a black plate off of the table", - "turn around and walk to the light brown cabinet", - "place the plate down on the top of the cabinet" - ], - "task_desc": "put a black plate on top of the light brown cabinet", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013555_841038/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013555_841038/traj_data.json deleted file mode 100644 index e36722fb3..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013555_841038/traj_data.json +++ /dev/null @@ -1,3565 +0,0 @@ -{ - "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": 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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 13 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 30 - }, - { - "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": 34 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000119.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000120.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000121.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000122.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000123.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000124.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000125.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000126.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000127.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000132.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000133.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000134.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000135.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000136.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000137.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000138.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000139.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000140.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000141.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000142.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 41 - }, - { - "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": 3, - "image_name": "000000186.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 46 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Plate", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|24|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "plate" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Plate", - [ - 2.166195392, - 2.166195392, - 26.92418, - 26.92418, - 2.2116408, - 2.2116408 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 2.928, - 2.928, - 26.54, - 26.54, - 0.017264604, - 0.017264604 - ] - ], - "forceVisible": true, - "objectId": "Plate|+00.54|+00.55|+06.73" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|20|2|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "plate", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Plate", - [ - 2.166195392, - 2.166195392, - 26.92418, - 26.92418, - 2.2116408, - 2.2116408 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 3.388, - 3.388, - 14.856, - 14.856, - 0.017264604, - 0.017264604 - ] - ], - "forceVisible": true, - "objectId": "Plate|+00.54|+00.55|+06.73", - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - } - } - ], - "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": "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": "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": "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": "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": "Plate|+00.54|+00.55|+06.73" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 131, - 102, - 186, - 147 - ], - "mask": [ - [ - 30452, - 12 - ], - [ - 30746, - 24 - ], - [ - 31042, - 32 - ], - [ - 31338, - 40 - ], - [ - 31636, - 45 - ], - [ - 31936, - 45 - ], - [ - 32235, - 47 - ], - [ - 32535, - 47 - ], - [ - 32834, - 49 - ], - [ - 33134, - 49 - ], - [ - 33434, - 49 - ], - [ - 33733, - 51 - ], - [ - 34033, - 51 - ], - [ - 34332, - 53 - ], - [ - 34632, - 53 - ], - [ - 34932, - 53 - ], - [ - 35232, - 54 - ], - [ - 35531, - 55 - ], - [ - 35831, - 55 - ], - [ - 36131, - 55 - ], - [ - 36431, - 56 - ], - [ - 36731, - 56 - ], - [ - 37031, - 56 - ], - [ - 37331, - 56 - ], - [ - 37631, - 56 - ], - [ - 37931, - 56 - ], - [ - 38231, - 56 - ], - [ - 38531, - 56 - ], - [ - 38831, - 55 - ], - [ - 39131, - 55 - ], - [ - 39432, - 54 - ], - [ - 39732, - 54 - ], - [ - 40032, - 54 - ], - [ - 40332, - 53 - ], - [ - 40633, - 52 - ], - [ - 40933, - 52 - ], - [ - 41233, - 52 - ], - [ - 41534, - 50 - ], - [ - 41834, - 50 - ], - [ - 42134, - 50 - ], - [ - 42435, - 48 - ], - [ - 42735, - 48 - ], - [ - 43038, - 42 - ], - [ - 43342, - 34 - ], - [ - 43646, - 26 - ], - [ - 43951, - 17 - ] - ], - "point": [ - 158, - 123 - ] - } - }, - "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": "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": "PutObject", - "forceAction": true, - "objectId": "Plate|+00.54|+00.55|+06.73", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 6, - 203, - 240 - ], - "mask": [ - [ - 1610, - 5 - ], - [ - 1910, - 5 - ], - [ - 2210, - 5 - ], - [ - 2510, - 5 - ], - [ - 2811, - 5 - ], - [ - 3111, - 5 - ], - [ - 3124, - 1 - ], - [ - 4597, - 1 - ], - [ - 4897, - 1 - ], - [ - 5197, - 1 - ], - [ - 5496, - 1 - ], - [ - 6112, - 13 - ], - [ - 6412, - 13 - ], - [ - 6712, - 13 - ], - [ - 7012, - 13 - ], - [ - 7312, - 13 - ], - [ - 7612, - 13 - ], - [ - 7898, - 1 - ], - [ - 7912, - 14 - ], - [ - 7975, - 1 - ], - [ - 8196, - 3 - ], - [ - 8212, - 15 - ], - [ - 8275, - 1 - ], - [ - 8495, - 4 - ], - [ - 8512, - 15 - ], - [ - 8575, - 1 - ], - [ - 8794, - 5 - ], - [ - 8813, - 15 - ], - [ - 8875, - 1 - ], - [ - 9092, - 8 - ], - [ - 9113, - 15 - ], - [ - 9175, - 1 - ], - [ - 9391, - 9 - ], - [ - 9413, - 16 - ], - [ - 9476, - 1 - ], - [ - 9690, - 10 - ], - [ - 9713, - 17 - ], - [ - 9990, - 10 - ], - [ - 10013, - 17 - ], - [ - 10289, - 11 - ], - [ - 10313, - 18 - ], - [ - 10589, - 11 - ], - [ - 10613, - 19 - ], - [ - 10889, - 11 - ], - [ - 10913, - 19 - ], - [ - 10977, - 1 - ], - [ - 11188, - 12 - ], - [ - 11213, - 20 - ], - [ - 11274, - 4 - ], - [ - 11488, - 13 - ], - [ - 11513, - 20 - ], - [ - 11574, - 4 - ], - [ - 11787, - 14 - ], - [ - 11814, - 20 - ], - [ - 11874, - 4 - ], - [ - 12087, - 14 - ], - [ - 12114, - 21 - ], - [ - 12174, - 4 - ], - [ - 12386, - 15 - ], - [ - 12414, - 21 - ], - [ - 12474, - 4 - ], - [ - 12686, - 15 - ], - [ - 12714, - 22 - ], - [ - 12774, - 5 - ], - [ - 12986, - 15 - ], - [ - 13014, - 22 - ], - [ - 13074, - 5 - ], - [ - 13285, - 16 - ], - [ - 13314, - 23 - ], - [ - 13374, - 5 - ], - [ - 13585, - 17 - ], - [ - 13614, - 24 - ], - [ - 13674, - 5 - ], - [ - 13884, - 18 - ], - [ - 13914, - 24 - ], - [ - 13974, - 5 - ], - [ - 14184, - 18 - ], - [ - 14214, - 25 - ], - [ - 14274, - 6 - ], - [ - 14484, - 18 - ], - [ - 14514, - 26 - ], - [ - 14574, - 6 - ], - [ - 14783, - 19 - ], - [ - 14815, - 25 - ], - [ - 14874, - 6 - ], - [ - 15083, - 19 - ], - [ - 15115, - 26 - ], - [ - 15173, - 7 - ], - [ - 15382, - 20 - ], - [ - 15415, - 26 - ], - [ - 15473, - 7 - ], - [ - 15682, - 20 - ], - [ - 15715, - 27 - ], - [ - 15773, - 8 - ], - [ - 15981, - 10 - ], - [ - 16073, - 8 - ], - [ - 16281, - 7 - ], - [ - 16373, - 8 - ], - [ - 16581, - 6 - ], - [ - 16673, - 8 - ], - [ - 16880, - 6 - ], - [ - 16973, - 8 - ], - [ - 17180, - 5 - ], - [ - 17273, - 8 - ], - [ - 17479, - 4 - ], - [ - 17573, - 9 - ], - [ - 17779, - 3 - ], - [ - 17873, - 9 - ], - [ - 18078, - 3 - ], - [ - 18173, - 9 - ], - [ - 18378, - 2 - ], - [ - 18473, - 9 - ], - [ - 18678, - 1 - ], - [ - 18773, - 9 - ], - [ - 18977, - 1 - ], - [ - 19073, - 10 - ], - [ - 19373, - 10 - ], - [ - 19672, - 11 - ], - [ - 19892, - 56 - ], - [ - 19972, - 11 - ], - [ - 20189, - 61 - ], - [ - 20272, - 11 - ], - [ - 20488, - 62 - ], - [ - 20572, - 12 - ], - [ - 20786, - 64 - ], - [ - 20873, - 11 - ], - [ - 21085, - 65 - ], - [ - 21174, - 10 - ], - [ - 21383, - 67 - ], - [ - 21476, - 8 - ], - [ - 21682, - 68 - ], - [ - 21777, - 7 - ], - [ - 21980, - 70 - ], - [ - 22078, - 6 - ], - [ - 22279, - 71 - ], - [ - 22380, - 5 - ], - [ - 22577, - 73 - ], - [ - 22681, - 4 - ], - [ - 22876, - 74 - ], - [ - 22982, - 3 - ], - [ - 23174, - 76 - ], - [ - 23284, - 1 - ], - [ - 23473, - 77 - ], - [ - 23771, - 79 - ], - [ - 23885, - 1 - ], - [ - 24070, - 80 - ], - [ - 24172, - 1 - ], - [ - 24370, - 80 - ], - [ - 24471, - 3 - ], - [ - 24669, - 81 - ], - [ - 24771, - 5 - ], - [ - 24969, - 81 - ], - [ - 25071, - 7 - ], - [ - 25268, - 82 - ], - [ - 25371, - 8 - ], - [ - 25386, - 1 - ], - [ - 25568, - 82 - ], - [ - 25671, - 10 - ], - [ - 25686, - 1 - ], - [ - 25868, - 82 - ], - [ - 25971, - 16 - ], - [ - 26167, - 83 - ], - [ - 26271, - 16 - ], - [ - 26467, - 83 - ], - [ - 26571, - 16 - ], - [ - 26766, - 84 - ], - [ - 26870, - 17 - ], - [ - 27066, - 84 - ], - [ - 27170, - 18 - ], - [ - 27365, - 85 - ], - [ - 27470, - 18 - ], - [ - 27665, - 85 - ], - [ - 27769, - 19 - ], - [ - 27965, - 85 - ], - [ - 28069, - 19 - ], - [ - 28264, - 87 - ], - [ - 28369, - 19 - ], - [ - 28564, - 87 - ], - [ - 28669, - 20 - ], - [ - 28863, - 88 - ], - [ - 28968, - 21 - ], - [ - 29163, - 88 - ], - [ - 29268, - 21 - ], - [ - 29463, - 88 - ], - [ - 29567, - 22 - ], - [ - 29762, - 90 - ], - [ - 29866, - 23 - ], - [ - 30062, - 90 - ], - [ - 30165, - 25 - ], - [ - 30361, - 91 - ], - [ - 30463, - 27 - ], - [ - 30661, - 92 - ], - [ - 30761, - 29 - ], - [ - 30960, - 94 - ], - [ - 31059, - 31 - ], - [ - 31260, - 130 - ], - [ - 31560, - 131 - ], - [ - 31859, - 132 - ], - [ - 32159, - 132 - ], - [ - 32458, - 133 - ], - [ - 32758, - 133 - ], - [ - 33057, - 134 - ], - [ - 33357, - 135 - ], - [ - 33657, - 135 - ], - [ - 33956, - 136 - ], - [ - 34256, - 136 - ], - [ - 34555, - 137 - ], - [ - 34855, - 138 - ], - [ - 35155, - 138 - ], - [ - 35454, - 139 - ], - [ - 35754, - 139 - ], - [ - 36053, - 140 - ], - [ - 36353, - 141 - ], - [ - 36652, - 142 - ], - [ - 36952, - 142 - ], - [ - 37252, - 142 - ], - [ - 37551, - 143 - ], - [ - 37851, - 143 - ], - [ - 38150, - 145 - ], - [ - 38450, - 145 - ], - [ - 38749, - 146 - ], - [ - 39049, - 146 - ], - [ - 39349, - 146 - ], - [ - 39648, - 148 - ], - [ - 39948, - 148 - ], - [ - 40247, - 149 - ], - [ - 40547, - 149 - ], - [ - 40847, - 149 - ], - [ - 41146, - 151 - ], - [ - 41446, - 151 - ], - [ - 41745, - 152 - ], - [ - 42045, - 152 - ], - [ - 42344, - 153 - ], - [ - 42644, - 153 - ], - [ - 42944, - 154 - ], - [ - 43243, - 155 - ], - [ - 43543, - 155 - ], - [ - 43842, - 156 - ], - [ - 44142, - 156 - ], - [ - 44442, - 157 - ], - [ - 44741, - 158 - ], - [ - 45041, - 158 - ], - [ - 45340, - 159 - ], - [ - 45640, - 159 - ], - [ - 45939, - 161 - ], - [ - 46239, - 161 - ], - [ - 46539, - 161 - ], - [ - 46838, - 162 - ], - [ - 47138, - 162 - ], - [ - 47437, - 163 - ], - [ - 47737, - 164 - ], - [ - 48036, - 165 - ], - [ - 48336, - 165 - ], - [ - 48636, - 165 - ], - [ - 48935, - 166 - ], - [ - 49235, - 167 - ], - [ - 49534, - 168 - ], - [ - 49834, - 168 - ], - [ - 50134, - 168 - ], - [ - 50433, - 169 - ], - [ - 50733, - 116 - ], - [ - 50851, - 52 - ], - [ - 51032, - 102 - ], - [ - 51166, - 37 - ], - [ - 51332, - 97 - ], - [ - 51471, - 32 - ], - [ - 51631, - 93 - ], - [ - 51776, - 27 - ], - [ - 51931, - 87 - ], - [ - 52082, - 21 - ], - [ - 52231, - 83 - ], - [ - 52386, - 17 - ], - [ - 52530, - 81 - ], - [ - 52689, - 15 - ], - [ - 52830, - 77 - ], - [ - 52993, - 11 - ], - [ - 53129, - 74 - ], - [ - 53297, - 7 - ], - [ - 53429, - 70 - ], - [ - 53601, - 3 - ], - [ - 53728, - 68 - ], - [ - 54028, - 65 - ], - [ - 54328, - 61 - ], - [ - 54627, - 59 - ], - [ - 54927, - 56 - ], - [ - 55226, - 55 - ], - [ - 55526, - 55 - ], - [ - 55826, - 54 - ], - [ - 56126, - 54 - ], - [ - 56427, - 52 - ], - [ - 56727, - 52 - ], - [ - 57028, - 50 - ], - [ - 57328, - 50 - ], - [ - 57629, - 48 - ], - [ - 57929, - 48 - ], - [ - 58230, - 46 - ], - [ - 58530, - 46 - ], - [ - 58831, - 44 - ], - [ - 59132, - 43 - ], - [ - 59435, - 39 - ], - [ - 59736, - 38 - ], - [ - 60036, - 37 - ], - [ - 60337, - 36 - ], - [ - 60637, - 35 - ], - [ - 60938, - 34 - ], - [ - 61238, - 34 - ], - [ - 61539, - 32 - ], - [ - 61839, - 32 - ], - [ - 62140, - 30 - ], - [ - 62440, - 30 - ], - [ - 62741, - 28 - ], - [ - 63042, - 27 - ], - [ - 63342, - 26 - ], - [ - 63643, - 25 - ], - [ - 63943, - 25 - ], - [ - 64244, - 23 - ], - [ - 64544, - 23 - ], - [ - 64845, - 21 - ], - [ - 65145, - 21 - ], - [ - 65446, - 19 - ], - [ - 65746, - 19 - ], - [ - 66047, - 18 - ], - [ - 66348, - 16 - ], - [ - 66648, - 16 - ], - [ - 66949, - 14 - ], - [ - 67249, - 14 - ], - [ - 67550, - 13 - ], - [ - 67850, - 12 - ], - [ - 68151, - 11 - ], - [ - 68451, - 11 - ], - [ - 68752, - 9 - ], - [ - 69052, - 9 - ], - [ - 69353, - 8 - ], - [ - 69654, - 6 - ], - [ - 69954, - 6 - ], - [ - 70255, - 4 - ], - [ - 70555, - 4 - ], - [ - 70856, - 3 - ], - [ - 71156, - 2 - ], - [ - 71457, - 1 - ], - [ - 71757, - 1 - ] - ], - "point": [ - 114, - 122 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan218", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -2.25, - "y": 0.9008399, - "z": 1.0 - }, - "object_poses": [ - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -5.762578, - "y": 0.7860695, - "z": 5.57538843 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -5.26955748, - "y": 0.78184, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -2.49990678, - "y": 0.5221519, - "z": 3.620848 - }, - "rotation": { - "x": 0.0, - "y": 38.00194, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": 0.684036851, - "y": 0.5390425, - "z": 3.847929 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": -1.36987007, - "y": 0.31360656, - "z": 2.386257 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 0.787898839, - "y": 0.09892213, - "z": 3.323 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -5.5160675, - "y": 0.982204, - "z": 5.57538843 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4dbc7255", - "position": { - "x": -1.29911113, - "y": 0.31161052, - "z": 2.65948 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -5.63932276, - "y": 0.982204, - "z": 5.13242 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": -1.72354293, - "y": 0.312621176, - "z": 2.507604 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_c192383b", - "position": { - "x": 0.8299264, - "y": -0.00101917982, - "z": 2.339594 - }, - "rotation": { - "x": 0.0007589513, - "y": 45.1253052, - "z": 0.0009456006 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -3.31177449, - "y": 0.5501257, - "z": 1.73504448 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -1.82457507, - "y": 0.31444627, - "z": 2.75476885 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Plate_0d99fab1", - "position": { - "x": 0.541548848, - "y": 0.5529102, - "z": 6.731045 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_76f16fe2", - "position": { - "x": -2.719, - "y": 0.6093162, - "z": 2.768 - }, - "rotation": { - "x": 0.0, - "y": 320.6474, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": -3.31177449, - "y": 0.5506796, - "z": 1.56086373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 0.8225194, - "y": 0.537621856, - "z": 4.179894 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4dbc7255", - "position": { - "x": -5.63932276, - "y": 0.78471905, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_4a123fac", - "position": { - "x": -5.762578, - "y": 0.792553544, - "z": 4.24648333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1315433021, - "scene_num": 218 - }, - "task_id": "trial_T20190907_013555_841038", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AD0NVUGLDYDYN_386PBUZZXIE9I5IKZ62CZG49F4LLJI", - "high_descs": [ - "Turn around and walk to the end table by the white chair", - "Grab the grey plate on the end table", - "Turn around, walk to the TV cabinet", - "Put the plate on the cabinet" - ], - "task_desc": "Move the grey plate on the end table to the TV cabinet", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3B2X28YI3ZWLH1H1OAJTC93ZH44B6W", - "high_descs": [ - "Walk over to the fireplace, then turn left and walk up to the small wooden table in the corner of the room with a plate and lamp on it.", - "Pick up the grey plate off of the small wooden table.", - "Turn around and walk over to the dresser with the television on it.", - "Place the grey plate onto the dresser to the left of the television." - ], - "task_desc": "Place a grey plate onto the dresser in the living room.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1CY7IOJ9YH136_3Y54SXRO1O26FY1JKE8HS9N1QZCUT1", - "high_descs": [ - "Go to table in corner with white chair and lamp", - "Pick up black plate from table with lamp", - "Turn right, go to cabinet with television", - "Place black plate on end of cabinet to the right side of the television" - ], - "task_desc": "Move black plate from table to television cabinet", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013614_368009/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013614_368009/traj_data.json deleted file mode 100644 index 0b910027b..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Plate-None-Dresser-218/trial_T20190907_013614_368009/traj_data.json +++ /dev/null @@ -1,4180 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "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": 22 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 25 - }, - { - "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": 29 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "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": 35 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000235.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000236.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000237.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000238.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000239.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000240.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000241.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000242.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000243.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000244.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000245.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000246.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000249.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000250.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000251.png", - "low_idx": 60 - }, - { - "high_idx": 3, - "image_name": "000000252.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000253.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000254.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000255.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000256.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000257.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000258.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000259.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000260.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000261.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000262.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000263.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000264.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000265.png", - "low_idx": 61 - }, - { - "high_idx": 3, - "image_name": "000000266.png", - "low_idx": 61 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Plate", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-24|15|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "plate" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Plate", - [ - -23.050312, - -23.050312, - 16.98593332, - 16.98593332, - 3.1443348, - 3.1443348 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -22.55729104, - -22.55729104, - 19.643744, - 19.643744, - -0.01804161072, - -0.01804161072 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.76|+00.79|+04.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|20|2|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "plate", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Plate", - [ - -23.050312, - -23.050312, - 16.98593332, - 16.98593332, - 3.1443348, - 3.1443348 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 3.388, - 3.388, - 14.856, - 14.856, - 0.017264604, - 0.017264604 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.76|+00.79|+04.25", - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Plate|-05.76|+00.79|+04.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 179, - 109, - 255, - 172 - ], - "mask": [ - [ - 32602, - 21 - ], - [ - 32897, - 32 - ], - [ - 33193, - 40 - ], - [ - 33489, - 48 - ], - [ - 33786, - 55 - ], - [ - 34084, - 59 - ], - [ - 34384, - 60 - ], - [ - 34683, - 61 - ], - [ - 34983, - 62 - ], - [ - 35283, - 63 - ], - [ - 35582, - 64 - ], - [ - 35882, - 65 - ], - [ - 36182, - 66 - ], - [ - 36482, - 66 - ], - [ - 36781, - 68 - ], - [ - 37081, - 68 - ], - [ - 37381, - 69 - ], - [ - 37680, - 70 - ], - [ - 37980, - 71 - ], - [ - 38280, - 71 - ], - [ - 38580, - 72 - ], - [ - 38880, - 72 - ], - [ - 39180, - 73 - ], - [ - 39479, - 74 - ], - [ - 39779, - 75 - ], - [ - 40079, - 75 - ], - [ - 40379, - 75 - ], - [ - 40679, - 76 - ], - [ - 40979, - 76 - ], - [ - 41279, - 76 - ], - [ - 41579, - 77 - ], - [ - 41880, - 76 - ], - [ - 42180, - 76 - ], - [ - 42480, - 76 - ], - [ - 42780, - 76 - ], - [ - 43080, - 76 - ], - [ - 43381, - 75 - ], - [ - 43681, - 75 - ], - [ - 43981, - 75 - ], - [ - 44281, - 75 - ], - [ - 44582, - 74 - ], - [ - 44882, - 74 - ], - [ - 45182, - 74 - ], - [ - 45483, - 73 - ], - [ - 45783, - 73 - ], - [ - 46084, - 72 - ], - [ - 46384, - 72 - ], - [ - 46684, - 72 - ], - [ - 46985, - 71 - ], - [ - 47285, - 71 - ], - [ - 47585, - 71 - ], - [ - 47886, - 69 - ], - [ - 48186, - 69 - ], - [ - 48487, - 68 - ], - [ - 48787, - 68 - ], - [ - 49088, - 67 - ], - [ - 49388, - 67 - ], - [ - 49689, - 65 - ], - [ - 49992, - 59 - ], - [ - 50296, - 52 - ], - [ - 50600, - 44 - ], - [ - 50903, - 38 - ], - [ - 51208, - 29 - ], - [ - 51513, - 19 - ] - ], - "point": [ - 217, - 139 - ] - } - }, - "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": "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": "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": "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": "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": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Plate|-05.76|+00.79|+04.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 6, - 203, - 240 - ], - "mask": [ - [ - 1610, - 5 - ], - [ - 1910, - 5 - ], - [ - 2210, - 5 - ], - [ - 2510, - 5 - ], - [ - 2811, - 5 - ], - [ - 3111, - 5 - ], - [ - 3124, - 1 - ], - [ - 4597, - 1 - ], - [ - 4897, - 1 - ], - [ - 5197, - 1 - ], - [ - 5496, - 1 - ], - [ - 6112, - 13 - ], - [ - 6412, - 13 - ], - [ - 6712, - 13 - ], - [ - 7012, - 13 - ], - [ - 7312, - 13 - ], - [ - 7612, - 13 - ], - [ - 7898, - 1 - ], - [ - 7912, - 14 - ], - [ - 7975, - 1 - ], - [ - 8196, - 3 - ], - [ - 8212, - 15 - ], - [ - 8275, - 1 - ], - [ - 8495, - 4 - ], - [ - 8512, - 15 - ], - [ - 8575, - 1 - ], - [ - 8794, - 5 - ], - [ - 8813, - 15 - ], - [ - 8875, - 1 - ], - [ - 9092, - 8 - ], - [ - 9113, - 15 - ], - [ - 9175, - 1 - ], - [ - 9391, - 9 - ], - [ - 9413, - 16 - ], - [ - 9476, - 1 - ], - [ - 9690, - 10 - ], - [ - 9713, - 17 - ], - [ - 9990, - 10 - ], - [ - 10013, - 17 - ], - [ - 10289, - 11 - ], - [ - 10313, - 18 - ], - [ - 10589, - 11 - ], - [ - 10613, - 19 - ], - [ - 10889, - 11 - ], - [ - 10913, - 19 - ], - [ - 10977, - 1 - ], - [ - 11188, - 12 - ], - [ - 11213, - 20 - ], - [ - 11274, - 4 - ], - [ - 11488, - 13 - ], - [ - 11513, - 20 - ], - [ - 11574, - 4 - ], - [ - 11787, - 14 - ], - [ - 11814, - 20 - ], - [ - 11874, - 4 - ], - [ - 12087, - 14 - ], - [ - 12114, - 21 - ], - [ - 12174, - 4 - ], - [ - 12386, - 15 - ], - [ - 12414, - 21 - ], - [ - 12474, - 4 - ], - [ - 12686, - 15 - ], - [ - 12714, - 22 - ], - [ - 12774, - 5 - ], - [ - 12986, - 15 - ], - [ - 13014, - 22 - ], - [ - 13074, - 5 - ], - [ - 13285, - 16 - ], - [ - 13314, - 23 - ], - [ - 13374, - 5 - ], - [ - 13585, - 17 - ], - [ - 13614, - 24 - ], - [ - 13674, - 5 - ], - [ - 13884, - 18 - ], - [ - 13914, - 24 - ], - [ - 13974, - 5 - ], - [ - 14184, - 18 - ], - [ - 14214, - 25 - ], - [ - 14274, - 6 - ], - [ - 14484, - 18 - ], - [ - 14514, - 26 - ], - [ - 14574, - 6 - ], - [ - 14783, - 19 - ], - [ - 14815, - 25 - ], - [ - 14874, - 6 - ], - [ - 15083, - 19 - ], - [ - 15115, - 26 - ], - [ - 15173, - 7 - ], - [ - 15382, - 20 - ], - [ - 15415, - 26 - ], - [ - 15473, - 7 - ], - [ - 15682, - 20 - ], - [ - 15715, - 27 - ], - [ - 15773, - 8 - ], - [ - 15981, - 10 - ], - [ - 16073, - 8 - ], - [ - 16281, - 7 - ], - [ - 16373, - 8 - ], - [ - 16581, - 6 - ], - [ - 16673, - 8 - ], - [ - 16880, - 6 - ], - [ - 16973, - 8 - ], - [ - 17180, - 5 - ], - [ - 17273, - 8 - ], - [ - 17479, - 4 - ], - [ - 17573, - 9 - ], - [ - 17779, - 3 - ], - [ - 17873, - 9 - ], - [ - 18078, - 3 - ], - [ - 18173, - 9 - ], - [ - 18378, - 2 - ], - [ - 18473, - 9 - ], - [ - 18678, - 1 - ], - [ - 18773, - 9 - ], - [ - 18977, - 1 - ], - [ - 19073, - 10 - ], - [ - 19373, - 10 - ], - [ - 19672, - 11 - ], - [ - 19892, - 56 - ], - [ - 19972, - 11 - ], - [ - 20189, - 61 - ], - [ - 20272, - 11 - ], - [ - 20488, - 62 - ], - [ - 20572, - 12 - ], - [ - 20786, - 64 - ], - [ - 20873, - 11 - ], - [ - 21085, - 65 - ], - [ - 21174, - 10 - ], - [ - 21383, - 67 - ], - [ - 21476, - 8 - ], - [ - 21682, - 68 - ], - [ - 21777, - 7 - ], - [ - 21980, - 70 - ], - [ - 22078, - 6 - ], - [ - 22279, - 71 - ], - [ - 22380, - 5 - ], - [ - 22577, - 73 - ], - [ - 22681, - 4 - ], - [ - 22876, - 74 - ], - [ - 22982, - 3 - ], - [ - 23174, - 76 - ], - [ - 23284, - 1 - ], - [ - 23473, - 77 - ], - [ - 23771, - 79 - ], - [ - 23885, - 1 - ], - [ - 24070, - 80 - ], - [ - 24172, - 1 - ], - [ - 24370, - 80 - ], - [ - 24471, - 3 - ], - [ - 24669, - 81 - ], - [ - 24771, - 5 - ], - [ - 24969, - 81 - ], - [ - 25071, - 7 - ], - [ - 25268, - 82 - ], - [ - 25371, - 8 - ], - [ - 25386, - 1 - ], - [ - 25568, - 82 - ], - [ - 25671, - 10 - ], - [ - 25686, - 1 - ], - [ - 25868, - 82 - ], - [ - 25971, - 16 - ], - [ - 26167, - 83 - ], - [ - 26271, - 16 - ], - [ - 26467, - 83 - ], - [ - 26571, - 16 - ], - [ - 26766, - 84 - ], - [ - 26870, - 17 - ], - [ - 27066, - 84 - ], - [ - 27170, - 18 - ], - [ - 27365, - 85 - ], - [ - 27470, - 18 - ], - [ - 27665, - 85 - ], - [ - 27769, - 19 - ], - [ - 27965, - 85 - ], - [ - 28069, - 19 - ], - [ - 28264, - 87 - ], - [ - 28369, - 19 - ], - [ - 28564, - 87 - ], - [ - 28669, - 20 - ], - [ - 28863, - 88 - ], - [ - 28968, - 21 - ], - [ - 29163, - 88 - ], - [ - 29268, - 21 - ], - [ - 29463, - 88 - ], - [ - 29567, - 22 - ], - [ - 29762, - 90 - ], - [ - 29866, - 23 - ], - [ - 30062, - 90 - ], - [ - 30165, - 25 - ], - [ - 30361, - 91 - ], - [ - 30463, - 27 - ], - [ - 30661, - 92 - ], - [ - 30761, - 29 - ], - [ - 30960, - 94 - ], - [ - 31059, - 31 - ], - [ - 31260, - 130 - ], - [ - 31560, - 131 - ], - [ - 31859, - 132 - ], - [ - 32159, - 132 - ], - [ - 32458, - 133 - ], - [ - 32758, - 133 - ], - [ - 33057, - 134 - ], - [ - 33357, - 135 - ], - [ - 33657, - 135 - ], - [ - 33956, - 136 - ], - [ - 34256, - 136 - ], - [ - 34555, - 137 - ], - [ - 34855, - 138 - ], - [ - 35155, - 138 - ], - [ - 35454, - 139 - ], - [ - 35754, - 139 - ], - [ - 36053, - 140 - ], - [ - 36353, - 141 - ], - [ - 36652, - 142 - ], - [ - 36952, - 142 - ], - [ - 37252, - 142 - ], - [ - 37551, - 143 - ], - [ - 37851, - 143 - ], - [ - 38150, - 145 - ], - [ - 38450, - 145 - ], - [ - 38749, - 146 - ], - [ - 39049, - 146 - ], - [ - 39349, - 146 - ], - [ - 39648, - 148 - ], - [ - 39948, - 148 - ], - [ - 40247, - 149 - ], - [ - 40547, - 149 - ], - [ - 40847, - 149 - ], - [ - 41146, - 151 - ], - [ - 41446, - 151 - ], - [ - 41745, - 152 - ], - [ - 42045, - 152 - ], - [ - 42344, - 153 - ], - [ - 42644, - 153 - ], - [ - 42944, - 154 - ], - [ - 43243, - 155 - ], - [ - 43543, - 155 - ], - [ - 43842, - 156 - ], - [ - 44142, - 156 - ], - [ - 44442, - 157 - ], - [ - 44741, - 158 - ], - [ - 45041, - 158 - ], - [ - 45340, - 159 - ], - [ - 45640, - 159 - ], - [ - 45939, - 161 - ], - [ - 46239, - 161 - ], - [ - 46539, - 161 - ], - [ - 46838, - 162 - ], - [ - 47138, - 162 - ], - [ - 47437, - 163 - ], - [ - 47737, - 164 - ], - [ - 48036, - 165 - ], - [ - 48336, - 165 - ], - [ - 48636, - 165 - ], - [ - 48935, - 166 - ], - [ - 49235, - 167 - ], - [ - 49534, - 168 - ], - [ - 49834, - 168 - ], - [ - 50134, - 168 - ], - [ - 50433, - 169 - ], - [ - 50733, - 116 - ], - [ - 50851, - 52 - ], - [ - 51032, - 102 - ], - [ - 51166, - 37 - ], - [ - 51332, - 97 - ], - [ - 51471, - 32 - ], - [ - 51631, - 93 - ], - [ - 51776, - 27 - ], - [ - 51931, - 87 - ], - [ - 52082, - 21 - ], - [ - 52231, - 83 - ], - [ - 52386, - 17 - ], - [ - 52530, - 81 - ], - [ - 52689, - 15 - ], - [ - 52830, - 77 - ], - [ - 52993, - 11 - ], - [ - 53129, - 74 - ], - [ - 53297, - 7 - ], - [ - 53429, - 70 - ], - [ - 53601, - 3 - ], - [ - 53728, - 68 - ], - [ - 54028, - 65 - ], - [ - 54328, - 61 - ], - [ - 54627, - 59 - ], - [ - 54927, - 56 - ], - [ - 55226, - 55 - ], - [ - 55526, - 55 - ], - [ - 55826, - 54 - ], - [ - 56126, - 54 - ], - [ - 56427, - 52 - ], - [ - 56727, - 52 - ], - [ - 57028, - 50 - ], - [ - 57328, - 50 - ], - [ - 57629, - 48 - ], - [ - 57929, - 48 - ], - [ - 58230, - 46 - ], - [ - 58530, - 46 - ], - [ - 58831, - 44 - ], - [ - 59132, - 43 - ], - [ - 59435, - 39 - ], - [ - 59736, - 38 - ], - [ - 60036, - 37 - ], - [ - 60337, - 36 - ], - [ - 60637, - 35 - ], - [ - 60938, - 34 - ], - [ - 61238, - 34 - ], - [ - 61539, - 32 - ], - [ - 61839, - 32 - ], - [ - 62140, - 30 - ], - [ - 62440, - 30 - ], - [ - 62741, - 28 - ], - [ - 63042, - 27 - ], - [ - 63342, - 26 - ], - [ - 63643, - 25 - ], - [ - 63943, - 25 - ], - [ - 64244, - 23 - ], - [ - 64544, - 23 - ], - [ - 64845, - 21 - ], - [ - 65145, - 21 - ], - [ - 65446, - 19 - ], - [ - 65746, - 19 - ], - [ - 66047, - 18 - ], - [ - 66348, - 16 - ], - [ - 66648, - 16 - ], - [ - 66949, - 14 - ], - [ - 67249, - 14 - ], - [ - 67550, - 13 - ], - [ - 67850, - 12 - ], - [ - 68151, - 11 - ], - [ - 68451, - 11 - ], - [ - 68752, - 9 - ], - [ - 69052, - 9 - ], - [ - 69353, - 8 - ], - [ - 69654, - 6 - ], - [ - 69954, - 6 - ], - [ - 70255, - 4 - ], - [ - 70555, - 4 - ], - [ - 70856, - 3 - ], - [ - 71156, - 2 - ], - [ - 71457, - 1 - ], - [ - 71757, - 1 - ] - ], - "point": [ - 114, - 122 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan218", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -4.5, - "y": 0.9008399, - "z": 5.0 - }, - "object_poses": [ - { - "objectName": "Plate_0d99fab1", - "position": { - "x": -5.762578, - "y": 0.7860837, - "z": 4.24648333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_4a123fac", - "position": { - "x": 0.847, - "y": 0.9928213, - "z": 3.0906837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": 0.4463233, - "y": 0.5540801, - "z": 6.731045 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": -1.66287518, - "y": 0.312621176, - "z": 2.95428967 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": -2.64083958, - "y": 0.5213121, - "z": 3.10425425 - }, - "rotation": { - "x": 0.0, - "y": 38.00194, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": -1.39005208, - "y": 0.309312224, - "z": 2.73318243 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": -1.40014327, - "y": 0.314974, - "z": 2.9066453 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": -5.26955748, - "y": 0.78808254, - "z": 4.910936 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -1.28902018, - "y": 0.5048012, - "z": 2.48601723 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -5.63932276, - "y": 0.982204, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -3.31177449, - "y": 0.7462602, - "z": 1.56086373 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": -6.009088, - "y": 0.7857945, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_c192383b", - "position": { - "x": 0.8299264, - "y": -0.00101917982, - "z": 2.339594 - }, - "rotation": { - "x": 0.0007589513, - "y": 45.1253052, - "z": 0.0009456006 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -2.18476129, - "y": 0.520666659, - "z": 3.68796682 - }, - "rotation": { - "x": 0.0, - "y": 38.00194, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -1.56184316, - "y": 0.31444627, - "z": 2.70712471 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Plate_0d99fab1", - "position": { - "x": -5.762578, - "y": 0.7903131, - "z": 5.57538843 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_76f16fe2", - "position": { - "x": -2.719, - "y": 0.6093162, - "z": 2.768 - }, - "rotation": { - "x": 0.0, - "y": 320.6474, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": -1.551752, - "y": 0.314974, - "z": 2.5336616 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": -5.63932276, - "y": 0.782485545, - "z": 5.35390425 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4dbc7255", - "position": { - "x": -5.464, - "y": 0.7793162, - "z": 5.252 - }, - "rotation": { - "x": 0.0, - "y": 306.8717, - "z": 0.0 - } - }, - { - "objectName": "Statue_4a123fac", - "position": { - "x": -5.762578, - "y": 0.792553544, - "z": 4.910936 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1249636854, - "scene_num": 218 - }, - "task_id": "trial_T20190907_013614_368009", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1GVTH5YS3WOK0_3137ONMDKJMLLXIRAEU5P8M9EE5EGK", - "high_descs": [ - "Turn around and walk towards the door and then turn right towards the table on your right.", - "Pick up the plate from the table.", - "Turn right and walk towards the tv stand.", - "Place the place on the left side of the tv stand." - ], - "task_desc": "Place the plate from the table on the tv stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3HL2LL0LEPZT8_3PIWWX1FJMN3NFUKWLQZJ1RHBC6JJY", - "high_descs": [ - "Turn around, head towards the door with windows, turn right, go behind the dining room table chair.", - "Take the dark plate from the table.", - "Turn right, go past the couch to the left side of the TV stand.", - "Put the plate on the TV stand." - ], - "task_desc": "Put the dark plate on the left side of the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2L22HZ50T83UK_3TK8OJTYM4280LXC8N92JLONF00PVA", - "high_descs": [ - "Turn around and stand at the end of the table in front of the grey plate", - "Pick up the grey plate from the table", - "Turn right, then left and walk forward until you reach the table that the TV set is on. ", - "Leave the grey plate on the table to the left of the TV set." - ], - "task_desc": "Pick the grey plate up from the kitchen table and leave it over on the television table. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053720_916417/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053720_916417/traj_data.json deleted file mode 100644 index c93301d49..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053720_916417/traj_data.json +++ /dev/null @@ -1,2872 +0,0 @@ -{ - "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": 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": 8 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "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": 1, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "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 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "RemoteControl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-10|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "remotecontrol" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "RemoteControl", - [ - -9.623888, - -9.623888, - 9.823104, - 9.823104, - 1.822829128, - 1.822829128 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -9.623888, - -9.623888, - 10.188, - 10.188, - 0.008, - 0.008 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|-02.41|+00.46|+02.46" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-16|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "remotecontrol", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "RemoteControl", - [ - -9.623888, - -9.623888, - 9.823104, - 9.823104, - 1.822829128, - 1.822829128 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -19.328, - -19.328, - 10.38, - 10.38, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|-02.41|+00.46|+02.46", - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "RemoteControl|-02.41|+00.46|+02.46" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 162, - 124, - 174, - 159 - ], - "mask": [ - [ - 37062, - 12 - ], - [ - 37362, - 12 - ], - [ - 37662, - 12 - ], - [ - 37962, - 12 - ], - [ - 38262, - 12 - ], - [ - 38562, - 12 - ], - [ - 38862, - 12 - ], - [ - 39162, - 12 - ], - [ - 39462, - 12 - ], - [ - 39762, - 13 - ], - [ - 40062, - 13 - ], - [ - 40362, - 13 - ], - [ - 40662, - 13 - ], - [ - 40962, - 13 - ], - [ - 41262, - 13 - ], - [ - 41562, - 13 - ], - [ - 41862, - 13 - ], - [ - 42162, - 13 - ], - [ - 42462, - 13 - ], - [ - 42762, - 13 - ], - [ - 43062, - 13 - ], - [ - 43362, - 13 - ], - [ - 43663, - 12 - ], - [ - 43963, - 12 - ], - [ - 44263, - 12 - ], - [ - 44563, - 12 - ], - [ - 44863, - 12 - ], - [ - 45163, - 11 - ], - [ - 45463, - 11 - ], - [ - 45764, - 10 - ], - [ - 46064, - 10 - ], - [ - 46364, - 10 - ], - [ - 46664, - 10 - ], - [ - 46964, - 10 - ], - [ - 47264, - 10 - ], - [ - 47565, - 9 - ] - ], - "point": [ - 168, - 140 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "RemoteControl|-02.41|+00.46|+02.46", - "placeStationary": true, - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 29, - 299, - 206 - ], - "mask": [ - [ - 8400, - 39 - ], - [ - 8449, - 120 - ], - [ - 8584, - 29 - ], - [ - 8621, - 117 - ], - [ - 8748, - 121 - ], - [ - 8884, - 29 - ], - [ - 8922, - 116 - ], - [ - 9048, - 121 - ], - [ - 9184, - 30 - ], - [ - 9222, - 116 - ], - [ - 9348, - 121 - ], - [ - 9484, - 30 - ], - [ - 9522, - 115 - ], - [ - 9647, - 122 - ], - [ - 9784, - 30 - ], - [ - 9822, - 115 - ], - [ - 9947, - 122 - ], - [ - 10084, - 30 - ], - [ - 10122, - 115 - ], - [ - 10247, - 122 - ], - [ - 10385, - 29 - ], - [ - 10423, - 113 - ], - [ - 10546, - 123 - ], - [ - 10685, - 29 - ], - [ - 10723, - 113 - ], - [ - 10846, - 124 - ], - [ - 10985, - 30 - ], - [ - 11023, - 113 - ], - [ - 11146, - 124 - ], - [ - 11285, - 30 - ], - [ - 11323, - 112 - ], - [ - 11446, - 169 - ], - [ - 11624, - 111 - ], - [ - 11745, - 170 - ], - [ - 11924, - 111 - ], - [ - 12045, - 170 - ], - [ - 12224, - 110 - ], - [ - 12345, - 171 - ], - [ - 12524, - 110 - ], - [ - 12644, - 172 - ], - [ - 12824, - 110 - ], - [ - 12944, - 172 - ], - [ - 13125, - 108 - ], - [ - 13244, - 172 - ], - [ - 13425, - 108 - ], - [ - 13543, - 173 - ], - [ - 13725, - 108 - ], - [ - 13843, - 174 - ], - [ - 14025, - 108 - ], - [ - 14143, - 174 - ], - [ - 14325, - 108 - ], - [ - 14442, - 175 - ], - [ - 14625, - 108 - ], - [ - 14742, - 175 - ], - [ - 14925, - 108 - ], - [ - 15225, - 108 - ], - [ - 15524, - 110 - ], - [ - 15824, - 110 - ], - [ - 16124, - 111 - ], - [ - 16423, - 112 - ], - [ - 16723, - 113 - ], - [ - 17023, - 113 - ], - [ - 17322, - 115 - ], - [ - 17622, - 115 - ], - [ - 17921, - 118 - ], - [ - 18219, - 121 - ], - [ - 18518, - 15382 - ], - [ - 33910, - 2 - ], - [ - 34078, - 7 - ], - [ - 34210, - 3 - ], - [ - 34378, - 6 - ], - [ - 34511, - 2 - ], - [ - 34678, - 6 - ], - [ - 34812, - 2 - ], - [ - 34978, - 6 - ], - [ - 35113, - 2 - ], - [ - 35278, - 6 - ], - [ - 35413, - 2 - ], - [ - 35577, - 7 - ], - [ - 35714, - 2 - ], - [ - 35877, - 7 - ], - [ - 36015, - 2 - ], - [ - 36177, - 6 - ], - [ - 36316, - 2 - ], - [ - 36477, - 6 - ], - [ - 36616, - 2 - ], - [ - 36777, - 6 - ], - [ - 36917, - 2 - ], - [ - 37077, - 6 - ], - [ - 37218, - 2 - ], - [ - 37376, - 7 - ], - [ - 37519, - 2 - ], - [ - 37676, - 6 - ], - [ - 37819, - 2 - ], - [ - 37976, - 6 - ], - [ - 38119, - 3 - ], - [ - 38276, - 6 - ], - [ - 38419, - 4 - ], - [ - 38576, - 6 - ], - [ - 38719, - 5 - ], - [ - 38876, - 6 - ], - [ - 39000, - 1200 - ], - [ - 40225, - 7 - ], - [ - 40376, - 4 - ], - [ - 40526, - 5 - ], - [ - 40676, - 4 - ], - [ - 40827, - 4 - ], - [ - 40976, - 4 - ], - [ - 41128, - 3 - ], - [ - 41276, - 4 - ], - [ - 41428, - 4 - ], - [ - 41576, - 4 - ], - [ - 41729, - 3 - ], - [ - 41876, - 4 - ], - [ - 42030, - 3 - ], - [ - 42175, - 4 - ], - [ - 42331, - 3 - ], - [ - 42475, - 4 - ], - [ - 42631, - 4 - ], - [ - 42775, - 4 - ], - [ - 42932, - 3 - ], - [ - 43075, - 4 - ], - [ - 43233, - 3 - ], - [ - 43375, - 4 - ], - [ - 43534, - 3 - ], - [ - 43675, - 3 - ], - [ - 43834, - 3 - ], - [ - 43974, - 4 - ], - [ - 44135, - 3 - ], - [ - 44274, - 4 - ], - [ - 44436, - 3 - ], - [ - 44574, - 4 - ], - [ - 44737, - 3 - ], - [ - 44874, - 4 - ], - [ - 45037, - 3 - ], - [ - 45174, - 3 - ], - [ - 45338, - 3 - ], - [ - 45474, - 3 - ], - [ - 45639, - 3 - ], - [ - 45773, - 4 - ], - [ - 45940, - 3 - ], - [ - 46073, - 4 - ], - [ - 46240, - 3 - ], - [ - 46373, - 4 - ], - [ - 46541, - 3 - ], - [ - 46673, - 4 - ], - [ - 46842, - 3 - ], - [ - 46973, - 3 - ], - [ - 47143, - 3 - ], - [ - 47273, - 3 - ], - [ - 47444, - 2 - ], - [ - 47572, - 4 - ], - [ - 47744, - 3 - ], - [ - 47872, - 4 - ], - [ - 48045, - 3 - ], - [ - 48172, - 4 - ], - [ - 48346, - 2 - ], - [ - 48472, - 3 - ], - [ - 48647, - 2 - ], - [ - 48772, - 3 - ], - [ - 48899, - 1 - ], - [ - 48947, - 3 - ], - [ - 49072, - 3 - ], - [ - 49198, - 1 - ], - [ - 49248, - 3 - ], - [ - 49372, - 3 - ], - [ - 49497, - 1 - ], - [ - 49549, - 2 - ], - [ - 49671, - 4 - ], - [ - 49796, - 1 - ], - [ - 49850, - 2 - ], - [ - 49971, - 4 - ], - [ - 50150, - 3 - ], - [ - 50271, - 3 - ], - [ - 50451, - 3 - ], - [ - 50571, - 3 - ], - [ - 50692, - 1 - ], - [ - 50752, - 2 - ], - [ - 50871, - 3 - ], - [ - 50991, - 1 - ], - [ - 51053, - 2 - ], - [ - 51171, - 3 - ], - [ - 51290, - 1 - ], - [ - 51353, - 3 - ], - [ - 51470, - 4 - ], - [ - 51589, - 1 - ], - [ - 51654, - 3 - ], - [ - 51770, - 3 - ], - [ - 51888, - 1 - ], - [ - 51955, - 2 - ], - [ - 52070, - 3 - ], - [ - 52187, - 1 - ], - [ - 52256, - 2 - ], - [ - 52370, - 3 - ], - [ - 52486, - 1 - ], - [ - 52556, - 3 - ], - [ - 52670, - 3 - ], - [ - 52785, - 1 - ], - [ - 52857, - 2 - ], - [ - 52970, - 3 - ], - [ - 53084, - 1 - ], - [ - 53158, - 2 - ], - [ - 53269, - 4 - ], - [ - 53459, - 2 - ], - [ - 53569, - 3 - ], - [ - 53759, - 3 - ], - [ - 53869, - 3 - ], - [ - 54060, - 2 - ], - [ - 54169, - 3 - ], - [ - 54279, - 1 - ], - [ - 54361, - 2 - ], - [ - 54469, - 3 - ], - [ - 54578, - 1 - ], - [ - 54662, - 2 - ], - [ - 54769, - 3 - ], - [ - 54877, - 1 - ], - [ - 54962, - 3 - ], - [ - 55068, - 3 - ], - [ - 55176, - 1 - ], - [ - 55263, - 2 - ], - [ - 55368, - 3 - ], - [ - 55475, - 1 - ], - [ - 55564, - 2 - ], - [ - 55668, - 3 - ], - [ - 55774, - 1 - ], - [ - 55865, - 2 - ], - [ - 55968, - 3 - ], - [ - 56073, - 1 - ], - [ - 56165, - 3 - ], - [ - 56268, - 3 - ], - [ - 56372, - 1 - ], - [ - 56466, - 2 - ], - [ - 56568, - 2 - ], - [ - 56767, - 2 - ], - [ - 56869, - 1 - ], - [ - 57068, - 2 - ], - [ - 57368, - 2 - ], - [ - 57669, - 2 - ], - [ - 57866, - 1 - ], - [ - 57970, - 2 - ], - [ - 58165, - 1 - ], - [ - 58271, - 2 - ], - [ - 58464, - 1 - ], - [ - 58571, - 2 - ], - [ - 58763, - 1 - ], - [ - 58872, - 2 - ], - [ - 59062, - 1 - ], - [ - 59173, - 2 - ], - [ - 59361, - 1 - ], - [ - 59474, - 2 - ], - [ - 59660, - 1 - ], - [ - 59773, - 3 - ], - [ - 59959, - 2 - ], - [ - 60073, - 4 - ], - [ - 60258, - 4 - ], - [ - 60300, - 129 - ], - [ - 60471, - 258 - ], - [ - 60771, - 258 - ], - [ - 61071, - 258 - ], - [ - 61371, - 258 - ], - [ - 61671, - 129 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan217", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -3.5, - "y": 0.9011413, - "z": 3.25 - }, - "object_poses": [ - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.65894985, - "y": 0.554524243, - "z": 2.744504 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -5.09464359, - "y": 0.9884721, - "z": 2.87919188 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -4.567365, - "y": 0.886754, - "z": 2.436366 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -2.279483, - "y": 0.455707282, - "z": 2.744504 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -0.4171646, - "y": 0.470283061, - "z": 3.17241144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -4.832, - "y": 0.985096, - "z": 2.595 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -0.417164564, - "y": 0.7744081, - "z": 1.714 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -4.778103, - "y": 0.40546155, - "z": 2.33778119 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_9691257b", - "position": { - "x": -0.2776128, - "y": -0.000669963658, - "z": 4.8605876 - }, - "rotation": { - "x": 359.9809, - "y": 359.9893, - "z": 0.00747299241 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -2.70243382, - "y": 0.456995964, - "z": 0.843662262 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -2.70243382, - "y": 0.5367311, - "z": 0.843662262 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f769cdcb", - "position": { - "x": -3.294, - "y": 0.624, - "z": 0.801 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.090637 - } - }, - { - "objectName": "Laptop_d290dd79", - "position": { - "x": -4.873, - "y": 0.981, - "z": 3.44 - }, - "rotation": { - "x": 0.0, - "y": 83.8787842, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -2.405972, - "y": 0.455707282, - "z": 2.455776 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -4.546924, - "y": 0.8861909, - "z": 3.21645427 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -4.569356, - "y": 1.08662426, - "z": 3.163384 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1774812229, - "scene_num": 217 - }, - "task_id": "trial_T20190909_053720_916417", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2871R3LEPWMMK_3JZQSN0I3T1LC04L1X3S8CRBLH7FGS", - "high_descs": [ - "Turn left, hang a left at the couch and walk to the square coffee table on the left.", - "Pick up the remote control from the middle of the table.", - "Turn left, hang a right at the end of the couch and walk to the dresser with a television on the left.", - "Put the remote control on the right side of the dresser in front of the television." - ], - "task_desc": "Place a remote on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3R19ZA45J8915_3SKRO2GZ74IZO76WKP9MH2FARO41KF", - "high_descs": [ - "Turn to the left, walk up to the couch, then turn left, then left again to face the table. ", - "Pick up the remote control that is to the left of the other remote on the table. ", - "Turn to the left, walk forward, then turn right at the end of the table, then left and walk up to the television stand. ", - "Place the remote control down on the television stand. " - ], - "task_desc": "Move a remote control to the television stand. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3K9FOBBF2KADMKV3ACJLT95SJPDNLB", - "high_descs": [ - "Walk over to the black coffee table. ", - "Pick up the remote on the left. ", - "Walk to the front of the TV stand. ", - "Put the remote down on the TV stand to the right. " - ], - "task_desc": "Move a remote from the coffee table to the TV stand. ", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053743_317534/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053743_317534/traj_data.json deleted file mode 100644 index ace433643..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053743_317534/traj_data.json +++ /dev/null @@ -1,2513 +0,0 @@ -{ - "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": 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": 0, - "image_name": "000000044.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 14 - }, - { - "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": 1, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 25 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "RemoteControl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|11|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "remotecontrol" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "RemoteControl", - [ - -11.14175416, - -11.14175416, - 10.978016, - 10.978016, - 1.822828888, - 1.822828888 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -9.623888, - -9.623888, - 10.188, - 10.188, - 0.008, - 0.008 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|-02.79|+00.46|+02.74" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-16|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "remotecontrol", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "RemoteControl", - [ - -11.14175416, - -11.14175416, - 10.978016, - 10.978016, - 1.822828888, - 1.822828888 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -19.328, - -19.328, - 10.38, - 10.38, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|-02.79|+00.46|+02.74", - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - } - }, - { - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "RemoteControl|-02.79|+00.46|+02.74" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 128, - 179, - 173, - 191 - ], - "mask": [ - [ - 53529, - 33 - ], - [ - 53828, - 45 - ], - [ - 54128, - 46 - ], - [ - 54428, - 46 - ], - [ - 54728, - 46 - ], - [ - 55028, - 46 - ], - [ - 55328, - 46 - ], - [ - 55628, - 46 - ], - [ - 55928, - 46 - ], - [ - 56228, - 46 - ], - [ - 56528, - 46 - ], - [ - 56828, - 42 - ], - [ - 57128, - 32 - ] - ], - "point": [ - 150, - 184 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "RemoteControl|-02.79|+00.46|+02.74", - "placeStationary": true, - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 29, - 299, - 206 - ], - "mask": [ - [ - 8400, - 39 - ], - [ - 8449, - 164 - ], - [ - 8621, - 117 - ], - [ - 8748, - 165 - ], - [ - 8922, - 116 - ], - [ - 9048, - 166 - ], - [ - 9222, - 116 - ], - [ - 9348, - 166 - ], - [ - 9522, - 115 - ], - [ - 9647, - 167 - ], - [ - 9822, - 115 - ], - [ - 9947, - 167 - ], - [ - 10122, - 115 - ], - [ - 10247, - 167 - ], - [ - 10423, - 113 - ], - [ - 10546, - 168 - ], - [ - 10723, - 113 - ], - [ - 10846, - 169 - ], - [ - 11023, - 113 - ], - [ - 11146, - 169 - ], - [ - 11323, - 112 - ], - [ - 11446, - 169 - ], - [ - 11624, - 111 - ], - [ - 11745, - 170 - ], - [ - 11924, - 111 - ], - [ - 12045, - 170 - ], - [ - 12224, - 110 - ], - [ - 12345, - 171 - ], - [ - 12524, - 110 - ], - [ - 12644, - 172 - ], - [ - 12824, - 110 - ], - [ - 12944, - 172 - ], - [ - 13125, - 108 - ], - [ - 13244, - 172 - ], - [ - 13425, - 108 - ], - [ - 13543, - 173 - ], - [ - 13725, - 108 - ], - [ - 13843, - 174 - ], - [ - 14025, - 108 - ], - [ - 14143, - 174 - ], - [ - 14325, - 108 - ], - [ - 14442, - 175 - ], - [ - 14625, - 108 - ], - [ - 14742, - 175 - ], - [ - 14925, - 108 - ], - [ - 15225, - 108 - ], - [ - 15524, - 110 - ], - [ - 15824, - 110 - ], - [ - 16124, - 111 - ], - [ - 16423, - 112 - ], - [ - 16723, - 113 - ], - [ - 17023, - 113 - ], - [ - 17322, - 115 - ], - [ - 17622, - 115 - ], - [ - 17921, - 118 - ], - [ - 18219, - 121 - ], - [ - 18518, - 15382 - ], - [ - 33910, - 2 - ], - [ - 34078, - 7 - ], - [ - 34210, - 3 - ], - [ - 34378, - 6 - ], - [ - 34511, - 2 - ], - [ - 34678, - 6 - ], - [ - 34812, - 2 - ], - [ - 34978, - 6 - ], - [ - 35113, - 2 - ], - [ - 35278, - 6 - ], - [ - 35413, - 2 - ], - [ - 35577, - 7 - ], - [ - 35714, - 2 - ], - [ - 35877, - 7 - ], - [ - 36015, - 2 - ], - [ - 36177, - 6 - ], - [ - 36316, - 2 - ], - [ - 36477, - 6 - ], - [ - 36616, - 2 - ], - [ - 36777, - 6 - ], - [ - 36917, - 2 - ], - [ - 37077, - 6 - ], - [ - 37218, - 2 - ], - [ - 37376, - 7 - ], - [ - 37519, - 2 - ], - [ - 37676, - 6 - ], - [ - 37819, - 2 - ], - [ - 37976, - 6 - ], - [ - 38119, - 3 - ], - [ - 38276, - 6 - ], - [ - 38419, - 4 - ], - [ - 38576, - 6 - ], - [ - 38719, - 5 - ], - [ - 38876, - 6 - ], - [ - 39000, - 1200 - ], - [ - 40225, - 7 - ], - [ - 40376, - 4 - ], - [ - 40526, - 5 - ], - [ - 40676, - 4 - ], - [ - 40827, - 4 - ], - [ - 40976, - 4 - ], - [ - 41128, - 3 - ], - [ - 41276, - 4 - ], - [ - 41428, - 4 - ], - [ - 41576, - 4 - ], - [ - 41729, - 3 - ], - [ - 41876, - 4 - ], - [ - 42030, - 3 - ], - [ - 42175, - 4 - ], - [ - 42331, - 3 - ], - [ - 42475, - 4 - ], - [ - 42631, - 4 - ], - [ - 42775, - 4 - ], - [ - 42932, - 3 - ], - [ - 43075, - 4 - ], - [ - 43233, - 3 - ], - [ - 43375, - 4 - ], - [ - 43534, - 3 - ], - [ - 43675, - 3 - ], - [ - 43834, - 3 - ], - [ - 43974, - 4 - ], - [ - 44135, - 3 - ], - [ - 44274, - 4 - ], - [ - 44436, - 3 - ], - [ - 44574, - 4 - ], - [ - 44737, - 3 - ], - [ - 44874, - 4 - ], - [ - 45037, - 3 - ], - [ - 45174, - 3 - ], - [ - 45338, - 3 - ], - [ - 45474, - 3 - ], - [ - 45639, - 3 - ], - [ - 45773, - 4 - ], - [ - 45940, - 3 - ], - [ - 46073, - 4 - ], - [ - 46240, - 3 - ], - [ - 46373, - 4 - ], - [ - 46541, - 3 - ], - [ - 46673, - 4 - ], - [ - 46842, - 3 - ], - [ - 46973, - 3 - ], - [ - 47143, - 3 - ], - [ - 47273, - 3 - ], - [ - 47444, - 2 - ], - [ - 47572, - 4 - ], - [ - 47744, - 3 - ], - [ - 47872, - 4 - ], - [ - 48045, - 3 - ], - [ - 48172, - 4 - ], - [ - 48346, - 2 - ], - [ - 48472, - 3 - ], - [ - 48647, - 2 - ], - [ - 48772, - 3 - ], - [ - 48899, - 1 - ], - [ - 48947, - 3 - ], - [ - 49072, - 3 - ], - [ - 49198, - 1 - ], - [ - 49248, - 3 - ], - [ - 49372, - 3 - ], - [ - 49497, - 1 - ], - [ - 49549, - 2 - ], - [ - 49671, - 4 - ], - [ - 49796, - 1 - ], - [ - 49850, - 2 - ], - [ - 49971, - 4 - ], - [ - 50150, - 3 - ], - [ - 50271, - 3 - ], - [ - 50451, - 3 - ], - [ - 50571, - 3 - ], - [ - 50692, - 1 - ], - [ - 50752, - 2 - ], - [ - 50871, - 3 - ], - [ - 50991, - 1 - ], - [ - 51053, - 2 - ], - [ - 51171, - 3 - ], - [ - 51290, - 1 - ], - [ - 51353, - 3 - ], - [ - 51470, - 4 - ], - [ - 51589, - 1 - ], - [ - 51654, - 3 - ], - [ - 51770, - 3 - ], - [ - 51888, - 1 - ], - [ - 51955, - 2 - ], - [ - 52070, - 3 - ], - [ - 52187, - 1 - ], - [ - 52256, - 2 - ], - [ - 52370, - 3 - ], - [ - 52486, - 1 - ], - [ - 52556, - 3 - ], - [ - 52670, - 3 - ], - [ - 52785, - 1 - ], - [ - 52857, - 2 - ], - [ - 52970, - 3 - ], - [ - 53084, - 1 - ], - [ - 53158, - 2 - ], - [ - 53269, - 4 - ], - [ - 53459, - 2 - ], - [ - 53569, - 3 - ], - [ - 53759, - 3 - ], - [ - 53869, - 3 - ], - [ - 54060, - 2 - ], - [ - 54169, - 3 - ], - [ - 54279, - 1 - ], - [ - 54361, - 2 - ], - [ - 54469, - 3 - ], - [ - 54578, - 1 - ], - [ - 54662, - 2 - ], - [ - 54769, - 3 - ], - [ - 54877, - 1 - ], - [ - 54962, - 3 - ], - [ - 55068, - 3 - ], - [ - 55176, - 1 - ], - [ - 55263, - 2 - ], - [ - 55368, - 3 - ], - [ - 55475, - 1 - ], - [ - 55564, - 2 - ], - [ - 55668, - 3 - ], - [ - 55774, - 1 - ], - [ - 55865, - 2 - ], - [ - 55968, - 3 - ], - [ - 56073, - 1 - ], - [ - 56165, - 3 - ], - [ - 56268, - 3 - ], - [ - 56372, - 1 - ], - [ - 56466, - 2 - ], - [ - 56568, - 2 - ], - [ - 56767, - 2 - ], - [ - 56869, - 1 - ], - [ - 57068, - 2 - ], - [ - 57368, - 2 - ], - [ - 57669, - 2 - ], - [ - 57866, - 1 - ], - [ - 57970, - 2 - ], - [ - 58165, - 1 - ], - [ - 58271, - 2 - ], - [ - 58464, - 1 - ], - [ - 58571, - 2 - ], - [ - 58763, - 1 - ], - [ - 58872, - 2 - ], - [ - 59062, - 1 - ], - [ - 59173, - 2 - ], - [ - 59361, - 1 - ], - [ - 59474, - 2 - ], - [ - 59660, - 1 - ], - [ - 59773, - 3 - ], - [ - 59959, - 2 - ], - [ - 60073, - 4 - ], - [ - 60258, - 4 - ], - [ - 60300, - 129 - ], - [ - 60471, - 258 - ], - [ - 60771, - 258 - ], - [ - 61071, - 258 - ], - [ - 61371, - 258 - ], - [ - 61671, - 129 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan217", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -1.5, - "y": 0.9011413, - "z": 4.0 - }, - "object_poses": [ - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.02650547, - "y": 0.554524243, - "z": 2.26329064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -4.567365, - "y": 0.8878755, - "z": 3.52114844 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -2.78543854, - "y": 0.455707222, - "z": 2.744504 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -1.75269806, - "y": 0.4597072, - "z": 0.752875268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -1.99013209, - "y": 0.4597072, - "z": 0.752875268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -4.668551, - "y": 0.40546155, - "z": 3.37507534 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_9691257b", - "position": { - "x": -0.2776128, - "y": -0.000669963658, - "z": 4.8605876 - }, - "rotation": { - "x": 359.9809, - "y": 359.9893, - "z": 0.00747299241 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -4.567365, - "y": 0.8870357, - "z": 1.869576 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -2.939868, - "y": 0.530869961, - "z": 0.843662262 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f769cdcb", - "position": { - "x": -3.294, - "y": 0.624, - "z": 0.801 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.090637 - } - }, - { - "objectName": "Laptop_d290dd79", - "position": { - "x": -4.873, - "y": 0.981, - "z": 3.44 - }, - "rotation": { - "x": 0.0, - "y": 83.8787842, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -2.279483, - "y": 0.455707222, - "z": 2.35953331 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -2.532461, - "y": 0.453272671, - "z": 2.35953331 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.15299416, - "y": 0.554524243, - "z": 2.455776 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 889389102, - "scene_num": 217 - }, - "task_id": "trial_T20190909_053743_317534", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2KAGFQU28JY43_31HQ4X3T3V1A2XN8I807S3FY6O6SLD", - "high_descs": [ - "Go across the room and turn left between the black cabinet and the coffee table, then turn to the end of the coffee table on your left. ", - "Pick up the remote on the front, left corner of the table. ", - "Turn around and go to the black cabinet the TV is on. ", - "Place the remote on the black cabinet, in front of the TV. " - ], - "task_desc": "Put the remote in front of the TV. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A23HZ18KTCK2DA_3PS7W85Z82TGGVZEIB27XZKP8D39TM", - "high_descs": [ - "Turn and go to the side of the coffee table. The side where the tv is.", - "Pick up the tv remote that is on the coffee table in front of you on the left corner.", - "With the remote in hand turn all the way around to the tv directly behind you.", - "Place the remote on the tv stand in the front and to the right of the tv." - ], - "task_desc": "Move the tv remote to tv stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MP3NYIS55VQP_3UXUOQ9OKHO7NGCCXED6OY3RPYY7AR", - "high_descs": [ - "Turn left and walk towards the coffee table in the middle of the room. ", - "Pick up the remote control on the left corner of the table.", - "Turn around and face the TV opposite the coffee table.", - "Put the remote control on the TV stand next to the TV on the right." - ], - "task_desc": "Move the remote control from the coffee table to the TV stand. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053839_725206/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053839_725206/traj_data.json deleted file mode 100644 index e0c56c26a..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-217/trial_T20190909_053839_725206/traj_data.json +++ /dev/null @@ -1,3156 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 6 - }, - { - "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": 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": 17 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 32 - }, - { - "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": 3, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 37 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "RemoteControl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sofa" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-7|6|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "remotecontrol" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "RemoteControl", - [ - -7.01079272, - -7.01079272, - 3.7377968, - 3.7377968, - 2.0956356, - 2.0956356 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - -9.86, - -9.86, - 2.804, - 2.804, - -0.00399996, - -0.00399996 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|-01.75|+00.52|+00.93" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-16|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "remotecontrol", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "RemoteControl", - [ - -7.01079272, - -7.01079272, - 3.7377968, - 3.7377968, - 2.0956356, - 2.0956356 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -19.328, - -19.328, - 10.38, - 10.38, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|-01.75|+00.52|+00.93", - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - } - } - ], - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "RemoteControl|-01.75|+00.52|+00.93" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 143, - 139, - 157, - 180 - ], - "mask": [ - [ - 41546, - 9 - ], - [ - 41845, - 11 - ], - [ - 42145, - 11 - ], - [ - 42445, - 11 - ], - [ - 42745, - 11 - ], - [ - 43045, - 11 - ], - [ - 43345, - 11 - ], - [ - 43645, - 11 - ], - [ - 43945, - 11 - ], - [ - 44244, - 13 - ], - [ - 44544, - 13 - ], - [ - 44844, - 13 - ], - [ - 45144, - 13 - ], - [ - 45444, - 13 - ], - [ - 45744, - 13 - ], - [ - 46044, - 13 - ], - [ - 46344, - 13 - ], - [ - 46644, - 14 - ], - [ - 46943, - 15 - ], - [ - 47243, - 15 - ], - [ - 47543, - 15 - ], - [ - 47843, - 15 - ], - [ - 48143, - 15 - ], - [ - 48443, - 15 - ], - [ - 48743, - 15 - ], - [ - 49043, - 15 - ], - [ - 49343, - 15 - ], - [ - 49643, - 15 - ], - [ - 49943, - 15 - ], - [ - 50243, - 15 - ], - [ - 50543, - 15 - ], - [ - 50843, - 15 - ], - [ - 51143, - 15 - ], - [ - 51443, - 15 - ], - [ - 51743, - 15 - ], - [ - 52043, - 15 - ], - [ - 52343, - 15 - ], - [ - 52643, - 15 - ], - [ - 52943, - 15 - ], - [ - 53243, - 15 - ], - [ - 53543, - 15 - ], - [ - 53843, - 15 - ] - ], - "point": [ - 150, - 158 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "RemoteControl|-01.75|+00.52|+00.93", - "placeStationary": true, - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 29, - 299, - 206 - ], - "mask": [ - [ - 8400, - 39 - ], - [ - 8449, - 164 - ], - [ - 8621, - 117 - ], - [ - 8748, - 165 - ], - [ - 8922, - 116 - ], - [ - 9048, - 138 - ], - [ - 9188, - 26 - ], - [ - 9222, - 116 - ], - [ - 9348, - 137 - ], - [ - 9488, - 26 - ], - [ - 9522, - 115 - ], - [ - 9647, - 137 - ], - [ - 9787, - 27 - ], - [ - 9822, - 115 - ], - [ - 9947, - 136 - ], - [ - 10086, - 28 - ], - [ - 10122, - 115 - ], - [ - 10247, - 133 - ], - [ - 10385, - 29 - ], - [ - 10423, - 113 - ], - [ - 10546, - 123 - ], - [ - 10672, - 7 - ], - [ - 10685, - 29 - ], - [ - 10723, - 113 - ], - [ - 10846, - 124 - ], - [ - 10972, - 8 - ], - [ - 10985, - 30 - ], - [ - 11023, - 113 - ], - [ - 11146, - 124 - ], - [ - 11273, - 5 - ], - [ - 11280, - 2 - ], - [ - 11283, - 32 - ], - [ - 11323, - 112 - ], - [ - 11446, - 124 - ], - [ - 11573, - 4 - ], - [ - 11578, - 37 - ], - [ - 11624, - 111 - ], - [ - 11745, - 126 - ], - [ - 11877, - 38 - ], - [ - 11924, - 111 - ], - [ - 12045, - 126 - ], - [ - 12177, - 38 - ], - [ - 12224, - 110 - ], - [ - 12345, - 126 - ], - [ - 12479, - 37 - ], - [ - 12524, - 110 - ], - [ - 12644, - 128 - ], - [ - 12778, - 1 - ], - [ - 12780, - 36 - ], - [ - 12824, - 110 - ], - [ - 12944, - 129 - ], - [ - 13074, - 1 - ], - [ - 13076, - 1 - ], - [ - 13079, - 37 - ], - [ - 13125, - 108 - ], - [ - 13244, - 129 - ], - [ - 13374, - 1 - ], - [ - 13380, - 3 - ], - [ - 13389, - 27 - ], - [ - 13425, - 108 - ], - [ - 13543, - 131 - ], - [ - 13676, - 2 - ], - [ - 13679, - 1 - ], - [ - 13681, - 1 - ], - [ - 13690, - 26 - ], - [ - 13725, - 108 - ], - [ - 13843, - 130 - ], - [ - 13975, - 1 - ], - [ - 13978, - 1 - ], - [ - 13981, - 1 - ], - [ - 13991, - 26 - ], - [ - 14025, - 108 - ], - [ - 14143, - 130 - ], - [ - 14274, - 6 - ], - [ - 14291, - 26 - ], - [ - 14325, - 108 - ], - [ - 14442, - 131 - ], - [ - 14574, - 7 - ], - [ - 14591, - 26 - ], - [ - 14625, - 108 - ], - [ - 14742, - 131 - ], - [ - 14874, - 7 - ], - [ - 14882, - 1 - ], - [ - 14890, - 27 - ], - [ - 14925, - 108 - ], - [ - 15225, - 108 - ], - [ - 15524, - 110 - ], - [ - 15824, - 110 - ], - [ - 16124, - 111 - ], - [ - 16423, - 112 - ], - [ - 16723, - 113 - ], - [ - 17023, - 113 - ], - [ - 17322, - 115 - ], - [ - 17622, - 115 - ], - [ - 17921, - 118 - ], - [ - 18219, - 121 - ], - [ - 18518, - 15382 - ], - [ - 33910, - 2 - ], - [ - 34078, - 7 - ], - [ - 34210, - 3 - ], - [ - 34378, - 6 - ], - [ - 34511, - 2 - ], - [ - 34678, - 6 - ], - [ - 34812, - 2 - ], - [ - 34978, - 6 - ], - [ - 35113, - 2 - ], - [ - 35278, - 6 - ], - [ - 35413, - 2 - ], - [ - 35577, - 7 - ], - [ - 35714, - 2 - ], - [ - 35877, - 7 - ], - [ - 36015, - 2 - ], - [ - 36177, - 6 - ], - [ - 36316, - 2 - ], - [ - 36477, - 6 - ], - [ - 36616, - 2 - ], - [ - 36777, - 6 - ], - [ - 36917, - 2 - ], - [ - 37077, - 6 - ], - [ - 37218, - 2 - ], - [ - 37376, - 7 - ], - [ - 37519, - 2 - ], - [ - 37676, - 6 - ], - [ - 37819, - 2 - ], - [ - 37976, - 6 - ], - [ - 38119, - 3 - ], - [ - 38276, - 6 - ], - [ - 38419, - 4 - ], - [ - 38576, - 6 - ], - [ - 38719, - 5 - ], - [ - 38876, - 6 - ], - [ - 39000, - 1200 - ], - [ - 40225, - 7 - ], - [ - 40376, - 4 - ], - [ - 40526, - 5 - ], - [ - 40676, - 4 - ], - [ - 40827, - 4 - ], - [ - 40976, - 4 - ], - [ - 41128, - 3 - ], - [ - 41276, - 4 - ], - [ - 41428, - 4 - ], - [ - 41576, - 4 - ], - [ - 41729, - 3 - ], - [ - 41876, - 4 - ], - [ - 42030, - 3 - ], - [ - 42175, - 4 - ], - [ - 42331, - 3 - ], - [ - 42475, - 4 - ], - [ - 42631, - 4 - ], - [ - 42775, - 4 - ], - [ - 42932, - 3 - ], - [ - 43075, - 4 - ], - [ - 43233, - 3 - ], - [ - 43375, - 4 - ], - [ - 43534, - 3 - ], - [ - 43675, - 3 - ], - [ - 43834, - 3 - ], - [ - 43974, - 4 - ], - [ - 44135, - 3 - ], - [ - 44274, - 4 - ], - [ - 44436, - 3 - ], - [ - 44574, - 4 - ], - [ - 44737, - 3 - ], - [ - 44874, - 4 - ], - [ - 45037, - 3 - ], - [ - 45174, - 3 - ], - [ - 45338, - 3 - ], - [ - 45474, - 3 - ], - [ - 45639, - 3 - ], - [ - 45773, - 4 - ], - [ - 45940, - 3 - ], - [ - 46073, - 4 - ], - [ - 46240, - 3 - ], - [ - 46373, - 4 - ], - [ - 46541, - 3 - ], - [ - 46673, - 4 - ], - [ - 46842, - 3 - ], - [ - 46973, - 3 - ], - [ - 47143, - 3 - ], - [ - 47273, - 3 - ], - [ - 47444, - 2 - ], - [ - 47572, - 4 - ], - [ - 47744, - 3 - ], - [ - 47872, - 4 - ], - [ - 48045, - 3 - ], - [ - 48172, - 4 - ], - [ - 48346, - 2 - ], - [ - 48472, - 3 - ], - [ - 48647, - 2 - ], - [ - 48772, - 3 - ], - [ - 48899, - 1 - ], - [ - 48947, - 3 - ], - [ - 49072, - 3 - ], - [ - 49198, - 1 - ], - [ - 49248, - 3 - ], - [ - 49372, - 3 - ], - [ - 49497, - 1 - ], - [ - 49549, - 2 - ], - [ - 49671, - 4 - ], - [ - 49796, - 1 - ], - [ - 49850, - 2 - ], - [ - 49971, - 4 - ], - [ - 50150, - 3 - ], - [ - 50271, - 3 - ], - [ - 50451, - 3 - ], - [ - 50571, - 3 - ], - [ - 50692, - 1 - ], - [ - 50752, - 2 - ], - [ - 50871, - 3 - ], - [ - 50991, - 1 - ], - [ - 51053, - 2 - ], - [ - 51171, - 3 - ], - [ - 51290, - 1 - ], - [ - 51353, - 3 - ], - [ - 51470, - 4 - ], - [ - 51589, - 1 - ], - [ - 51654, - 3 - ], - [ - 51770, - 3 - ], - [ - 51888, - 1 - ], - [ - 51955, - 2 - ], - [ - 52070, - 3 - ], - [ - 52187, - 1 - ], - [ - 52256, - 2 - ], - [ - 52370, - 3 - ], - [ - 52486, - 1 - ], - [ - 52556, - 3 - ], - [ - 52670, - 3 - ], - [ - 52785, - 1 - ], - [ - 52857, - 2 - ], - [ - 52970, - 3 - ], - [ - 53084, - 1 - ], - [ - 53158, - 2 - ], - [ - 53269, - 4 - ], - [ - 53459, - 2 - ], - [ - 53569, - 3 - ], - [ - 53759, - 3 - ], - [ - 53869, - 3 - ], - [ - 54060, - 2 - ], - [ - 54169, - 3 - ], - [ - 54279, - 1 - ], - [ - 54361, - 2 - ], - [ - 54469, - 3 - ], - [ - 54578, - 1 - ], - [ - 54662, - 2 - ], - [ - 54769, - 3 - ], - [ - 54877, - 1 - ], - [ - 54962, - 3 - ], - [ - 55068, - 3 - ], - [ - 55176, - 1 - ], - [ - 55263, - 2 - ], - [ - 55368, - 3 - ], - [ - 55475, - 1 - ], - [ - 55564, - 2 - ], - [ - 55668, - 3 - ], - [ - 55774, - 1 - ], - [ - 55865, - 2 - ], - [ - 55968, - 3 - ], - [ - 56073, - 1 - ], - [ - 56165, - 3 - ], - [ - 56268, - 3 - ], - [ - 56372, - 1 - ], - [ - 56466, - 2 - ], - [ - 56568, - 2 - ], - [ - 56767, - 2 - ], - [ - 56869, - 1 - ], - [ - 57068, - 2 - ], - [ - 57368, - 2 - ], - [ - 57669, - 2 - ], - [ - 57866, - 1 - ], - [ - 57970, - 2 - ], - [ - 58165, - 1 - ], - [ - 58271, - 2 - ], - [ - 58464, - 1 - ], - [ - 58571, - 2 - ], - [ - 58763, - 1 - ], - [ - 58872, - 2 - ], - [ - 59062, - 1 - ], - [ - 59173, - 2 - ], - [ - 59361, - 1 - ], - [ - 59474, - 2 - ], - [ - 59660, - 1 - ], - [ - 59773, - 3 - ], - [ - 59959, - 2 - ], - [ - 60073, - 4 - ], - [ - 60258, - 4 - ], - [ - 60300, - 129 - ], - [ - 60471, - 258 - ], - [ - 60771, - 258 - ], - [ - 61071, - 258 - ], - [ - 61371, - 258 - ], - [ - 61671, - 129 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan217", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -2.75, - "y": 0.9011413, - "z": 3.25 - }, - "object_poses": [ - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.02650547, - "y": 0.554524243, - "z": 2.744504 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -4.58780575, - "y": 0.8861909, - "z": 2.284019 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -4.546924, - "y": 0.8861909, - "z": 2.957366 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -5.09464359, - "y": 0.985935748, - "z": 2.87919188 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -0.329055548, - "y": 0.538705, - "z": 3.17241144 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -2.532461, - "y": 0.452996, - "z": 2.26329064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -3.177302, - "y": 0.456995964, - "z": 0.9344492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -2.180622, - "y": 0.6704, - "z": 2.42843866 - }, - "rotation": { - "x": 0.0, - "y": 350.086456, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_9691257b", - "position": { - "x": -0.2776128, - "y": -0.000669963658, - "z": 4.8605876 - }, - "rotation": { - "x": 359.9809, - "y": 359.9893, - "z": 0.00747299241 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -2.78543854, - "y": 0.452996, - "z": 2.744504 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -4.74445152, - "y": 0.9890352, - "z": 2.595 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f769cdcb", - "position": { - "x": -3.294, - "y": 0.624, - "z": 0.801 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.090637 - } - }, - { - "objectName": "Laptop_d290dd79", - "position": { - "x": -4.873, - "y": 0.981, - "z": 3.44 - }, - "rotation": { - "x": 0.0, - "y": 83.8787842, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -1.75269818, - "y": 0.5239089, - "z": 0.9344492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -4.567365, - "y": 0.8861909, - "z": 2.70345426 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.405972, - "y": 0.554524243, - "z": 2.84074664 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4222261350, - "scene_num": 217 - }, - "task_id": "trial_T20190909_053839_725206", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2KAGFQU28JY43_3137ONMDKJWT6M4P6MJMQU6B9GCEGT", - "high_descs": [ - "Go past the coffee table and turn right, then go to the left end of the couch across from you. ", - "Pick up the remote on the left side of the couch. ", - "Turn right and go to the cabinet the TV is on across from you. ", - "Place the remote on the cabinet, to the right of the keys. " - ], - "task_desc": "Put the remote on the cabinst.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3OLF68YTNCSK29RIFXBICQG8NMCAFT", - "high_descs": [ - "Walk around the coffee table to the couch on the right.", - "Pick up the remote on the couch. ", - "Turn right and walk to the TV and face it.", - "Place the remote in front of the TV, on the right." - ], - "task_desc": "Place a remote control on a TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A23HZ18KTCK2DA_3TUI152ZZEELZA4RXUTJDORJQUGQ1G", - "high_descs": [ - "Turn and go to the couch where the tv remote is.", - "Pick up the tv remote that is on the couch.", - "With the remote in your hand turn and go to the tv.", - "Place the remote in front of the tv to the right on the tv stand." - ], - "task_desc": "Move tv remote to the tv stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154740_977701/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154740_977701/traj_data.json deleted file mode 100644 index 0673681cb..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154740_977701/traj_data.json +++ /dev/null @@ -1,3342 +0,0 @@ -{ - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 20 - }, - { - "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": 1, - "image_name": "000000082.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 24 - }, - { - "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": 2, - "image_name": "000000116.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 35 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "RemoteControl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|10|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "remotecontrol" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "RemoteControl", - [ - 10.72173404, - 10.72173404, - 10.45246504, - 10.45246504, - 3.2344984, - 3.2344984 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|+02.68|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "remotecontrol", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "RemoteControl", - [ - 10.72173404, - 10.72173404, - 10.45246504, - 10.45246504, - 3.2344984, - 3.2344984 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|+02.68|+00.81|+02.61", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "PickupObject", - "objectId": "RemoteControl|+02.68|+00.81|+02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 103, - 121, - 150, - 132 - ], - "mask": [ - [ - 36107, - 7 - ], - [ - 36405, - 42 - ], - [ - 36704, - 45 - ], - [ - 37003, - 47 - ], - [ - 37303, - 48 - ], - [ - 37603, - 48 - ], - [ - 37903, - 48 - ], - [ - 38203, - 48 - ], - [ - 38503, - 47 - ], - [ - 38803, - 47 - ], - [ - 39104, - 44 - ], - [ - 39405, - 11 - ] - ], - "point": [ - 126, - 125 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "RemoteControl|+02.68|+00.81|+02.61", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 40 - ], - [ - 34159, - 41 - ], - [ - 34239, - 117 - ], - [ - 34412, - 39 - ], - [ - 34464, - 36 - ], - [ - 34539, - 121 - ], - [ - 34708, - 41 - ], - [ - 34766, - 34 - ], - [ - 34839, - 127 - ], - [ - 35002, - 46 - ], - [ - 35068, - 32 - ], - [ - 35139, - 135 - ], - [ - 35294, - 53 - ], - [ - 35370, - 30 - ], - [ - 35438, - 183 - ], - [ - 35625, - 21 - ], - [ - 35671, - 29 - ], - [ - 35738, - 180 - ], - [ - 35920, - 5 - ], - [ - 35927, - 19 - ], - [ - 35972, - 28 - ], - [ - 36038, - 180 - ], - [ - 36219, - 7 - ], - [ - 36228, - 17 - ], - [ - 36273, - 27 - ], - [ - 36337, - 190 - ], - [ - 36528, - 17 - ], - [ - 36574, - 26 - ], - [ - 36637, - 182 - ], - [ - 36820, - 7 - ], - [ - 36828, - 17 - ], - [ - 36875, - 25 - ], - [ - 36937, - 175 - ], - [ - 37117, - 2 - ], - [ - 37120, - 7 - ], - [ - 37128, - 17 - ], - [ - 37175, - 25 - ], - [ - 37237, - 174 - ], - [ - 37418, - 2 - ], - [ - 37421, - 6 - ], - [ - 37428, - 17 - ], - [ - 37458, - 4 - ], - [ - 37476, - 24 - ], - [ - 37536, - 174 - ], - [ - 37719, - 1 - ], - [ - 37721, - 6 - ], - [ - 37728, - 17 - ], - [ - 37758, - 5 - ], - [ - 37776, - 24 - ], - [ - 37836, - 174 - ], - [ - 38022, - 2 - ], - [ - 38026, - 1 - ], - [ - 38028, - 17 - ], - [ - 38058, - 5 - ], - [ - 38077, - 23 - ], - [ - 38136, - 174 - ], - [ - 38322, - 1 - ], - [ - 38324, - 3 - ], - [ - 38328, - 17 - ], - [ - 38359, - 4 - ], - [ - 38377, - 23 - ], - [ - 38436, - 175 - ], - [ - 38619, - 3 - ], - [ - 38627, - 1 - ], - [ - 38629, - 17 - ], - [ - 38677, - 23 - ], - [ - 38735, - 177 - ], - [ - 38919, - 3 - ], - [ - 38923, - 1 - ], - [ - 38925, - 3 - ], - [ - 38929, - 17 - ], - [ - 38977, - 23 - ], - [ - 39035, - 179 - ], - [ - 39217, - 5 - ], - [ - 39224, - 2 - ], - [ - 39228, - 19 - ], - [ - 39277, - 23 - ], - [ - 39335, - 187 - ], - [ - 39523, - 1 - ], - [ - 39529, - 18 - ], - [ - 39577, - 23 - ], - [ - 39635, - 191 - ], - [ - 39831, - 17 - ], - [ - 39876, - 24 - ], - [ - 39934, - 189 - ], - [ - 40131, - 18 - ], - [ - 40176, - 24 - ], - [ - 40234, - 192 - ], - [ - 40432, - 18 - ], - [ - 40475, - 25 - ], - [ - 40534, - 192 - ], - [ - 40731, - 21 - ], - [ - 40774, - 26 - ], - [ - 40833, - 192 - ], - [ - 41026, - 2 - ], - [ - 41032, - 22 - ], - [ - 41073, - 27 - ], - [ - 41133, - 192 - ], - [ - 41326, - 3 - ], - [ - 41331, - 24 - ], - [ - 41371, - 29 - ], - [ - 41433, - 191 - ], - [ - 41625, - 5 - ], - [ - 41633, - 25 - ], - [ - 41670, - 30 - ], - [ - 41733, - 185 - ], - [ - 41924, - 6 - ], - [ - 41932, - 68 - ], - [ - 42032, - 185 - ], - [ - 42223, - 7 - ], - [ - 42233, - 67 - ], - [ - 42332, - 185 - ], - [ - 42523, - 8 - ], - [ - 42534, - 66 - ], - [ - 42632, - 186 - ], - [ - 42823, - 8 - ], - [ - 42834, - 66 - ], - [ - 42932, - 185 - ], - [ - 43123, - 77 - ], - [ - 43231, - 186 - ], - [ - 43420, - 80 - ], - [ - 43531, - 185 - ], - [ - 43719, - 81 - ], - [ - 43831, - 185 - ], - [ - 44019, - 81 - ], - [ - 44131, - 184 - ], - [ - 44318, - 82 - ], - [ - 44430, - 185 - ], - [ - 44617, - 83 - ], - [ - 44730, - 186 - ], - [ - 44917, - 83 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 1.25, - "y": 0.9101201, - "z": -1.75 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.68678069, - "y": 0.7424376, - "z": -1.61999273 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.57583427, - "y": 0.09430212, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.52934146, - "y": 0.8426067, - "z": 0.3617196 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.93098783, - "y": 0.842996, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.364924, - "y": 0.399810672, - "z": -0.5944867 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.52934146, - "y": 0.8438358, - "z": 0.49285984 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.68043351, - "y": 0.8086246, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.749808, - "y": 0.9215688, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.946811736, - "y": 0.9215688, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.78479528, - "y": 0.806656, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.8811438, - "y": 0.9215688, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.471079, - "y": 0.7443471, - "z": -1.57073247 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.749808, - "y": 0.915931046, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.45482969, - "y": 0.399810672, - "z": -0.5073667 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -1.01247966, - "y": 0.9143347, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.68043351, - "y": 0.8086246, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.47171044, - "y": 0.8053905, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.749808, - "y": 0.916839838, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.5946238, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.833904862, - "y": 0.785215139, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.749808, - "y": 0.913105667, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.57583427, - "y": 0.46727246, - "z": 0.3302396 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.471079, - "y": 0.7424376, - "z": -1.422952 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2056087474, - "scene_num": 311 - }, - "task_id": "trial_T20190907_154740_977701", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A13OOAT2ORKH6V_3HL8HNGX48IYC1VFRJ81F9LMNSZF93", - "high_descs": [ - "Turn around, walk straight to the door, turn right to face the desk.", - "Grab the remote on top of the desk.", - "Turn right, walk straight, turn left to face the television and television stand.", - "Place the remote on the television stand next to the television." - ], - "task_desc": "Place a remote on a television stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_3K772S5NPBSZLTD2UKCNA8YAU4RHEC", - "high_descs": [ - "turn around, walk forward, stop and face the table to the right", - "pick up the remote that is on the table", - "turn to the right, walk forward, stop to face the tv stand on the left", - "put the remote on the tv stand" - ], - "task_desc": "put the remote on the tv stand by the tv", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A38Z99XF4NDNH0_3P1L2B7AD46NJG9HFJUH7CLVFOKLO7", - "high_descs": [ - "Move across the room to the black table with the red chairs", - "pick up the remote that is sitting on top of the table", - "Carry the remote to the white TV stand", - "Place the remote on top of the white TV stand on the left side in front of the TV" - ], - "task_desc": "Move a remote on the table to the TV stand", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154756_629170/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154756_629170/traj_data.json deleted file mode 100644 index 29e47ed83..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154756_629170/traj_data.json +++ /dev/null @@ -1,3085 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000060.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "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": 13 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000126.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000129.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 24 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "RemoteControl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|10|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "remotecontrol" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "RemoteControl", - [ - 10.72173404, - 10.72173404, - 10.45246504, - 10.45246504, - 3.2344984, - 3.2344984 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|+02.68|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "remotecontrol", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "RemoteControl", - [ - 10.72173404, - 10.72173404, - 10.45246504, - 10.45246504, - 3.2344984, - 3.2344984 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|+02.68|+00.81|+02.61", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - } - ], - "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": "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": "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": "PickupObject", - "objectId": "RemoteControl|+02.68|+00.81|+02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 102, - 121, - 149, - 132 - ], - "mask": [ - [ - 36107, - 6 - ], - [ - 36405, - 41 - ], - [ - 36703, - 45 - ], - [ - 37003, - 46 - ], - [ - 37302, - 48 - ], - [ - 37602, - 48 - ], - [ - 37902, - 48 - ], - [ - 38202, - 48 - ], - [ - 38502, - 48 - ], - [ - 38803, - 46 - ], - [ - 39103, - 44 - ], - [ - 39404, - 11 - ] - ], - "point": [ - 125, - 125 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "RemoteControl|+02.68|+00.81|+02.61", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 26 - ], - [ - 19645, - 2 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 26 - ], - [ - 19945, - 4 - ], - [ - 19951, - 35 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 27 - ], - [ - 20246, - 2 - ], - [ - 20249, - 94 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 26 - ], - [ - 20547, - 1 - ], - [ - 20549, - 94 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 25 - ], - [ - 20848, - 95 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 25 - ], - [ - 21150, - 92 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 24 - ], - [ - 21447, - 95 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 26 - ], - [ - 21749, - 93 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 24 - ], - [ - 22045, - 1 - ], - [ - 22050, - 5 - ], - [ - 22057, - 85 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 25 - ], - [ - 22351, - 2 - ], - [ - 22359, - 82 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 25 - ], - [ - 22647, - 1 - ], - [ - 22651, - 1 - ], - [ - 22660, - 81 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 24 - ], - [ - 22946, - 6 - ], - [ - 22960, - 81 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 22 - ], - [ - 23245, - 6 - ], - [ - 23260, - 80 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 22 - ], - [ - 23545, - 7 - ], - [ - 23560, - 80 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 21 - ], - [ - 23845, - 6 - ], - [ - 23852, - 1 - ], - [ - 23859, - 80 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 20 - ], - [ - 24145, - 6 - ], - [ - 24152, - 86 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 19 - ], - [ - 24445, - 6 - ], - [ - 24452, - 86 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 18 - ], - [ - 24745, - 6 - ], - [ - 24752, - 85 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 17 - ], - [ - 25051, - 85 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 34 - ], - [ - 27287, - 13 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 35 - ], - [ - 27588, - 12 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 36 - ], - [ - 27888, - 12 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 37 - ], - [ - 28188, - 12 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 38 - ], - [ - 28489, - 11 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 39 - ], - [ - 28789, - 11 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 41 - ], - [ - 29089, - 11 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 42 - ], - [ - 29390, - 10 - ], - [ - 29444, - 27 - ], - [ - 29485, - 38 - ], - [ - 29550, - 65 - ], - [ - 29644, - 44 - ], - [ - 29690, - 10 - ], - [ - 29743, - 28 - ], - [ - 29785, - 39 - ], - [ - 29853, - 60 - ], - [ - 29943, - 45 - ], - [ - 29990, - 10 - ], - [ - 30043, - 27 - ], - [ - 30085, - 41 - ], - [ - 30156, - 54 - ], - [ - 30242, - 46 - ], - [ - 30291, - 9 - ], - [ - 30343, - 27 - ], - [ - 30385, - 42 - ], - [ - 30460, - 46 - ], - [ - 30540, - 49 - ], - [ - 30591, - 9 - ], - [ - 30643, - 27 - ], - [ - 30684, - 45 - ], - [ - 30764, - 39 - ], - [ - 30839, - 50 - ], - [ - 30892, - 8 - ], - [ - 30942, - 28 - ], - [ - 30984, - 46 - ], - [ - 31069, - 29 - ], - [ - 31137, - 52 - ], - [ - 31192, - 8 - ], - [ - 31242, - 28 - ], - [ - 31284, - 48 - ], - [ - 31436, - 54 - ], - [ - 31492, - 8 - ], - [ - 31542, - 27 - ], - [ - 31584, - 50 - ], - [ - 31734, - 56 - ], - [ - 31793, - 7 - ], - [ - 31841, - 28 - ], - [ - 31884, - 52 - ], - [ - 32032, - 59 - ], - [ - 32093, - 7 - ], - [ - 32141, - 28 - ], - [ - 32184, - 53 - ], - [ - 32331, - 60 - ], - [ - 32393, - 7 - ], - [ - 32441, - 28 - ], - [ - 32484, - 55 - ], - [ - 32628, - 63 - ], - [ - 32694, - 6 - ], - [ - 32741, - 28 - ], - [ - 32783, - 59 - ], - [ - 32926, - 66 - ], - [ - 32994, - 6 - ], - [ - 33040, - 28 - ], - [ - 33083, - 61 - ], - [ - 33224, - 68 - ], - [ - 33294, - 6 - ], - [ - 33340, - 28 - ], - [ - 33383, - 64 - ], - [ - 33522, - 70 - ], - [ - 33595, - 5 - ], - [ - 33640, - 28 - ], - [ - 33683, - 66 - ], - [ - 33819, - 74 - ], - [ - 33895, - 5 - ], - [ - 33940, - 28 - ], - [ - 33983, - 70 - ], - [ - 34116, - 77 - ], - [ - 34195, - 5 - ], - [ - 34239, - 29 - ], - [ - 34283, - 73 - ], - [ - 34412, - 81 - ], - [ - 34496, - 4 - ], - [ - 34539, - 29 - ], - [ - 34582, - 78 - ], - [ - 34708, - 86 - ], - [ - 34796, - 4 - ], - [ - 34839, - 127 - ], - [ - 35002, - 92 - ], - [ - 35096, - 4 - ], - [ - 35139, - 135 - ], - [ - 35294, - 100 - ], - [ - 35397, - 3 - ], - [ - 35438, - 257 - ], - [ - 35697, - 3 - ], - [ - 35738, - 257 - ], - [ - 35998, - 2 - ], - [ - 36038, - 257 - ], - [ - 36298, - 2 - ], - [ - 36337, - 259 - ], - [ - 36598, - 2 - ], - [ - 36637, - 259 - ], - [ - 36899, - 1 - ], - [ - 36937, - 259 - ], - [ - 37199, - 1 - ], - [ - 37237, - 260 - ], - [ - 37499, - 1 - ], - [ - 37536, - 261 - ], - [ - 37799, - 1 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.75, - "y": 0.9101201, - "z": 4.0 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.815475941, - "y": 0.911498964, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.946811736, - "y": 0.915931046, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.68043351, - "y": 0.8116682, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -1.01247966, - "y": 0.916839838, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.60967064, - "y": 0.842996, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.77032924, - "y": 0.8438358, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.749808, - "y": 0.9127645, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.946811736, - "y": 0.9215688, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.44725227, - "y": 0.7539418, - "z": -1.44422 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.45482969, - "y": 0.399080217, - "z": -0.5073667 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.61488, - "y": 0.752507448, - "z": -1.61999273 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.26298714, - "y": 0.808236837, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -1.05462563, - "y": 0.899999, - "z": 3.87900376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.78479528, - "y": 0.8083233, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.44855428, - "y": 0.0955311656, - "z": 0.917760432 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.68043351, - "y": 0.8086246, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.355342746, - "y": 0.7123361, - "z": 2.82226515 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.60967064, - "y": 0.8463409, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -1.07318592, - "y": 0.785215139, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.116061687, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -1.07814765, - "y": 0.913105667, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.44725227, - "y": 0.751524746, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.3991785, - "y": 0.7424376, - "z": -1.57073247 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 5021542, - "scene_num": 311 - }, - "task_id": "trial_T20190907_154756_629170", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1NWXL4QO30M8U_3P1L2B7AD46NJG9HFJUH7CLVFNZOLN", - "high_descs": [ - "Turn around and walk halfway across the room before turning left to face the table. ", - "Take the remote control near the lamp off of the table. ", - "Turn to the right and walk forward to the television, then turn left to face it. ", - "Place the remote control in front of the television, and near the credit card. " - ], - "task_desc": "To move the remote control near the television. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_3VZLGYJEYORUIE4DVB8MY4NM60HZXR", - "high_descs": [ - "turn around and walk forward, stop and face the table on the left", - "pick up the remote that is on the table", - "turn right and walk forward, stop and face the tv stand on the left", - "put the remote down on the tv stand in front of the tv" - ], - "task_desc": "put a remote by a tv", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2871R3LEPWMMK_3W8CV64QJ5GIQXMLM9W1IUXZ37UH9L", - "high_descs": [ - "Turn around and cross the room to face the brown table to your left.", - "Pick up the remote control to the right of the small lamp on top of the table.", - "Turn right, cross the room and turn left at the white end table on your left to reach the television.", - "Put the remote control on the left side on top of the end table in front of the red card." - ], - "task_desc": "Put a remote control by the television.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154851_086393/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154851_086393/traj_data.json deleted file mode 100644 index 28d55dac3..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-RemoteControl-None-Dresser-311/trial_T20190907_154851_086393/traj_data.json +++ /dev/null @@ -1,3642 +0,0 @@ -{ - "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": 15 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 33 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 34 - }, - { - "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": 2, - "image_name": "000000128.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 36 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 46 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "RemoteControl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|-3|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "remotecontrol" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "RemoteControl", - [ - 9.81932068, - 9.81932068, - -2.7264248, - -2.7264248, - 1.604195356, - 1.604195356 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.7, - 9.7, - -2.26, - -2.26, - 0.00680953264, - 0.00680953264 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|+02.45|+00.40|-00.68" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "remotecontrol", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "RemoteControl", - [ - 9.81932068, - 9.81932068, - -2.7264248, - -2.7264248, - 1.604195356, - 1.604195356 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "RemoteControl|+02.45|+00.40|-00.68", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "RemoteControl|+02.45|+00.40|-00.68" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 130, - 131, - 143, - 167 - ], - "mask": [ - [ - 39135, - 5 - ], - [ - 39434, - 7 - ], - [ - 39733, - 9 - ], - [ - 40033, - 9 - ], - [ - 40332, - 11 - ], - [ - 40632, - 11 - ], - [ - 40932, - 11 - ], - [ - 41232, - 11 - ], - [ - 41532, - 11 - ], - [ - 41832, - 11 - ], - [ - 42132, - 11 - ], - [ - 42432, - 11 - ], - [ - 42732, - 10 - ], - [ - 43032, - 10 - ], - [ - 43332, - 10 - ], - [ - 43632, - 10 - ], - [ - 43932, - 10 - ], - [ - 44232, - 10 - ], - [ - 44532, - 10 - ], - [ - 44832, - 10 - ], - [ - 45132, - 10 - ], - [ - 45432, - 10 - ], - [ - 45732, - 10 - ], - [ - 46032, - 10 - ], - [ - 46332, - 10 - ], - [ - 46631, - 12 - ], - [ - 46931, - 12 - ], - [ - 47231, - 12 - ], - [ - 47531, - 12 - ], - [ - 47830, - 13 - ], - [ - 48130, - 13 - ], - [ - 48430, - 14 - ], - [ - 48730, - 14 - ], - [ - 49030, - 13 - ], - [ - 49331, - 12 - ], - [ - 49632, - 10 - ], - [ - 49933, - 7 - ] - ], - "point": [ - 136, - 148 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "RemoteControl|+02.45|+00.40|-00.68", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18953, - 45 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 11 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 11 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 10 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 10 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 9 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 8 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 8 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 7 - ], - [ - 21599, - 1 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 8 - ], - [ - 21899, - 1 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 8 - ], - [ - 22199, - 1 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 8 - ], - [ - 22498, - 2 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 8 - ], - [ - 22797, - 3 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 9 - ], - [ - 23097, - 3 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 10 - ], - [ - 23396, - 4 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 10 - ], - [ - 23695, - 5 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 11 - ], - [ - 23994, - 6 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 13 - ], - [ - 24294, - 6 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 14 - ], - [ - 24593, - 7 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 16 - ], - [ - 24892, - 8 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 19 - ], - [ - 25191, - 9 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 22 - ], - [ - 25489, - 11 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 28 - ], - [ - 25784, - 16 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 262 - ], - [ - 35738, - 262 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 222 - ], - [ - 40472, - 28 - ], - [ - 40534, - 222 - ], - [ - 40772, - 28 - ], - [ - 40833, - 224 - ], - [ - 41072, - 28 - ], - [ - 41133, - 224 - ], - [ - 41373, - 27 - ], - [ - 41433, - 224 - ], - [ - 41673, - 27 - ], - [ - 41733, - 224 - ], - [ - 41973, - 27 - ], - [ - 42032, - 226 - ], - [ - 42274, - 26 - ], - [ - 42332, - 226 - ], - [ - 42574, - 26 - ], - [ - 42632, - 226 - ], - [ - 42874, - 26 - ], - [ - 42932, - 226 - ], - [ - 43174, - 26 - ], - [ - 43231, - 228 - ], - [ - 43475, - 25 - ], - [ - 43531, - 228 - ], - [ - 43775, - 25 - ], - [ - 43831, - 228 - ], - [ - 44075, - 25 - ], - [ - 44131, - 228 - ], - [ - 44376, - 24 - ], - [ - 44430, - 230 - ], - [ - 44676, - 24 - ], - [ - 44730, - 230 - ], - [ - 44976, - 24 - ], - [ - 45030, - 230 - ], - [ - 45276, - 24 - ], - [ - 45329, - 231 - ], - [ - 45577, - 23 - ], - [ - 45629, - 232 - ], - [ - 45877, - 23 - ], - [ - 45929, - 232 - ], - [ - 46177, - 23 - ], - [ - 46229, - 232 - ], - [ - 46478, - 22 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 2.25, - "y": 0.9101201, - "z": 5.5 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.77032924, - "y": 0.841, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.68043351, - "y": 0.809822559, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.8811438, - "y": 0.915931046, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.78479528, - "y": 0.808236837, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.44725227, - "y": 0.7492128, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.749808, - "y": 0.916839838, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.26298714, - "y": 0.807386458, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -1.21792352, - "y": 0.400650442, - "z": -1.3147527 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -1.312467, - "y": 0.713601649, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.116061687, - "y": 0.713601649, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.54473567, - "y": 0.401048839, - "z": -0.5073665 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -0.6841401, - "y": 0.9147331, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.116061687, - "y": 0.785215139, - "z": 2.53943944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.618261, - "y": 0.0965925455, - "z": 0.721920133 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.26298714, - "y": 0.8163972, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -1.39773524, - "y": 0.3997242, - "z": -1.40187311 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.576072, - "y": 0.809822559, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.449012, - "y": 0.842996, - "z": 0.3617196 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.64429259, - "y": 0.745273352, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.45483017, - "y": 0.401048839, - "z": -0.6816062 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.815475941, - "y": 0.911498964, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.815475941, - "y": 0.916839838, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.5946238, - "y": 0.785215139, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.247310251, - "y": 0.752, - "z": 2.96067333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -1.01247966, - "y": 0.913105667, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -0.946811736, - "y": 0.9191518, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.815475941, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2814069985, - "scene_num": 311 - }, - "task_id": "trial_T20190907_154851_086393", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1DMXEJGJY02E1_39L1G8WVWT8L7KCR3BS6ZUE6MYN316", - "high_descs": [ - "Turn around, walk forward, and turn left to face the green chair in the corner.", - "Pick up the remote on the right.", - "Turn left and go to the TV.", - "Put the remote on the table in front of the TV." - ], - "task_desc": "Put a remote in front of the TV.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3LS2AMNW5I7YADPU7O2DOYKPP18QOG", - "high_descs": [ - "Turn around and cross the room and the turn to the left to face the green chair.", - "Pick the remote on the right up from the chair.", - "Go left and face the television on the right.", - "Put the remote down in front of the television." - ], - "task_desc": "Put a remote by a television.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3PXX5PX6L0FM43T4EN05SE5LEK9ABV", - "high_descs": [ - "Turn left and begin walking to the wall, then hang a left and walk over to the green chair next to the small round black table.", - "Pick up the rightmost remote off of the seat of the green chair.", - "Turn left and walk over to the white dresser that the television is on.", - "Place the remote in front and to the right of the television on top of the white dresser." - ], - "task_desc": "Move a remote to a white dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_3EG49X351XTSU4K2T6BB16UR19AX6E", - "high_descs": [ - "turn left, walk forward, turn left, walk across room towards the wall, stop to face the green chair on the left", - "pick up the remote that is on the green chair", - "turn left, walk forward a few steps, stop to face the white table with the TV on it", - "put the remote in front of the TV on the white table" - ], - "task_desc": "move the remote from the chair to the table", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A38Z99XF4NDNH0_3HYA4D452U0NCHAG6ATM5MD8HZ02FZ", - "high_descs": [ - "Move to the green chair to the left of the round black table ", - "Pick up the remote that is on the right side of the green chair", - "Carry the remote to the white TV stand", - "Place the remote on the left side of the TV stand in front of the TV" - ], - "task_desc": "Move a remote to the TV stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A272X64FOZFYLB_3Z3ZLGNNSLB9OOW8OQIL0VMEUF93Q5", - "high_descs": [ - "Turn around and walk to the green chair at the other end of the room.", - "Pick up the remote control on the chair which is to the right.", - "Walk left to the television stand.", - "Put the remote control on the television stand, in front of the television." - ], - "task_desc": "Move a remote control from a chair to a television stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122415_877633/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122415_877633/traj_data.json deleted file mode 100644 index b547ef9aa..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122415_877633/traj_data.json +++ /dev/null @@ -1,3865 +0,0 @@ -{ - "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": 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": 8 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 16 - }, - { - "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": 19 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 19 - }, - { - "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": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "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": 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": 40 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Statue", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-7|2|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - 1.130490064, - 1.130490064, - -9.656, - -9.656, - 3.355323792, - 3.355323792 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 2.136, - 2.136, - -9.656, - -9.656, - 3.300673008, - 3.300673008 - ] - ], - "forceVisible": true, - "objectId": "Statue|+00.28|+00.84|-02.41" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - 1.130490064, - 1.130490064, - -9.656, - -9.656, - 3.355323792, - 3.355323792 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "Statue|+00.28|+00.84|-02.41", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - }, - { - "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": "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": "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": "PickupObject", - "objectId": "Statue|+00.28|+00.84|-02.41" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 180, - 84, - 240, - 184 - ], - "mask": [ - [ - 25090, - 1 - ], - [ - 25092, - 1 - ], - [ - 25094, - 1 - ], - [ - 25390, - 3 - ], - [ - 25394, - 1 - ], - [ - 25421, - 4 - ], - [ - 25689, - 6 - ], - [ - 25719, - 7 - ], - [ - 25990, - 5 - ], - [ - 26019, - 7 - ], - [ - 26290, - 6 - ], - [ - 26318, - 9 - ], - [ - 26591, - 5 - ], - [ - 26618, - 9 - ], - [ - 26891, - 4 - ], - [ - 26918, - 9 - ], - [ - 27192, - 3 - ], - [ - 27217, - 10 - ], - [ - 27492, - 3 - ], - [ - 27517, - 10 - ], - [ - 27792, - 4 - ], - [ - 27817, - 10 - ], - [ - 28092, - 5 - ], - [ - 28118, - 9 - ], - [ - 28392, - 6 - ], - [ - 28417, - 9 - ], - [ - 28693, - 6 - ], - [ - 28716, - 10 - ], - [ - 28993, - 13 - ], - [ - 29007, - 5 - ], - [ - 29015, - 12 - ], - [ - 29294, - 38 - ], - [ - 29594, - 39 - ], - [ - 29895, - 40 - ], - [ - 30196, - 39 - ], - [ - 30499, - 37 - ], - [ - 30802, - 35 - ], - [ - 31106, - 32 - ], - [ - 31407, - 23 - ], - [ - 31431, - 7 - ], - [ - 31708, - 21 - ], - [ - 31732, - 7 - ], - [ - 32008, - 20 - ], - [ - 32032, - 7 - ], - [ - 32308, - 20 - ], - [ - 32333, - 7 - ], - [ - 32609, - 18 - ], - [ - 32634, - 6 - ], - [ - 32909, - 18 - ], - [ - 32934, - 7 - ], - [ - 33210, - 16 - ], - [ - 33236, - 4 - ], - [ - 33510, - 16 - ], - [ - 33535, - 5 - ], - [ - 33810, - 15 - ], - [ - 33835, - 4 - ], - [ - 34110, - 15 - ], - [ - 34134, - 5 - ], - [ - 34410, - 15 - ], - [ - 34434, - 5 - ], - [ - 34710, - 15 - ], - [ - 34733, - 5 - ], - [ - 35010, - 15 - ], - [ - 35033, - 4 - ], - [ - 35309, - 16 - ], - [ - 35333, - 3 - ], - [ - 35609, - 16 - ], - [ - 35632, - 4 - ], - [ - 35908, - 17 - ], - [ - 35931, - 4 - ], - [ - 36208, - 17 - ], - [ - 36231, - 3 - ], - [ - 36508, - 16 - ], - [ - 36530, - 3 - ], - [ - 36807, - 17 - ], - [ - 36829, - 4 - ], - [ - 37107, - 17 - ], - [ - 37126, - 6 - ], - [ - 37407, - 25 - ], - [ - 37706, - 18 - ], - [ - 37727, - 4 - ], - [ - 38006, - 18 - ], - [ - 38026, - 5 - ], - [ - 38306, - 18 - ], - [ - 38326, - 4 - ], - [ - 38605, - 9 - ], - [ - 38615, - 9 - ], - [ - 38625, - 5 - ], - [ - 38905, - 20 - ], - [ - 38926, - 2 - ], - [ - 39205, - 19 - ], - [ - 39225, - 1 - ], - [ - 39227, - 1 - ], - [ - 39505, - 19 - ], - [ - 39805, - 9 - ], - [ - 39815, - 9 - ], - [ - 40105, - 9 - ], - [ - 40115, - 8 - ], - [ - 40405, - 8 - ], - [ - 40415, - 8 - ], - [ - 40705, - 8 - ], - [ - 40715, - 7 - ], - [ - 41005, - 7 - ], - [ - 41015, - 7 - ], - [ - 41305, - 7 - ], - [ - 41315, - 6 - ], - [ - 41605, - 7 - ], - [ - 41615, - 6 - ], - [ - 41905, - 6 - ], - [ - 41915, - 6 - ], - [ - 42204, - 7 - ], - [ - 42214, - 6 - ], - [ - 42504, - 6 - ], - [ - 42514, - 4 - ], - [ - 42804, - 5 - ], - [ - 42814, - 3 - ], - [ - 43085, - 40 - ], - [ - 43380, - 48 - ], - [ - 43680, - 48 - ], - [ - 43980, - 49 - ], - [ - 44280, - 49 - ], - [ - 44580, - 49 - ], - [ - 44880, - 50 - ], - [ - 45180, - 50 - ], - [ - 45480, - 50 - ], - [ - 45780, - 51 - ], - [ - 46080, - 51 - ], - [ - 46381, - 50 - ], - [ - 46681, - 50 - ], - [ - 46981, - 51 - ], - [ - 47281, - 51 - ], - [ - 47581, - 51 - ], - [ - 47881, - 52 - ], - [ - 48181, - 52 - ], - [ - 48481, - 52 - ], - [ - 48781, - 53 - ], - [ - 49082, - 52 - ], - [ - 49382, - 52 - ], - [ - 49682, - 53 - ], - [ - 49982, - 53 - ], - [ - 50282, - 53 - ], - [ - 50582, - 53 - ], - [ - 50882, - 54 - ], - [ - 51182, - 54 - ], - [ - 51482, - 54 - ], - [ - 51783, - 54 - ], - [ - 52083, - 54 - ], - [ - 52383, - 54 - ], - [ - 52683, - 55 - ], - [ - 52983, - 55 - ], - [ - 53283, - 55 - ], - [ - 53583, - 56 - ], - [ - 53883, - 56 - ], - [ - 54184, - 55 - ], - [ - 54484, - 55 - ], - [ - 54784, - 55 - ], - [ - 55084, - 55 - ] - ], - "point": [ - 210, - 133 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|+00.28|+00.84|-02.41", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 133 - ], - [ - 9471, - 261 - ], - [ - 9772, - 260 - ], - [ - 10072, - 260 - ], - [ - 10372, - 128 - ], - [ - 10501, - 131 - ], - [ - 10673, - 127 - ], - [ - 10802, - 129 - ], - [ - 10973, - 126 - ], - [ - 11103, - 128 - ], - [ - 11274, - 97 - ], - [ - 11387, - 12 - ], - [ - 11404, - 127 - ], - [ - 11574, - 94 - ], - [ - 11687, - 11 - ], - [ - 11705, - 126 - ], - [ - 11874, - 124 - ], - [ - 12007, - 124 - ], - [ - 12175, - 122 - ], - [ - 12308, - 123 - ], - [ - 12529, - 67 - ], - [ - 12613, - 117 - ], - [ - 12830, - 66 - ], - [ - 12915, - 115 - ], - [ - 13130, - 65 - ], - [ - 13217, - 113 - ], - [ - 13430, - 65 - ], - [ - 13518, - 112 - ], - [ - 13731, - 63 - ], - [ - 13819, - 111 - ], - [ - 14031, - 63 - ], - [ - 14119, - 111 - ], - [ - 14331, - 62 - ], - [ - 14420, - 110 - ], - [ - 14631, - 61 - ], - [ - 14720, - 110 - ], - [ - 14932, - 60 - ], - [ - 15020, - 111 - ], - [ - 15232, - 59 - ], - [ - 15320, - 111 - ], - [ - 15532, - 59 - ], - [ - 15619, - 112 - ], - [ - 15832, - 58 - ], - [ - 15919, - 111 - ], - [ - 16133, - 56 - ], - [ - 16218, - 111 - ], - [ - 16433, - 56 - ], - [ - 16517, - 111 - ], - [ - 16733, - 55 - ], - [ - 16817, - 111 - ], - [ - 17033, - 54 - ], - [ - 17115, - 113 - ], - [ - 17333, - 53 - ], - [ - 17414, - 114 - ], - [ - 17633, - 52 - ], - [ - 17713, - 115 - ], - [ - 17933, - 51 - ], - [ - 18010, - 118 - ], - [ - 18233, - 50 - ], - [ - 18308, - 120 - ], - [ - 18532, - 50 - ], - [ - 18602, - 126 - ], - [ - 18832, - 49 - ], - [ - 18900, - 18 - ], - [ - 18977, - 51 - ], - [ - 19132, - 47 - ], - [ - 19200, - 17 - ], - [ - 19279, - 50 - ], - [ - 19431, - 47 - ], - [ - 19500, - 16 - ], - [ - 19580, - 49 - ], - [ - 19731, - 46 - ], - [ - 19800, - 16 - ], - [ - 19881, - 49 - ], - [ - 20030, - 46 - ], - [ - 20099, - 16 - ], - [ - 20181, - 52 - ], - [ - 20330, - 45 - ], - [ - 20399, - 16 - ], - [ - 20482, - 52 - ], - [ - 20630, - 44 - ], - [ - 20698, - 17 - ], - [ - 20782, - 52 - ], - [ - 20929, - 44 - ], - [ - 20997, - 17 - ], - [ - 21082, - 52 - ], - [ - 21229, - 43 - ], - [ - 21297, - 17 - ], - [ - 21383, - 51 - ], - [ - 21529, - 42 - ], - [ - 21596, - 18 - ], - [ - 21683, - 52 - ], - [ - 21828, - 42 - ], - [ - 21896, - 17 - ], - [ - 21983, - 52 - ], - [ - 22127, - 43 - ], - [ - 22195, - 18 - ], - [ - 22284, - 51 - ], - [ - 22370, - 2 - ], - [ - 22425, - 44 - ], - [ - 22495, - 18 - ], - [ - 22584, - 51 - ], - [ - 22670, - 98 - ], - [ - 22794, - 18 - ], - [ - 22884, - 51 - ], - [ - 22969, - 98 - ], - [ - 23094, - 18 - ], - [ - 23184, - 51 - ], - [ - 23269, - 97 - ], - [ - 23393, - 18 - ], - [ - 23485, - 50 - ], - [ - 23569, - 96 - ], - [ - 23693, - 18 - ], - [ - 23785, - 50 - ], - [ - 23869, - 96 - ], - [ - 23992, - 19 - ], - [ - 24085, - 50 - ], - [ - 24169, - 95 - ], - [ - 24292, - 19 - ], - [ - 24385, - 51 - ], - [ - 24469, - 94 - ], - [ - 24591, - 20 - ], - [ - 24685, - 51 - ], - [ - 24768, - 94 - ], - [ - 24890, - 21 - ], - [ - 24985, - 51 - ], - [ - 25068, - 93 - ], - [ - 25190, - 22 - ], - [ - 25284, - 52 - ], - [ - 25368, - 93 - ], - [ - 25489, - 24 - ], - [ - 25584, - 52 - ], - [ - 25669, - 91 - ], - [ - 25789, - 24 - ], - [ - 25884, - 52 - ], - [ - 25969, - 90 - ], - [ - 26088, - 26 - ], - [ - 26184, - 52 - ], - [ - 26270, - 88 - ], - [ - 26388, - 27 - ], - [ - 26484, - 51 - ], - [ - 26570, - 87 - ], - [ - 26687, - 28 - ], - [ - 26784, - 50 - ], - [ - 26870, - 67 - ], - [ - 26947, - 10 - ], - [ - 26986, - 30 - ], - [ - 27083, - 50 - ], - [ - 27171, - 57 - ], - [ - 27250, - 6 - ], - [ - 27285, - 32 - ], - [ - 27383, - 49 - ], - [ - 27471, - 23 - ], - [ - 27500, - 25 - ], - [ - 27553, - 2 - ], - [ - 27584, - 33 - ], - [ - 27683, - 48 - ], - [ - 27772, - 16 - ], - [ - 27802, - 20 - ], - [ - 27883, - 35 - ], - [ - 27983, - 10 - ], - [ - 28005, - 25 - ], - [ - 28072, - 10 - ], - [ - 28104, - 16 - ], - [ - 28183, - 35 - ], - [ - 28283, - 9 - ], - [ - 28313, - 13 - ], - [ - 28373, - 3 - ], - [ - 28406, - 11 - ], - [ - 28482, - 37 - ], - [ - 28583, - 7 - ], - [ - 28707, - 7 - ], - [ - 28781, - 39 - ], - [ - 28882, - 7 - ], - [ - 29009, - 3 - ], - [ - 29080, - 42 - ], - [ - 29181, - 6 - ], - [ - 29379, - 106 - ], - [ - 29678, - 106 - ], - [ - 29977, - 107 - ], - [ - 30276, - 24 - ], - [ - 30321, - 62 - ], - [ - 30575, - 25 - ], - [ - 30624, - 59 - ], - [ - 30876, - 32 - ], - [ - 30921, - 61 - ], - [ - 31173, - 109 - ], - [ - 31472, - 108 - ], - [ - 31771, - 107 - ], - [ - 32071, - 105 - ], - [ - 32370, - 104 - ], - [ - 32669, - 104 - ], - [ - 32968, - 104 - ], - [ - 33267, - 105 - ], - [ - 33563, - 109 - ], - [ - 33856, - 116 - ], - [ - 34152, - 119 - ], - [ - 34449, - 122 - ], - [ - 34745, - 126 - ], - [ - 35042, - 58 - ], - [ - 48600, - 1 - ], - [ - 48900, - 2 - ], - [ - 49200, - 3 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57868, - 3 - ], - [ - 57932, - 85 - ], - [ - 58051, - 2 - ], - [ - 58081, - 89 - ] - ], - "point": [ - 130, - 92 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 2.5, - "y": 0.9020015, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "Statue_77031df3", - "position": { - "x": 0.282622516, - "y": 0.838830948, - "z": -2.414 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.554471, - "y": 0.35312587, - "z": 0.444292068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.5954236, - "y": 0.7309317, - "z": 0.7027061 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": 2.601097, - "y": 0.192091987, - "z": 0.793507934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.394247, - "y": 0.825652838, - "z": 0.8125402 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.39424419, - "y": 0.825652838, - "z": -0.134690136 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.601097, - "y": 0.357732117, - "z": 0.531596065 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.76542234, - "y": 0.8233492, - "z": -0.324137181 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.46121883, - "y": 0.6753149, - "z": 0.706204 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.601097, - "y": 0.6770185, - "z": 0.618900061 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.70356059, - "y": 0.8223684, - "z": 0.244201213 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.579834, - "y": 0.8212683, - "z": 0.0547554642 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": 2.554471, - "y": 0.35330826, - "z": 0.793507934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": 0.824384034, - "y": 0.838830948, - "z": -2.414 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": 2.6477232, - "y": 0.676092267, - "z": 0.793507934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": 0.148, - "y": 0.744, - "z": 1.738 - }, - "rotation": { - "x": 0.0, - "y": 195.27034, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.441, - "y": 0.738, - "z": 1.64 - }, - "rotation": { - "x": 0.0, - "y": 348.951324, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.6477232, - "y": 0.6753149, - "z": 0.133363038 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": -0.3781906, - "y": 0.709281564, - "z": -1.80787826 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.39424467, - "y": 0.8248818, - "z": 0.0547559559 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.45610952, - "y": 0.8212683, - "z": 0.623093963 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": 0.1764562, - "y": 0.7290222, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.601097, - "y": 0.0333516933, - "z": 0.0460591 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.601097, - "y": 0.359172, - "z": -0.215852737 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4032893824, - "scene_num": 319 - }, - "task_id": "trial_T20190909_122415_877633", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A4UAFZ5LW71K_38F5OAUN5Q3MX3KQ3KNY5KQV22LH7R", - "high_descs": [ - "turn right, walk to bed, turn left, walk to the window", - "pick up the statue that is on the window ledge", - "turn around, walk to bed, turn right, take a step, turn left, take a few steps, turn right, walk to the dresser", - "put the statue on the dresser" - ], - "task_desc": "move statue from window to dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_39L1G8WVWTITS9YPZJHN0GY8GAQ31U", - "high_descs": [ - "Turn right, turn left at the bed, turn right at the foot of the bed, turn left and walk to the windowsill. ", - "Pick up the sculpture on the right. ", - "Turn around and walk to the dresser on the right. ", - "Put the sculpture down on the dresser to the left of the keys. " - ], - "task_desc": "To move a sculpture to the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A31681CCEVDIH3_3J88R45B2JP8PZO54AZ18S5AQLKXPF", - "high_descs": [ - "Turn around to walk all the way across the room to the window with the two statues.", - "Pick up the statue on the right.", - "Turn around and make a right to reach the dresser.", - "Set the statue down in between the two clocks on the dresser." - ], - "task_desc": "Pick up a statue to move to the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122723_912052/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122723_912052/traj_data.json deleted file mode 100644 index 439ef834a..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122723_912052/traj_data.json +++ /dev/null @@ -1,3345 +0,0 @@ -{ - "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": 1, - "image_name": "000000037.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "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": 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": 6 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 6 - }, - { - "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": 7 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 7 - }, - { - "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": 8 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "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": 3, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 25 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Statue", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-7|2|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - 2.2140132, - 2.2140132, - -9.656, - -9.656, - 3.355323792, - 3.355323792 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 2.136, - 2.136, - -9.656, - -9.656, - 3.300673008, - 3.300673008 - ] - ], - "forceVisible": true, - "objectId": "Statue|+00.55|+00.84|-02.41" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - 2.2140132, - 2.2140132, - -9.656, - -9.656, - 3.355323792, - 3.355323792 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "Statue|+00.55|+00.84|-02.41", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - } - ], - "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": "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": "PickupObject", - "objectId": "Statue|+00.55|+00.84|-02.41" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 94, - 84, - 161, - 184 - ], - "mask": [ - [ - 24994, - 4 - ], - [ - 25296, - 5 - ], - [ - 25330, - 4 - ], - [ - 25595, - 6 - ], - [ - 25628, - 7 - ], - [ - 25896, - 5 - ], - [ - 25928, - 7 - ], - [ - 26197, - 5 - ], - [ - 26227, - 9 - ], - [ - 26498, - 5 - ], - [ - 26527, - 9 - ], - [ - 26799, - 4 - ], - [ - 26827, - 9 - ], - [ - 27100, - 4 - ], - [ - 27127, - 9 - ], - [ - 27401, - 4 - ], - [ - 27427, - 9 - ], - [ - 27701, - 5 - ], - [ - 27727, - 9 - ], - [ - 28002, - 5 - ], - [ - 28028, - 8 - ], - [ - 28303, - 6 - ], - [ - 28328, - 7 - ], - [ - 28603, - 7 - ], - [ - 28628, - 8 - ], - [ - 28904, - 13 - ], - [ - 28920, - 4 - ], - [ - 28927, - 13 - ], - [ - 29205, - 39 - ], - [ - 29506, - 40 - ], - [ - 29806, - 41 - ], - [ - 30108, - 40 - ], - [ - 30412, - 37 - ], - [ - 30715, - 35 - ], - [ - 31020, - 31 - ], - [ - 31321, - 30 - ], - [ - 31621, - 22 - ], - [ - 31645, - 7 - ], - [ - 31922, - 21 - ], - [ - 31945, - 7 - ], - [ - 32223, - 19 - ], - [ - 32246, - 7 - ], - [ - 32523, - 19 - ], - [ - 32547, - 7 - ], - [ - 32824, - 17 - ], - [ - 32848, - 6 - ], - [ - 33125, - 16 - ], - [ - 33150, - 4 - ], - [ - 33425, - 15 - ], - [ - 33449, - 5 - ], - [ - 33725, - 15 - ], - [ - 33749, - 4 - ], - [ - 34026, - 14 - ], - [ - 34048, - 5 - ], - [ - 34326, - 14 - ], - [ - 34348, - 5 - ], - [ - 34626, - 14 - ], - [ - 34648, - 4 - ], - [ - 34925, - 15 - ], - [ - 34948, - 4 - ], - [ - 35225, - 16 - ], - [ - 35247, - 4 - ], - [ - 35525, - 16 - ], - [ - 35547, - 3 - ], - [ - 35825, - 16 - ], - [ - 35846, - 4 - ], - [ - 36125, - 16 - ], - [ - 36146, - 3 - ], - [ - 36425, - 16 - ], - [ - 36445, - 3 - ], - [ - 36725, - 17 - ], - [ - 36745, - 3 - ], - [ - 37025, - 23 - ], - [ - 37325, - 22 - ], - [ - 37625, - 17 - ], - [ - 37643, - 4 - ], - [ - 37924, - 23 - ], - [ - 38224, - 23 - ], - [ - 38524, - 9 - ], - [ - 38534, - 10 - ], - [ - 38545, - 2 - ], - [ - 38824, - 9 - ], - [ - 38834, - 11 - ], - [ - 39124, - 9 - ], - [ - 39135, - 10 - ], - [ - 39424, - 9 - ], - [ - 39435, - 9 - ], - [ - 39724, - 9 - ], - [ - 39735, - 9 - ], - [ - 40024, - 9 - ], - [ - 40036, - 8 - ], - [ - 40325, - 8 - ], - [ - 40336, - 8 - ], - [ - 40625, - 8 - ], - [ - 40637, - 7 - ], - [ - 40925, - 7 - ], - [ - 40937, - 9 - ], - [ - 41225, - 7 - ], - [ - 41238, - 8 - ], - [ - 41526, - 6 - ], - [ - 41539, - 7 - ], - [ - 41826, - 6 - ], - [ - 41840, - 6 - ], - [ - 42126, - 6 - ], - [ - 42141, - 5 - ], - [ - 42426, - 5 - ], - [ - 42443, - 3 - ], - [ - 42726, - 5 - ], - [ - 42743, - 3 - ], - [ - 43016, - 41 - ], - [ - 43313, - 48 - ], - [ - 43612, - 49 - ], - [ - 43912, - 49 - ], - [ - 44212, - 49 - ], - [ - 44512, - 49 - ], - [ - 44812, - 49 - ], - [ - 45112, - 49 - ], - [ - 45412, - 49 - ], - [ - 45711, - 50 - ], - [ - 46011, - 50 - ], - [ - 46311, - 50 - ], - [ - 46611, - 50 - ], - [ - 46911, - 50 - ], - [ - 47211, - 50 - ], - [ - 47511, - 50 - ], - [ - 47810, - 51 - ], - [ - 48110, - 52 - ], - [ - 48410, - 52 - ], - [ - 48710, - 52 - ], - [ - 49010, - 52 - ], - [ - 49310, - 52 - ], - [ - 49610, - 52 - ], - [ - 49909, - 53 - ], - [ - 50209, - 53 - ], - [ - 50509, - 53 - ], - [ - 50809, - 53 - ], - [ - 51109, - 53 - ], - [ - 51409, - 53 - ], - [ - 51708, - 54 - ], - [ - 52008, - 54 - ], - [ - 52308, - 54 - ], - [ - 52608, - 54 - ], - [ - 52908, - 54 - ], - [ - 53208, - 54 - ], - [ - 53508, - 54 - ], - [ - 53807, - 55 - ], - [ - 54107, - 55 - ], - [ - 54407, - 55 - ], - [ - 54707, - 55 - ], - [ - 55008, - 54 - ] - ], - "point": [ - 127, - 133 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|+00.55|+00.84|-02.41", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 133 - ], - [ - 9471, - 84 - ], - [ - 9600, - 132 - ], - [ - 9772, - 82 - ], - [ - 9900, - 132 - ], - [ - 10072, - 82 - ], - [ - 10200, - 132 - ], - [ - 10372, - 80 - ], - [ - 10501, - 131 - ], - [ - 10673, - 80 - ], - [ - 10802, - 129 - ], - [ - 10973, - 80 - ], - [ - 11103, - 128 - ], - [ - 11274, - 79 - ], - [ - 11404, - 127 - ], - [ - 11574, - 80 - ], - [ - 11705, - 126 - ], - [ - 11874, - 80 - ], - [ - 12007, - 124 - ], - [ - 12175, - 79 - ], - [ - 12308, - 123 - ], - [ - 12475, - 80 - ], - [ - 12613, - 117 - ], - [ - 12775, - 80 - ], - [ - 12915, - 115 - ], - [ - 13075, - 80 - ], - [ - 13217, - 113 - ], - [ - 13375, - 80 - ], - [ - 13518, - 112 - ], - [ - 13675, - 81 - ], - [ - 13819, - 111 - ], - [ - 13975, - 81 - ], - [ - 14119, - 111 - ], - [ - 14275, - 81 - ], - [ - 14420, - 110 - ], - [ - 14575, - 82 - ], - [ - 14720, - 110 - ], - [ - 14875, - 82 - ], - [ - 15020, - 111 - ], - [ - 15175, - 82 - ], - [ - 15320, - 111 - ], - [ - 15529, - 29 - ], - [ - 15619, - 112 - ], - [ - 15831, - 27 - ], - [ - 15919, - 111 - ], - [ - 16132, - 26 - ], - [ - 16218, - 111 - ], - [ - 16433, - 25 - ], - [ - 16517, - 111 - ], - [ - 16733, - 26 - ], - [ - 16817, - 37 - ], - [ - 16871, - 57 - ], - [ - 17033, - 26 - ], - [ - 17115, - 37 - ], - [ - 17171, - 57 - ], - [ - 17333, - 26 - ], - [ - 17414, - 114 - ], - [ - 17634, - 26 - ], - [ - 17713, - 115 - ], - [ - 17934, - 26 - ], - [ - 18010, - 118 - ], - [ - 18234, - 26 - ], - [ - 18308, - 120 - ], - [ - 18534, - 27 - ], - [ - 18602, - 126 - ], - [ - 18835, - 26 - ], - [ - 18900, - 128 - ], - [ - 19135, - 26 - ], - [ - 19200, - 129 - ], - [ - 19435, - 27 - ], - [ - 19500, - 129 - ], - [ - 19735, - 27 - ], - [ - 19800, - 130 - ], - [ - 20036, - 26 - ], - [ - 20100, - 133 - ], - [ - 20336, - 26 - ], - [ - 20400, - 134 - ], - [ - 20636, - 27 - ], - [ - 20700, - 134 - ], - [ - 20936, - 27 - ], - [ - 21000, - 134 - ], - [ - 21236, - 27 - ], - [ - 21300, - 134 - ], - [ - 21535, - 29 - ], - [ - 21600, - 135 - ], - [ - 21835, - 29 - ], - [ - 21900, - 135 - ], - [ - 22135, - 29 - ], - [ - 22200, - 135 - ], - [ - 22434, - 31 - ], - [ - 22500, - 135 - ], - [ - 22734, - 31 - ], - [ - 22800, - 135 - ], - [ - 23034, - 31 - ], - [ - 23100, - 135 - ], - [ - 23333, - 33 - ], - [ - 23400, - 135 - ], - [ - 23633, - 32 - ], - [ - 23700, - 135 - ], - [ - 23932, - 33 - ], - [ - 24000, - 135 - ], - [ - 24232, - 32 - ], - [ - 24300, - 136 - ], - [ - 24532, - 31 - ], - [ - 24600, - 136 - ], - [ - 24768, - 2 - ], - [ - 24831, - 31 - ], - [ - 24900, - 136 - ], - [ - 25068, - 2 - ], - [ - 25131, - 30 - ], - [ - 25190, - 146 - ], - [ - 25368, - 2 - ], - [ - 25430, - 31 - ], - [ - 25489, - 147 - ], - [ - 25669, - 2 - ], - [ - 25728, - 32 - ], - [ - 25789, - 25 - ], - [ - 25825, - 111 - ], - [ - 25969, - 90 - ], - [ - 26088, - 12 - ], - [ - 26112, - 1 - ], - [ - 26123, - 113 - ], - [ - 26270, - 88 - ], - [ - 26388, - 19 - ], - [ - 26409, - 2 - ], - [ - 26418, - 117 - ], - [ - 26570, - 87 - ], - [ - 26687, - 21 - ], - [ - 26709, - 1 - ], - [ - 26711, - 2 - ], - [ - 26717, - 117 - ], - [ - 26870, - 67 - ], - [ - 26947, - 10 - ], - [ - 26986, - 21 - ], - [ - 27010, - 1 - ], - [ - 27012, - 1 - ], - [ - 27014, - 3 - ], - [ - 27019, - 114 - ], - [ - 27171, - 57 - ], - [ - 27250, - 6 - ], - [ - 27285, - 21 - ], - [ - 27313, - 119 - ], - [ - 27471, - 23 - ], - [ - 27500, - 25 - ], - [ - 27553, - 2 - ], - [ - 27584, - 16 - ], - [ - 27604, - 1 - ], - [ - 27607, - 12 - ], - [ - 27623, - 25 - ], - [ - 27659, - 72 - ], - [ - 27772, - 16 - ], - [ - 27802, - 20 - ], - [ - 27883, - 20 - ], - [ - 27907, - 12 - ], - [ - 27924, - 22 - ], - [ - 27961, - 32 - ], - [ - 28005, - 25 - ], - [ - 28072, - 10 - ], - [ - 28104, - 16 - ], - [ - 28183, - 18 - ], - [ - 28208, - 10 - ], - [ - 28224, - 20 - ], - [ - 28263, - 29 - ], - [ - 28313, - 13 - ], - [ - 28373, - 3 - ], - [ - 28406, - 11 - ], - [ - 28482, - 18 - ], - [ - 28509, - 10 - ], - [ - 28525, - 17 - ], - [ - 28564, - 26 - ], - [ - 28707, - 7 - ], - [ - 28781, - 19 - ], - [ - 28809, - 13 - ], - [ - 28826, - 15 - ], - [ - 28864, - 25 - ], - [ - 29009, - 3 - ], - [ - 29080, - 20 - ], - [ - 29108, - 15 - ], - [ - 29128, - 12 - ], - [ - 29165, - 22 - ], - [ - 29379, - 21 - ], - [ - 29407, - 18 - ], - [ - 29428, - 11 - ], - [ - 29466, - 19 - ], - [ - 29678, - 24 - ], - [ - 29705, - 33 - ], - [ - 29766, - 18 - ], - [ - 29977, - 61 - ], - [ - 30066, - 18 - ], - [ - 30276, - 61 - ], - [ - 30350, - 3 - ], - [ - 30366, - 17 - ], - [ - 30575, - 61 - ], - [ - 30649, - 5 - ], - [ - 30666, - 17 - ], - [ - 30874, - 62 - ], - [ - 30949, - 4 - ], - [ - 30966, - 16 - ], - [ - 31173, - 63 - ], - [ - 31250, - 2 - ], - [ - 31265, - 17 - ], - [ - 31472, - 64 - ], - [ - 31565, - 15 - ], - [ - 31771, - 65 - ], - [ - 31864, - 14 - ], - [ - 32071, - 65 - ], - [ - 32164, - 12 - ], - [ - 32370, - 67 - ], - [ - 32463, - 11 - ], - [ - 32669, - 68 - ], - [ - 32762, - 11 - ], - [ - 32968, - 70 - ], - [ - 33061, - 11 - ], - [ - 33267, - 72 - ], - [ - 33360, - 12 - ], - [ - 33563, - 77 - ], - [ - 33658, - 14 - ], - [ - 33856, - 86 - ], - [ - 33955, - 17 - ], - [ - 34152, - 94 - ], - [ - 34251, - 20 - ], - [ - 34449, - 122 - ], - [ - 34745, - 126 - ], - [ - 35042, - 58 - ], - [ - 48600, - 1 - ], - [ - 48900, - 2 - ], - [ - 49200, - 3 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57868, - 3 - ], - [ - 57932, - 85 - ], - [ - 58051, - 2 - ], - [ - 58081, - 89 - ] - ], - "point": [ - 130, - 92 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.5, - "y": 0.9020015, - "z": -1.25 - }, - "object_poses": [ - { - "objectName": "CellPhone_19266383", - "position": { - "x": 2.46121883, - "y": 0.353428662, - "z": 0.356988132 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.507845, - "y": 0.359172, - "z": -0.3031567 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": -0.440611482, - "y": 0.714098632, - "z": -1.752 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.64169884, - "y": 0.8248818, - "z": 0.6230935 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.6477232, - "y": 0.356868327, - "z": 0.133363038 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.57983446, - "y": 0.820835769, - "z": 0.244201541 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.6477232, - "y": 0.0354445465, - "z": -0.1285488 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": 0.1764562, - "y": 0.7290222, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": 2.641696, - "y": 0.8197891, - "z": -0.324136823 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": 0.5535033, - "y": 0.838830948, - "z": -2.414 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": -0.209483683, - "y": 0.7309317, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": 0.148, - "y": 0.744, - "z": 1.738 - }, - "rotation": { - "x": 0.0, - "y": 195.27034, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.441, - "y": 0.738, - "z": 1.64 - }, - "rotation": { - "x": 0.0, - "y": 348.951324, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": -0.5654532, - "y": 0.4279418, - "z": -1.80787826 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.45611, - "y": 0.8223684, - "z": 0.812540054 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.70356059, - "y": 0.8233492, - "z": 0.244201213 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.517971, - "y": 0.8197357, - "z": 0.0547556281 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": -0.402453631, - "y": 0.7290222, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.39424658, - "y": 0.821139336, - "z": 0.623094141 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.601097, - "y": 0.197835311, - "z": -0.0412448645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2756657580, - "scene_num": 319 - }, - "task_id": "trial_T20190909_122723_912052", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AFPMG8TLP1TND_3DL65MZB8G6GPAOK40N303LWBXLCE0", - "high_descs": [ - "turn around and walk straight towards the window", - "pick up the statue on the window", - "turn around and walk straight towards the bed then turn right then turn left then turn right towards the dresser", - "put the statue down on the dresser" - ], - "task_desc": "move the statue from the window to the dresser", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3NS0A6KXC7ZRHHVL29XZB47TXVPGZN", - "high_descs": [ - "Turn around, go to the statue on the shelf.", - "Pick up the statue on the shelf. ", - "Turn around, bring the statue to the dresser on the right.", - "Put the statue on the dresser, right of the CD." - ], - "task_desc": "Put a statue on a dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A10AVWALIHR4UQ_3X73LLYYQ45B0OCDJR4N1HCL2HZNHH", - "high_descs": [ - "Turn around and move to the window to the left of the shelves.", - "Pick up the bronze trophy from the sill in front of the window.", - "Turn around, move towards the bed, then turn right and move to the white wooden dresser.", - "Place the trophy between the CD and the set of keys on top of the dresser." - ], - "task_desc": "Place a trophy on the dresser.", - "votes": [ - 1, - 1, - 0 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122754_357020/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122754_357020/traj_data.json deleted file mode 100644 index a329b1608..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-Statue-None-Dresser-319/trial_T20190909_122754_357020/traj_data.json +++ /dev/null @@ -1,3428 +0,0 @@ -{ - "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": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 8 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 11 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 12 - }, - { - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 25 - }, - { - "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": 29 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 29 - }, - { - "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": 30 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 30 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Statue", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|-5|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - -1.263078928, - -1.263078928, - -7.008, - -7.008, - 2.857334612, - 2.857334612 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -1.7984, - -1.7984, - -7.008, - -7.008, - 2.8024, - 2.8024 - ] - ], - "forceVisible": true, - "objectId": "Statue|-00.32|+00.71|-01.75" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|1|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - -1.263078928, - -1.263078928, - -7.008, - -7.008, - 2.857334612, - 2.857334612 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.22, - 10.22, - 1.008, - 1.008, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "Statue|-00.32|+00.71|-01.75", - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - } - } - ], - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Statue|-00.32|+00.71|-01.75" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 135, - 84, - 194, - 172 - ], - "mask": [ - [ - 25070, - 6 - ], - [ - 25369, - 8 - ], - [ - 25635, - 4 - ], - [ - 25669, - 8 - ], - [ - 25935, - 7 - ], - [ - 25969, - 8 - ], - [ - 26237, - 5 - ], - [ - 26269, - 8 - ], - [ - 26538, - 5 - ], - [ - 26568, - 9 - ], - [ - 26839, - 4 - ], - [ - 26868, - 10 - ], - [ - 27140, - 4 - ], - [ - 27168, - 10 - ], - [ - 27441, - 5 - ], - [ - 27468, - 10 - ], - [ - 27741, - 7 - ], - [ - 27768, - 9 - ], - [ - 28042, - 12 - ], - [ - 28058, - 5 - ], - [ - 28066, - 14 - ], - [ - 28343, - 41 - ], - [ - 28643, - 43 - ], - [ - 28944, - 44 - ], - [ - 29245, - 43 - ], - [ - 29547, - 42 - ], - [ - 29852, - 38 - ], - [ - 30158, - 33 - ], - [ - 30460, - 31 - ], - [ - 30760, - 22 - ], - [ - 30784, - 8 - ], - [ - 31060, - 21 - ], - [ - 31085, - 8 - ], - [ - 31361, - 20 - ], - [ - 31386, - 7 - ], - [ - 31662, - 18 - ], - [ - 31686, - 8 - ], - [ - 31963, - 17 - ], - [ - 31987, - 7 - ], - [ - 32263, - 16 - ], - [ - 32289, - 5 - ], - [ - 32563, - 16 - ], - [ - 32589, - 4 - ], - [ - 32863, - 15 - ], - [ - 32888, - 5 - ], - [ - 33164, - 14 - ], - [ - 33188, - 4 - ], - [ - 33463, - 15 - ], - [ - 33487, - 5 - ], - [ - 33763, - 16 - ], - [ - 33787, - 4 - ], - [ - 34062, - 17 - ], - [ - 34086, - 4 - ], - [ - 34362, - 17 - ], - [ - 34386, - 4 - ], - [ - 34662, - 17 - ], - [ - 34685, - 4 - ], - [ - 34962, - 17 - ], - [ - 34984, - 4 - ], - [ - 35261, - 18 - ], - [ - 35283, - 4 - ], - [ - 35561, - 18 - ], - [ - 35582, - 4 - ], - [ - 35861, - 25 - ], - [ - 36161, - 24 - ], - [ - 36460, - 25 - ], - [ - 36760, - 24 - ], - [ - 37060, - 9 - ], - [ - 37070, - 10 - ], - [ - 37081, - 3 - ], - [ - 37360, - 9 - ], - [ - 37371, - 12 - ], - [ - 37660, - 9 - ], - [ - 37671, - 9 - ], - [ - 37681, - 1 - ], - [ - 37942, - 49 - ], - [ - 38242, - 49 - ], - [ - 38542, - 49 - ], - [ - 38842, - 49 - ], - [ - 39142, - 49 - ], - [ - 39442, - 49 - ], - [ - 39742, - 50 - ], - [ - 40042, - 50 - ], - [ - 40342, - 50 - ], - [ - 40642, - 50 - ], - [ - 40942, - 50 - ], - [ - 41242, - 50 - ], - [ - 41542, - 50 - ], - [ - 41842, - 50 - ], - [ - 42142, - 50 - ], - [ - 42442, - 50 - ], - [ - 42742, - 50 - ], - [ - 43042, - 51 - ], - [ - 43342, - 51 - ], - [ - 43642, - 51 - ], - [ - 43942, - 51 - ], - [ - 44242, - 51 - ], - [ - 44542, - 51 - ], - [ - 44842, - 51 - ], - [ - 45142, - 51 - ], - [ - 45442, - 51 - ], - [ - 45742, - 51 - ], - [ - 46042, - 52 - ], - [ - 46342, - 52 - ], - [ - 46642, - 52 - ], - [ - 46942, - 52 - ], - [ - 47242, - 52 - ], - [ - 47542, - 52 - ], - [ - 47842, - 52 - ], - [ - 48141, - 53 - ], - [ - 48441, - 53 - ], - [ - 48741, - 53 - ], - [ - 49041, - 53 - ], - [ - 49341, - 54 - ], - [ - 49641, - 54 - ], - [ - 49941, - 54 - ], - [ - 50241, - 54 - ], - [ - 50541, - 54 - ], - [ - 50841, - 54 - ], - [ - 51141, - 54 - ], - [ - 51441, - 54 - ] - ], - "point": [ - 164, - 127 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|-00.32|+00.71|-01.75", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.56|00.00|+00.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 32, - 299, - 194 - ], - "mask": [ - [ - 9300, - 1200 - ], - [ - 10501, - 299 - ], - [ - 10802, - 298 - ], - [ - 11103, - 297 - ], - [ - 11404, - 296 - ], - [ - 11705, - 295 - ], - [ - 12007, - 293 - ], - [ - 12308, - 292 - ], - [ - 12613, - 287 - ], - [ - 12915, - 285 - ], - [ - 13217, - 283 - ], - [ - 13518, - 282 - ], - [ - 13819, - 281 - ], - [ - 14119, - 281 - ], - [ - 14420, - 280 - ], - [ - 14720, - 280 - ], - [ - 15020, - 217 - ], - [ - 15239, - 61 - ], - [ - 15320, - 105 - ], - [ - 15478, - 39 - ], - [ - 15519, - 16 - ], - [ - 15541, - 59 - ], - [ - 15619, - 103 - ], - [ - 15781, - 37 - ], - [ - 15822, - 13 - ], - [ - 15842, - 58 - ], - [ - 15919, - 102 - ], - [ - 16082, - 38 - ], - [ - 16126, - 9 - ], - [ - 16142, - 58 - ], - [ - 16218, - 102 - ], - [ - 16383, - 39 - ], - [ - 16427, - 8 - ], - [ - 16442, - 58 - ], - [ - 16517, - 103 - ], - [ - 16683, - 39 - ], - [ - 16727, - 10 - ], - [ - 16747, - 53 - ], - [ - 16817, - 103 - ], - [ - 16983, - 44 - ], - [ - 17028, - 5 - ], - [ - 17036, - 1 - ], - [ - 17040, - 7 - ], - [ - 17048, - 52 - ], - [ - 17115, - 105 - ], - [ - 17283, - 45 - ], - [ - 17329, - 3 - ], - [ - 17333, - 2 - ], - [ - 17337, - 1 - ], - [ - 17340, - 7 - ], - [ - 17348, - 52 - ], - [ - 17414, - 106 - ], - [ - 17583, - 47 - ], - [ - 17637, - 1 - ], - [ - 17640, - 7 - ], - [ - 17648, - 52 - ], - [ - 17713, - 107 - ], - [ - 17883, - 47 - ], - [ - 17942, - 5 - ], - [ - 17948, - 52 - ], - [ - 18010, - 110 - ], - [ - 18183, - 44 - ], - [ - 18235, - 9 - ], - [ - 18248, - 52 - ], - [ - 18308, - 112 - ], - [ - 18483, - 42 - ], - [ - 18531, - 1 - ], - [ - 18534, - 66 - ], - [ - 18602, - 118 - ], - [ - 18784, - 41 - ], - [ - 18827, - 192 - ], - [ - 19084, - 235 - ], - [ - 19384, - 235 - ], - [ - 19684, - 235 - ], - [ - 19984, - 235 - ], - [ - 20284, - 235 - ], - [ - 20584, - 235 - ], - [ - 20884, - 235 - ], - [ - 21184, - 235 - ], - [ - 21484, - 235 - ], - [ - 21784, - 235 - ], - [ - 22084, - 235 - ], - [ - 22384, - 215 - ], - [ - 22600, - 7 - ], - [ - 22609, - 2 - ], - [ - 22683, - 214 - ], - [ - 22898, - 4 - ], - [ - 22907, - 2 - ], - [ - 22910, - 1 - ], - [ - 22918, - 2 - ], - [ - 22983, - 214 - ], - [ - 23198, - 7 - ], - [ - 23206, - 1 - ], - [ - 23208, - 1 - ], - [ - 23215, - 5 - ], - [ - 23283, - 213 - ], - [ - 23497, - 8 - ], - [ - 23506, - 1 - ], - [ - 23509, - 1 - ], - [ - 23511, - 1 - ], - [ - 23516, - 4 - ], - [ - 23583, - 213 - ], - [ - 23797, - 9 - ], - [ - 23810, - 1 - ], - [ - 23812, - 4 - ], - [ - 23818, - 2 - ], - [ - 23883, - 213 - ], - [ - 24097, - 5 - ], - [ - 24107, - 13 - ], - [ - 24183, - 214 - ], - [ - 24399, - 5 - ], - [ - 24406, - 12 - ], - [ - 24483, - 219 - ], - [ - 24708, - 10 - ], - [ - 24782, - 219 - ], - [ - 25008, - 10 - ], - [ - 25082, - 218 - ], - [ - 25309, - 10 - ], - [ - 25320, - 1 - ], - [ - 25381, - 219 - ], - [ - 25608, - 15 - ], - [ - 25680, - 221 - ], - [ - 25908, - 17 - ], - [ - 25927, - 275 - ], - [ - 26206, - 1589 - ], - [ - 27805, - 288 - ], - [ - 28108, - 283 - ], - [ - 28410, - 280 - ], - [ - 28712, - 277 - ], - [ - 29013, - 275 - ], - [ - 29314, - 274 - ], - [ - 29615, - 272 - ], - [ - 29915, - 272 - ], - [ - 30216, - 110 - ], - [ - 30371, - 116 - ], - [ - 30500, - 3 - ], - [ - 30516, - 108 - ], - [ - 30675, - 112 - ], - [ - 30799, - 5 - ], - [ - 30816, - 142 - ], - [ - 30971, - 116 - ], - [ - 31100, - 4 - ], - [ - 31117, - 270 - ], - [ - 31401, - 2 - ], - [ - 31416, - 272 - ], - [ - 31716, - 272 - ], - [ - 32016, - 272 - ], - [ - 32316, - 273 - ], - [ - 32615, - 275 - ], - [ - 32915, - 276 - ], - [ - 33214, - 278 - ], - [ - 33513, - 281 - ], - [ - 33812, - 284 - ], - [ - 34110, - 291 - ], - [ - 34406, - 694 - ], - [ - 35250, - 2 - ], - [ - 35550, - 2 - ], - [ - 35850, - 2 - ], - [ - 36150, - 2 - ], - [ - 36450, - 2 - ], - [ - 36750, - 2 - ], - [ - 37050, - 2 - ], - [ - 37350, - 2 - ], - [ - 37650, - 2 - ], - [ - 37950, - 2 - ], - [ - 38250, - 2 - ], - [ - 38550, - 2 - ], - [ - 38850, - 2 - ], - [ - 39150, - 2 - ], - [ - 39450, - 2 - ], - [ - 39750, - 2 - ], - [ - 40050, - 2 - ], - [ - 40350, - 2 - ], - [ - 40650, - 2 - ], - [ - 40950, - 2 - ], - [ - 41250, - 2 - ], - [ - 41550, - 2 - ], - [ - 41850, - 2 - ], - [ - 42150, - 2 - ], - [ - 42450, - 2 - ], - [ - 42751, - 1 - ], - [ - 43050, - 2 - ], - [ - 43350, - 2 - ], - [ - 43650, - 2 - ], - [ - 43950, - 2 - ], - [ - 44250, - 2 - ], - [ - 44550, - 2 - ], - [ - 44850, - 2 - ], - [ - 45150, - 2 - ], - [ - 45450, - 2 - ], - [ - 45750, - 2 - ], - [ - 46050, - 2 - ], - [ - 46350, - 2 - ], - [ - 46650, - 2 - ], - [ - 46950, - 3 - ], - [ - 47250, - 2 - ], - [ - 47550, - 2 - ], - [ - 47850, - 2 - ], - [ - 48150, - 2 - ], - [ - 48450, - 2 - ], - [ - 48600, - 1 - ], - [ - 48750, - 2 - ], - [ - 48900, - 2 - ], - [ - 49050, - 2 - ], - [ - 49200, - 3 - ], - [ - 49350, - 2 - ], - [ - 49499, - 1 - ], - [ - 49501, - 3 - ], - [ - 49650, - 2 - ], - [ - 49798, - 2 - ], - [ - 49802, - 3 - ], - [ - 49950, - 2 - ], - [ - 50097, - 3 - ], - [ - 50103, - 3 - ], - [ - 50250, - 2 - ], - [ - 50395, - 4 - ], - [ - 50404, - 4 - ], - [ - 50550, - 2 - ], - [ - 50694, - 4 - ], - [ - 50706, - 3 - ], - [ - 50850, - 2 - ], - [ - 50993, - 4 - ], - [ - 51007, - 3 - ], - [ - 51150, - 2 - ], - [ - 51292, - 4 - ], - [ - 51308, - 5 - ], - [ - 51450, - 2 - ], - [ - 51590, - 5 - ], - [ - 51609, - 3 - ], - [ - 51750, - 2 - ], - [ - 51890, - 4 - ], - [ - 51910, - 3 - ], - [ - 52050, - 2 - ], - [ - 52189, - 4 - ], - [ - 52211, - 3 - ], - [ - 52350, - 2 - ], - [ - 52488, - 4 - ], - [ - 52512, - 3 - ], - [ - 52650, - 2 - ], - [ - 52787, - 3 - ], - [ - 52813, - 3 - ], - [ - 52950, - 2 - ], - [ - 53086, - 3 - ], - [ - 53114, - 3 - ], - [ - 53250, - 2 - ], - [ - 53384, - 4 - ], - [ - 53416, - 2 - ], - [ - 53550, - 2 - ], - [ - 53683, - 4 - ], - [ - 53717, - 2 - ], - [ - 53850, - 2 - ], - [ - 53982, - 4 - ], - [ - 54018, - 3 - ], - [ - 54150, - 2 - ], - [ - 54281, - 4 - ], - [ - 54319, - 3 - ], - [ - 54450, - 2 - ], - [ - 54580, - 4 - ], - [ - 54620, - 3 - ], - [ - 54750, - 2 - ], - [ - 54879, - 3 - ], - [ - 54921, - 4 - ], - [ - 55050, - 1 - ], - [ - 55177, - 4 - ], - [ - 55222, - 3 - ], - [ - 55477, - 3 - ], - [ - 55523, - 3 - ], - [ - 55776, - 3 - ], - [ - 55824, - 3 - ], - [ - 56075, - 3 - ], - [ - 56125, - 3 - ], - [ - 56374, - 3 - ], - [ - 56427, - 2 - ], - [ - 56672, - 4 - ], - [ - 56728, - 2 - ], - [ - 56971, - 4 - ], - [ - 57029, - 2 - ], - [ - 57150, - 1 - ], - [ - 57270, - 3 - ], - [ - 57330, - 2 - ], - [ - 57450, - 1 - ], - [ - 57569, - 3 - ], - [ - 57631, - 3 - ], - [ - 57750, - 1 - ], - [ - 57868, - 3 - ], - [ - 57932, - 29 - ], - [ - 57968, - 1 - ], - [ - 58118, - 52 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan319", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.5, - "y": 0.9020015, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": -1.35292411, - "y": 0.0517358854, - "z": -0.99243176 - }, - "rotation": { - "x": 0.0, - "y": 0.000114405659, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": -0.5654532, - "y": 0.433598638, - "z": -1.752 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": 2.39424658, - "y": 0.827185452, - "z": 0.623094141 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": -0.3254069, - "y": 0.0497949757, - "z": -1.72406077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.507845, - "y": 0.0346047767, - "z": -0.215852737 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.517972, - "y": 0.820835769, - "z": 0.4336478 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.402453631, - "y": 0.7308113, - "z": 1.23278809 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.0165137351, - "y": 0.7308113, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_831a16be", - "position": { - "x": 0.2524, - "y": 0.2277, - "z": -2.042 - }, - "rotation": { - "x": 0.0, - "y": 29.0781651, - "z": 0.0 - } - }, - { - "objectName": "Book_6de61d1a", - "position": { - "x": -0.7883935, - "y": 0.7308113, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_77031df3", - "position": { - "x": -0.315769732, - "y": 0.714333653, - "z": -1.752 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_19266383", - "position": { - "x": 0.3694262, - "y": 0.7309317, - "z": 0.9677471 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fc80dfd1", - "position": { - "x": -0.0165137351, - "y": 0.809355736, - "z": 0.437665224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_568ecdf0", - "position": { - "x": -0.441, - "y": 0.738, - "z": 1.64 - }, - "rotation": { - "x": 0.0, - "y": 348.951324, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_054aae4c", - "position": { - "x": -1.231, - "y": 0.121002644, - "z": -0.18 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9e9ae358", - "position": { - "x": 2.414593, - "y": 0.6753149, - "z": -0.3904607 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_f504086d", - "position": { - "x": 2.64169645, - "y": 0.8223684, - "z": -0.134690791 - }, - "rotation": { - "x": 0.0, - "y": 90.00015, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c2ef4bac", - "position": { - "x": 2.507845, - "y": 0.194667846, - "z": 0.5315961 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_bb28d3d0", - "position": { - "x": 2.51797152, - "y": 0.8212683, - "z": 0.2442017 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a6ddd15b", - "position": { - "x": -0.535, - "y": 0.7818872, - "z": 0.402 - }, - "rotation": { - "x": 0.0, - "y": 59.9998932, - "z": 0.0 - } - }, - { - "objectName": "CD_0b3dc2b2", - "position": { - "x": 2.39424467, - "y": 0.821139336, - "z": 0.0547559559 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_2c20820a", - "position": { - "x": -0.904741764, - "y": 0.4328078, - "z": -1.72406077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1575154228, - "scene_num": 319 - }, - "task_id": "trial_T20190909_122754_357020", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A31681CCEVDIH3_3AWETUDC95J5D81GSXX2WGK9C8BIZB", - "high_descs": [ - "Make a right to face the wooden bookshelf.", - "Pick up the statue from the wooden bookshelf.", - "Turn left to walk to the dresser.", - "Put the statue down on the dresser." - ], - "task_desc": "Move a statue from the wooden bookshelf to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A12HZGOZQD5YK7_3QEMNNSB20Q5LNFOHO48EZBXAA0D7M", - "high_descs": [ - "Go right to the statue on the shelf.", - "Pick up the statue on the shelf.", - "Turn left and go to the dresser.", - "Put the statue on the dresser to the right of the CD." - ], - "task_desc": "Put a statue on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3T3IWE1XG9EM8UG0ZDDTJUAEIM4QT4", - "high_descs": [ - "Walk over to the wooden shelving unit on your right.", - "Pick up the statue off of the wooden shelving unit.", - "Turn left and walk forward, then hang a left begin walking across the room, turn right and walk over to the dresser.", - "Put the statue on the dresser to the right of the disc." - ], - "task_desc": "Move a statue to the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031758_208825/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031758_208825/traj_data.json deleted file mode 100644 index 17a99e6bf..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031758_208825/traj_data.json +++ /dev/null @@ -1,5181 +0,0 @@ -{ - "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": 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": 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": 11 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "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": 15 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 28 - }, - { - "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": 29 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 29 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "TennisRacket", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "tennisracket" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-6|-6|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "tennisracket" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "TennisRacket", - [ - -6.388, - -6.388, - -5.468, - -5.468, - 0.00402465464, - 0.00402465464 - ] - ], - "forceVisible": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "tennisracket", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "TennisRacket", - [ - -6.388, - -6.388, - -5.468, - -5.468, - 0.00402465464, - 0.00402465464 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - } - ], - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "TennisRacket|-01.60|+00.00|-01.37" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 108, - 233, - 175, - 300 - ], - "mask": [ - [ - 69734, - 3 - ], - [ - 69739, - 1 - ], - [ - 69742, - 1 - ], - [ - 69745, - 1 - ], - [ - 69747, - 2 - ], - [ - 69750, - 1 - ], - [ - 69754, - 1 - ], - [ - 69758, - 1 - ], - [ - 69762, - 1 - ], - [ - 69765, - 2 - ], - [ - 69768, - 1 - ], - [ - 69771, - 3 - ], - [ - 70033, - 3 - ], - [ - 70037, - 1 - ], - [ - 70041, - 1 - ], - [ - 70045, - 1 - ], - [ - 70047, - 2 - ], - [ - 70050, - 1 - ], - [ - 70053, - 1 - ], - [ - 70056, - 1 - ], - [ - 70063, - 2 - ], - [ - 70070, - 1 - ], - [ - 70072, - 2 - ], - [ - 70332, - 3 - ], - [ - 70338, - 1 - ], - [ - 70342, - 1 - ], - [ - 70344, - 1 - ], - [ - 70346, - 1 - ], - [ - 70349, - 1 - ], - [ - 70352, - 2 - ], - [ - 70355, - 1 - ], - [ - 70357, - 2 - ], - [ - 70361, - 1 - ], - [ - 70364, - 1 - ], - [ - 70369, - 1 - ], - [ - 70372, - 3 - ], - [ - 70631, - 3 - ], - [ - 70636, - 2 - ], - [ - 70640, - 1 - ], - [ - 70643, - 1 - ], - [ - 70647, - 2 - ], - [ - 70651, - 1 - ], - [ - 70654, - 1 - ], - [ - 70657, - 2 - ], - [ - 70660, - 1 - ], - [ - 70662, - 2 - ], - [ - 70666, - 1 - ], - [ - 70670, - 2 - ], - [ - 70673, - 2 - ], - [ - 70931, - 2 - ], - [ - 70936, - 2 - ], - [ - 70939, - 1 - ], - [ - 70941, - 2 - ], - [ - 70945, - 1 - ], - [ - 70952, - 1 - ], - [ - 70959, - 1 - ], - [ - 70962, - 2 - ], - [ - 70965, - 1 - ], - [ - 70967, - 2 - ], - [ - 70973, - 2 - ], - [ - 71230, - 3 - ], - [ - 71235, - 1 - ], - [ - 71238, - 1 - ], - [ - 71242, - 1 - ], - [ - 71244, - 1 - ], - [ - 71246, - 2 - ], - [ - 71250, - 1 - ], - [ - 71253, - 1 - ], - [ - 71267, - 2 - ], - [ - 71270, - 1 - ], - [ - 71273, - 3 - ], - [ - 71530, - 3 - ], - [ - 71536, - 1 - ], - [ - 71543, - 1 - ], - [ - 71546, - 2 - ], - [ - 71549, - 1 - ], - [ - 71551, - 2 - ], - [ - 71555, - 1 - ], - [ - 71558, - 1 - ], - [ - 71562, - 1 - ], - [ - 71564, - 1 - ], - [ - 71566, - 1 - ], - [ - 71569, - 1 - ], - [ - 71572, - 1 - ], - [ - 71574, - 2 - ], - [ - 71829, - 2 - ], - [ - 71833, - 2 - ], - [ - 71837, - 1 - ], - [ - 71840, - 2 - ], - [ - 71845, - 1 - ], - [ - 71848, - 1 - ], - [ - 71852, - 1 - ], - [ - 71854, - 1 - ], - [ - 71856, - 2 - ], - [ - 71859, - 2 - ], - [ - 71863, - 1 - ], - [ - 71866, - 2 - ], - [ - 71874, - 2 - ], - [ - 72129, - 2 - ], - [ - 72133, - 1 - ], - [ - 72136, - 1 - ], - [ - 72139, - 1 - ], - [ - 72142, - 1 - ], - [ - 72156, - 2 - ], - [ - 72159, - 1 - ], - [ - 72164, - 2 - ], - [ - 72172, - 1 - ], - [ - 72174, - 2 - ], - [ - 72428, - 2 - ], - [ - 72432, - 1 - ], - [ - 72435, - 1 - ], - [ - 72440, - 2 - ], - [ - 72443, - 2 - ], - [ - 72447, - 1 - ], - [ - 72450, - 2 - ], - [ - 72455, - 1 - ], - [ - 72458, - 1 - ], - [ - 72462, - 1 - ], - [ - 72467, - 1 - ], - [ - 72470, - 1 - ], - [ - 72473, - 3 - ], - [ - 72728, - 2 - ], - [ - 72733, - 1 - ], - [ - 72737, - 1 - ], - [ - 72741, - 1 - ], - [ - 72743, - 1 - ], - [ - 72746, - 1 - ], - [ - 72748, - 2 - ], - [ - 72752, - 1 - ], - [ - 72755, - 2 - ], - [ - 72761, - 1 - ], - [ - 72763, - 1 - ], - [ - 72766, - 2 - ], - [ - 72769, - 1 - ], - [ - 72771, - 1 - ], - [ - 72774, - 2 - ], - [ - 73027, - 2 - ], - [ - 73031, - 1 - ], - [ - 73034, - 1 - ], - [ - 73037, - 2 - ], - [ - 73042, - 1 - ], - [ - 73045, - 2 - ], - [ - 73049, - 1 - ], - [ - 73051, - 1 - ], - [ - 73053, - 2 - ], - [ - 73057, - 1 - ], - [ - 73060, - 2 - ], - [ - 73063, - 2 - ], - [ - 73068, - 1 - ], - [ - 73072, - 1 - ], - [ - 73074, - 2 - ], - [ - 73327, - 2 - ], - [ - 73330, - 1 - ], - [ - 73332, - 2 - ], - [ - 73335, - 2 - ], - [ - 73339, - 1 - ], - [ - 73347, - 1 - ], - [ - 73353, - 1 - ], - [ - 73356, - 1 - ], - [ - 73362, - 1 - ], - [ - 73365, - 1 - ], - [ - 73368, - 1 - ], - [ - 73371, - 1 - ], - [ - 73374, - 2 - ], - [ - 73627, - 3 - ], - [ - 73632, - 2 - ], - [ - 73638, - 1 - ], - [ - 73644, - 1 - ], - [ - 73647, - 2 - ], - [ - 73652, - 1 - ], - [ - 73660, - 1 - ], - [ - 73663, - 2 - ], - [ - 73667, - 1 - ], - [ - 73671, - 1 - ], - [ - 73673, - 3 - ], - [ - 73926, - 2 - ], - [ - 73931, - 1 - ], - [ - 73934, - 1 - ], - [ - 73938, - 1 - ], - [ - 73940, - 1 - ], - [ - 73942, - 2 - ], - [ - 73946, - 1 - ], - [ - 73949, - 1 - ], - [ - 73952, - 2 - ], - [ - 73955, - 1 - ], - [ - 73957, - 2 - ], - [ - 73961, - 1 - ], - [ - 73968, - 1 - ], - [ - 73972, - 4 - ], - [ - 74226, - 3 - ], - [ - 74232, - 1 - ], - [ - 74234, - 1 - ], - [ - 74239, - 1 - ], - [ - 74242, - 2 - ], - [ - 74247, - 2 - ], - [ - 74251, - 1 - ], - [ - 74254, - 1 - ], - [ - 74257, - 2 - ], - [ - 74260, - 1 - ], - [ - 74262, - 1 - ], - [ - 74266, - 1 - ], - [ - 74269, - 1 - ], - [ - 74273, - 2 - ], - [ - 74526, - 2 - ], - [ - 74529, - 2 - ], - [ - 74533, - 1 - ], - [ - 74536, - 2 - ], - [ - 74540, - 1 - ], - [ - 74544, - 2 - ], - [ - 74548, - 1 - ], - [ - 74552, - 1 - ], - [ - 74559, - 1 - ], - [ - 74562, - 1 - ], - [ - 74565, - 1 - ], - [ - 74567, - 2 - ], - [ - 74571, - 1 - ], - [ - 74573, - 2 - ], - [ - 74825, - 3 - ], - [ - 74829, - 2 - ], - [ - 74832, - 1 - ], - [ - 74834, - 2 - ], - [ - 74838, - 1 - ], - [ - 74841, - 1 - ], - [ - 74844, - 2 - ], - [ - 74847, - 1 - ], - [ - 74853, - 1 - ], - [ - 74856, - 2 - ], - [ - 74861, - 1 - ], - [ - 74865, - 1 - ], - [ - 74868, - 1 - ], - [ - 74872, - 3 - ], - [ - 75125, - 2 - ], - [ - 75128, - 1 - ], - [ - 75134, - 1 - ], - [ - 75137, - 1 - ], - [ - 75139, - 2 - ], - [ - 75143, - 1 - ], - [ - 75146, - 1 - ], - [ - 75149, - 1 - ], - [ - 75151, - 2 - ], - [ - 75154, - 2 - ], - [ - 75158, - 1 - ], - [ - 75162, - 1 - ], - [ - 75166, - 2 - ], - [ - 75172, - 2 - ], - [ - 75425, - 2 - ], - [ - 75429, - 1 - ], - [ - 75431, - 1 - ], - [ - 75436, - 2 - ], - [ - 75439, - 2 - ], - [ - 75444, - 2 - ], - [ - 75448, - 1 - ], - [ - 75451, - 2 - ], - [ - 75457, - 1 - ], - [ - 75459, - 2 - ], - [ - 75463, - 1 - ], - [ - 75466, - 2 - ], - [ - 75469, - 1 - ], - [ - 75471, - 3 - ], - [ - 75725, - 3 - ], - [ - 75730, - 1 - ], - [ - 75733, - 2 - ], - [ - 75738, - 1 - ], - [ - 75742, - 1 - ], - [ - 75745, - 1 - ], - [ - 75749, - 1 - ], - [ - 75753, - 1 - ], - [ - 75757, - 1 - ], - [ - 75759, - 1 - ], - [ - 75762, - 1 - ], - [ - 75764, - 1 - ], - [ - 75768, - 1 - ], - [ - 75772, - 2 - ], - [ - 76024, - 3 - ], - [ - 76029, - 1 - ], - [ - 76031, - 2 - ], - [ - 76035, - 1 - ], - [ - 76038, - 2 - ], - [ - 76041, - 1 - ], - [ - 76043, - 2 - ], - [ - 76046, - 1 - ], - [ - 76050, - 1 - ], - [ - 76053, - 2 - ], - [ - 76058, - 1 - ], - [ - 76062, - 1 - ], - [ - 76065, - 1 - ], - [ - 76070, - 4 - ], - [ - 76324, - 3 - ], - [ - 76330, - 3 - ], - [ - 76334, - 1 - ], - [ - 76336, - 2 - ], - [ - 76340, - 1 - ], - [ - 76343, - 2 - ], - [ - 76346, - 1 - ], - [ - 76349, - 1 - ], - [ - 76352, - 1 - ], - [ - 76355, - 1 - ], - [ - 76359, - 1 - ], - [ - 76361, - 1 - ], - [ - 76363, - 2 - ], - [ - 76367, - 1 - ], - [ - 76371, - 2 - ], - [ - 76624, - 2 - ], - [ - 76627, - 1 - ], - [ - 76631, - 1 - ], - [ - 76633, - 1 - ], - [ - 76636, - 2 - ], - [ - 76645, - 1 - ], - [ - 76648, - 1 - ], - [ - 76654, - 1 - ], - [ - 76657, - 1 - ], - [ - 76660, - 1 - ], - [ - 76664, - 1 - ], - [ - 76666, - 1 - ], - [ - 76668, - 1 - ], - [ - 76670, - 3 - ], - [ - 76924, - 2 - ], - [ - 76927, - 1 - ], - [ - 76932, - 1 - ], - [ - 76939, - 1 - ], - [ - 76943, - 1 - ], - [ - 76946, - 1 - ], - [ - 76950, - 2 - ], - [ - 76954, - 1 - ], - [ - 76956, - 1 - ], - [ - 76958, - 1 - ], - [ - 76965, - 1 - ], - [ - 76969, - 3 - ], - [ - 77224, - 3 - ], - [ - 77229, - 1 - ], - [ - 77233, - 1 - ], - [ - 77235, - 2 - ], - [ - 77238, - 1 - ], - [ - 77240, - 2 - ], - [ - 77244, - 1 - ], - [ - 77247, - 1 - ], - [ - 77250, - 2 - ], - [ - 77253, - 1 - ], - [ - 77255, - 1 - ], - [ - 77259, - 1 - ], - [ - 77262, - 2 - ], - [ - 77265, - 1 - ], - [ - 77269, - 2 - ], - [ - 77524, - 2 - ], - [ - 77528, - 1 - ], - [ - 77531, - 1 - ], - [ - 77534, - 1 - ], - [ - 77537, - 1 - ], - [ - 77540, - 2 - ], - [ - 77543, - 1 - ], - [ - 77545, - 2 - ], - [ - 77549, - 1 - ], - [ - 77552, - 1 - ], - [ - 77555, - 2 - ], - [ - 77558, - 1 - ], - [ - 77561, - 1 - ], - [ - 77564, - 1 - ], - [ - 77568, - 3 - ], - [ - 77824, - 2 - ], - [ - 77828, - 1 - ], - [ - 77830, - 1 - ], - [ - 77832, - 2 - ], - [ - 77838, - 1 - ], - [ - 77842, - 1 - ], - [ - 77846, - 1 - ], - [ - 77850, - 1 - ], - [ - 77854, - 1 - ], - [ - 77857, - 1 - ], - [ - 77862, - 1 - ], - [ - 77865, - 1 - ], - [ - 77868, - 2 - ], - [ - 78124, - 2 - ], - [ - 78129, - 1 - ], - [ - 78133, - 1 - ], - [ - 78136, - 2 - ], - [ - 78139, - 1 - ], - [ - 78143, - 1 - ], - [ - 78148, - 1 - ], - [ - 78151, - 1 - ], - [ - 78159, - 2 - ], - [ - 78163, - 1 - ], - [ - 78167, - 3 - ], - [ - 78423, - 4 - ], - [ - 78430, - 1 - ], - [ - 78432, - 1 - ], - [ - 78434, - 2 - ], - [ - 78438, - 1 - ], - [ - 78441, - 1 - ], - [ - 78444, - 1 - ], - [ - 78447, - 1 - ], - [ - 78449, - 2 - ], - [ - 78452, - 2 - ], - [ - 78456, - 1 - ], - [ - 78459, - 2 - ], - [ - 78462, - 1 - ], - [ - 78464, - 1 - ], - [ - 78466, - 3 - ], - [ - 78723, - 6 - ], - [ - 78731, - 1 - ], - [ - 78737, - 1 - ], - [ - 78739, - 2 - ], - [ - 78742, - 2 - ], - [ - 78749, - 2 - ], - [ - 78752, - 1 - ], - [ - 78755, - 1 - ], - [ - 78757, - 1 - ], - [ - 78761, - 1 - ], - [ - 78765, - 3 - ], - [ - 79023, - 5 - ], - [ - 79030, - 1 - ], - [ - 79032, - 1 - ], - [ - 79040, - 1 - ], - [ - 79043, - 1 - ], - [ - 79046, - 2 - ], - [ - 79051, - 1 - ], - [ - 79055, - 1 - ], - [ - 79058, - 1 - ], - [ - 79062, - 1 - ], - [ - 79065, - 3 - ], - [ - 79323, - 4 - ], - [ - 79333, - 1 - ], - [ - 79338, - 1 - ], - [ - 79344, - 2 - ], - [ - 79348, - 1 - ], - [ - 79352, - 1 - ], - [ - 79354, - 1 - ], - [ - 79356, - 2 - ], - [ - 79360, - 1 - ], - [ - 79364, - 3 - ], - [ - 79623, - 4 - ], - [ - 79629, - 1 - ], - [ - 79631, - 2 - ], - [ - 79635, - 1 - ], - [ - 79638, - 2 - ], - [ - 79641, - 1 - ], - [ - 79644, - 2 - ], - [ - 79647, - 1 - ], - [ - 79649, - 2 - ], - [ - 79653, - 1 - ], - [ - 79657, - 1 - ], - [ - 79659, - 1 - ], - [ - 79661, - 1 - ], - [ - 79663, - 3 - ], - [ - 79923, - 2 - ], - [ - 79926, - 3 - ], - [ - 79932, - 1 - ], - [ - 79934, - 1 - ], - [ - 79936, - 2 - ], - [ - 79940, - 1 - ], - [ - 79944, - 1 - ], - [ - 79946, - 1 - ], - [ - 79949, - 2 - ], - [ - 79958, - 1 - ], - [ - 79962, - 3 - ], - [ - 80223, - 2 - ], - [ - 80226, - 3 - ], - [ - 80233, - 1 - ], - [ - 80237, - 1 - ], - [ - 80241, - 1 - ], - [ - 80243, - 1 - ], - [ - 80245, - 1 - ], - [ - 80255, - 2 - ], - [ - 80258, - 1 - ], - [ - 80261, - 3 - ], - [ - 80522, - 3 - ], - [ - 80527, - 2 - ], - [ - 80530, - 1 - ], - [ - 80534, - 1 - ], - [ - 80538, - 2 - ], - [ - 80542, - 1 - ], - [ - 80545, - 2 - ], - [ - 80548, - 2 - ], - [ - 80551, - 1 - ], - [ - 80553, - 2 - ], - [ - 80557, - 1 - ], - [ - 80560, - 3 - ], - [ - 80822, - 2 - ], - [ - 80828, - 2 - ], - [ - 80832, - 1 - ], - [ - 80835, - 1 - ], - [ - 80838, - 2 - ], - [ - 80844, - 1 - ], - [ - 80847, - 1 - ], - [ - 80850, - 1 - ], - [ - 80854, - 1 - ], - [ - 80858, - 4 - ], - [ - 81122, - 2 - ], - [ - 81128, - 4 - ], - [ - 81134, - 1 - ], - [ - 81145, - 1 - ], - [ - 81151, - 1 - ], - [ - 81153, - 1 - ], - [ - 81155, - 1 - ], - [ - 81157, - 4 - ], - [ - 81422, - 2 - ], - [ - 81429, - 3 - ], - [ - 81440, - 1 - ], - [ - 81443, - 1 - ], - [ - 81446, - 1 - ], - [ - 81449, - 1 - ], - [ - 81452, - 1 - ], - [ - 81455, - 5 - ], - [ - 81721, - 3 - ], - [ - 81730, - 4 - ], - [ - 81736, - 1 - ], - [ - 81739, - 1 - ], - [ - 81742, - 2 - ], - [ - 81745, - 1 - ], - [ - 81747, - 2 - ], - [ - 81751, - 1 - ], - [ - 81754, - 4 - ], - [ - 82021, - 2 - ], - [ - 82031, - 5 - ], - [ - 82040, - 1 - ], - [ - 82044, - 1 - ], - [ - 82048, - 1 - ], - [ - 82051, - 5 - ], - [ - 82321, - 2 - ], - [ - 82332, - 4 - ], - [ - 82338, - 1 - ], - [ - 82341, - 1 - ], - [ - 82345, - 1 - ], - [ - 82350, - 5 - ], - [ - 82621, - 2 - ], - [ - 82634, - 5 - ], - [ - 82640, - 1 - ], - [ - 82642, - 2 - ], - [ - 82646, - 7 - ], - [ - 82921, - 2 - ], - [ - 82936, - 15 - ], - [ - 83220, - 3 - ], - [ - 83238, - 11 - ], - [ - 83520, - 2 - ], - [ - 83539, - 7 - ], - [ - 83820, - 2 - ], - [ - 83837, - 6 - ], - [ - 84119, - 3 - ], - [ - 84135, - 6 - ], - [ - 84419, - 2 - ], - [ - 84433, - 6 - ], - [ - 84719, - 2 - ], - [ - 84731, - 6 - ], - [ - 85018, - 3 - ], - [ - 85029, - 6 - ], - [ - 85318, - 2 - ], - [ - 85328, - 5 - ], - [ - 85617, - 3 - ], - [ - 85626, - 5 - ], - [ - 85917, - 2 - ], - [ - 85925, - 4 - ], - [ - 86217, - 2 - ], - [ - 86224, - 4 - ], - [ - 86516, - 3 - ], - [ - 86522, - 5 - ], - [ - 86816, - 2 - ], - [ - 86821, - 4 - ], - [ - 87115, - 3 - ], - [ - 87120, - 4 - ], - [ - 87414, - 3 - ], - [ - 87418, - 4 - ], - [ - 87713, - 8 - ], - [ - 88013, - 7 - ], - [ - 88312, - 7 - ], - [ - 88611, - 8 - ], - [ - 88910, - 8 - ], - [ - 89210, - 8 - ], - [ - 89509, - 8 - ], - [ - 89808, - 8 - ] - ], - "point": [ - 141, - 265 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 213 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 64 - ], - [ - 18241, - 79 - ], - [ - 18381, - 56 - ], - [ - 18439, - 10 - ], - [ - 18541, - 80 - ], - [ - 18682, - 55 - ], - [ - 18744, - 10 - ], - [ - 18840, - 82 - ], - [ - 18983, - 53 - ], - [ - 19048, - 10 - ], - [ - 19140, - 83 - ], - [ - 19283, - 53 - ], - [ - 19353, - 7 - ], - [ - 19440, - 85 - ], - [ - 19584, - 52 - ], - [ - 19657, - 3 - ], - [ - 19739, - 88 - ], - [ - 19884, - 51 - ], - [ - 20039, - 92 - ], - [ - 20185, - 50 - ], - [ - 20338, - 97 - ], - [ - 20486, - 48 - ], - [ - 20638, - 100 - ], - [ - 20786, - 48 - ], - [ - 20938, - 101 - ], - [ - 21087, - 46 - ], - [ - 21237, - 102 - ], - [ - 21387, - 46 - ], - [ - 21537, - 102 - ], - [ - 21688, - 45 - ], - [ - 21837, - 102 - ], - [ - 21988, - 44 - ], - [ - 22136, - 103 - ], - [ - 22289, - 43 - ], - [ - 22408, - 1 - ], - [ - 22436, - 103 - ], - [ - 22589, - 42 - ], - [ - 22708, - 5 - ], - [ - 22735, - 104 - ], - [ - 22889, - 42 - ], - [ - 23008, - 10 - ], - [ - 23035, - 104 - ], - [ - 23190, - 40 - ], - [ - 23312, - 10 - ], - [ - 23335, - 104 - ], - [ - 23490, - 40 - ], - [ - 23617, - 10 - ], - [ - 23634, - 106 - ], - [ - 23790, - 39 - ], - [ - 23921, - 11 - ], - [ - 23934, - 106 - ], - [ - 24090, - 39 - ], - [ - 24226, - 114 - ], - [ - 24390, - 38 - ], - [ - 24530, - 110 - ], - [ - 24690, - 38 - ], - [ - 24833, - 108 - ], - [ - 24990, - 37 - ], - [ - 25132, - 109 - ], - [ - 25290, - 37 - ], - [ - 25432, - 109 - ], - [ - 25590, - 36 - ], - [ - 25732, - 109 - ], - [ - 25889, - 37 - ], - [ - 26032, - 109 - ], - [ - 26189, - 36 - ], - [ - 26331, - 111 - ], - [ - 26488, - 37 - ], - [ - 26631, - 111 - ], - [ - 26788, - 36 - ], - [ - 26931, - 112 - ], - [ - 27087, - 37 - ], - [ - 27231, - 112 - ], - [ - 27386, - 37 - ], - [ - 27531, - 113 - ], - [ - 27685, - 38 - ], - [ - 27830, - 115 - ], - [ - 27984, - 38 - ], - [ - 28130, - 115 - ], - [ - 28283, - 39 - ], - [ - 28430, - 116 - ], - [ - 28582, - 40 - ], - [ - 28730, - 117 - ], - [ - 28881, - 41 - ], - [ - 29029, - 119 - ], - [ - 29179, - 43 - ], - [ - 29329, - 121 - ], - [ - 29477, - 45 - ], - [ - 29629, - 123 - ], - [ - 29775, - 47 - ], - [ - 29929, - 124 - ], - [ - 30073, - 48 - ], - [ - 30229, - 131 - ], - [ - 30366, - 55 - ], - [ - 30528, - 193 - ], - [ - 30828, - 193 - ], - [ - 31128, - 193 - ], - [ - 31428, - 193 - ], - [ - 31728, - 193 - ], - [ - 32027, - 194 - ], - [ - 32327, - 194 - ], - [ - 32627, - 194 - ], - [ - 32927, - 194 - ], - [ - 33227, - 194 - ], - [ - 33526, - 194 - ], - [ - 33826, - 194 - ], - [ - 34126, - 194 - ], - [ - 34426, - 195 - ], - [ - 34726, - 199 - ], - [ - 35025, - 204 - ], - [ - 35325, - 208 - ], - [ - 35625, - 212 - ], - [ - 35925, - 216 - ], - [ - 36224, - 221 - ], - [ - 36524, - 225 - ], - [ - 36823, - 230 - ], - [ - 37123, - 234 - ], - [ - 37422, - 239 - ], - [ - 37721, - 244 - ], - [ - 38021, - 248 - ], - [ - 38320, - 253 - ], - [ - 38619, - 257 - ], - [ - 38919, - 261 - ], - [ - 39218, - 266 - ], - [ - 39517, - 271 - ], - [ - 39817, - 275 - ], - [ - 40116, - 280 - ], - [ - 40415, - 285 - ], - [ - 40715, - 289 - ], - [ - 41014, - 294 - ], - [ - 41313, - 153 - ], - [ - 41472, - 151 - ], - [ - 41629, - 127 - ], - [ - 41771, - 152 - ], - [ - 41939, - 107 - ], - [ - 42071, - 153 - ], - [ - 42249, - 87 - ], - [ - 42370, - 155 - ], - [ - 42559, - 73 - ], - [ - 42669, - 156 - ], - [ - 42863, - 66 - ], - [ - 42969, - 132 - ], - [ - 43102, - 24 - ], - [ - 43165, - 62 - ], - [ - 43268, - 31 - ], - [ - 43300, - 25 - ], - [ - 43326, - 6 - ], - [ - 43333, - 26 - ], - [ - 43360, - 34 - ], - [ - 43395, - 31 - ], - [ - 43468, - 56 - ], - [ - 43568, - 31 - ], - [ - 43601, - 24 - ], - [ - 43626, - 5 - ], - [ - 43633, - 26 - ], - [ - 43660, - 5 - ], - [ - 43666, - 28 - ], - [ - 43695, - 5 - ], - [ - 43701, - 26 - ], - [ - 43771, - 51 - ], - [ - 43867, - 31 - ], - [ - 43901, - 25 - ], - [ - 43927, - 4 - ], - [ - 43933, - 26 - ], - [ - 43961, - 4 - ], - [ - 43966, - 27 - ], - [ - 43996, - 4 - ], - [ - 44001, - 27 - ], - [ - 44073, - 46 - ], - [ - 44166, - 28 - ], - [ - 44195, - 3 - ], - [ - 44201, - 25 - ], - [ - 44227, - 3 - ], - [ - 44233, - 26 - ], - [ - 44261, - 3 - ], - [ - 44266, - 27 - ], - [ - 44296, - 3 - ], - [ - 44300, - 28 - ], - [ - 44376, - 41 - ], - [ - 44466, - 31 - ], - [ - 44502, - 24 - ], - [ - 44528, - 2 - ], - [ - 44533, - 26 - ], - [ - 44562, - 2 - ], - [ - 44566, - 27 - ], - [ - 44597, - 2 - ], - [ - 44600, - 29 - ], - [ - 44678, - 36 - ], - [ - 44765, - 30 - ], - [ - 44796, - 1 - ], - [ - 44802, - 24 - ], - [ - 44828, - 1 - ], - [ - 44833, - 26 - ], - [ - 44862, - 1 - ], - [ - 44866, - 26 - ], - [ - 44897, - 1 - ], - [ - 44900, - 29 - ], - [ - 44981, - 30 - ], - [ - 45065, - 30 - ], - [ - 45102, - 24 - ], - [ - 45133, - 26 - ], - [ - 45166, - 26 - ], - [ - 45199, - 31 - ], - [ - 45284, - 25 - ], - [ - 45367, - 29 - ], - [ - 45403, - 23 - ], - [ - 45433, - 25 - ], - [ - 45465, - 27 - ], - [ - 45499, - 29 - ], - [ - 45586, - 20 - ], - [ - 45667, - 29 - ], - [ - 45703, - 23 - ], - [ - 45733, - 25 - ], - [ - 45765, - 27 - ], - [ - 45799, - 28 - ], - [ - 45889, - 15 - ], - [ - 45968, - 28 - ], - [ - 46003, - 24 - ], - [ - 46034, - 24 - ], - [ - 46065, - 26 - ], - [ - 46098, - 29 - ], - [ - 46191, - 10 - ], - [ - 46268, - 29 - ], - [ - 46304, - 23 - ], - [ - 46334, - 24 - ], - [ - 46365, - 26 - ], - [ - 46398, - 28 - ], - [ - 46494, - 6 - ], - [ - 46569, - 28 - ], - [ - 46604, - 23 - ], - [ - 46634, - 24 - ], - [ - 46665, - 26 - ], - [ - 46698, - 28 - ], - [ - 46797, - 3 - ], - [ - 46861, - 1 - ], - [ - 46870, - 28 - ], - [ - 46904, - 23 - ], - [ - 46934, - 24 - ], - [ - 46965, - 25 - ], - [ - 46997, - 28 - ], - [ - 47032, - 2 - ], - [ - 47099, - 1 - ], - [ - 47160, - 3 - ], - [ - 47170, - 28 - ], - [ - 47205, - 22 - ], - [ - 47234, - 24 - ], - [ - 47265, - 25 - ], - [ - 47297, - 28 - ], - [ - 47332, - 2 - ], - [ - 47460, - 3 - ], - [ - 47471, - 27 - ], - [ - 47505, - 22 - ], - [ - 47534, - 24 - ], - [ - 47565, - 25 - ], - [ - 47597, - 27 - ], - [ - 47631, - 4 - ], - [ - 47759, - 5 - ], - [ - 47771, - 28 - ], - [ - 47805, - 23 - ], - [ - 47834, - 24 - ], - [ - 47865, - 25 - ], - [ - 47896, - 28 - ], - [ - 47931, - 4 - ], - [ - 48059, - 5 - ], - [ - 48072, - 27 - ], - [ - 48106, - 22 - ], - [ - 48145, - 5 - ], - [ - 48165, - 24 - ], - [ - 48196, - 27 - ], - [ - 48230, - 6 - ], - [ - 48474, - 2 - ], - [ - 49074, - 1 - ], - [ - 49373, - 2 - ], - [ - 51472, - 2 - ], - [ - 51772, - 2 - ], - [ - 52072, - 2 - ], - [ - 52372, - 1 - ], - [ - 52672, - 1 - ], - [ - 52971, - 2 - ], - [ - 53271, - 2 - ], - [ - 55370, - 2 - ], - [ - 55670, - 1 - ], - [ - 55970, - 1 - ], - [ - 56269, - 2 - ], - [ - 56569, - 2 - ], - [ - 56869, - 2 - ], - [ - 57000, - 2 - ], - [ - 57169, - 2 - ], - [ - 58806, - 4 - ], - [ - 58968, - 1 - ], - [ - 59107, - 4 - ], - [ - 59268, - 1 - ], - [ - 59409, - 3 - ], - [ - 59568, - 1 - ], - [ - 60916, - 3 - ], - [ - 61067, - 1 - ], - [ - 61217, - 4 - ], - [ - 61366, - 2 - ], - [ - 61519, - 3 - ], - [ - 61666, - 2 - ], - [ - 63327, - 3 - ], - [ - 63465, - 2 - ], - [ - 63628, - 3 - ], - [ - 63765, - 1 - ] - ], - "point": [ - 149, - 136 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.25, - "y": 0.9020053, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.3181601, - "y": 0.186121568, - "z": -2.5817 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.58684492, - "y": 0.0179988947, - "z": -2.21154881 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.633471, - "y": 0.1729057, - "z": -1.55140376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.680097, - "y": 0.335106164, - "z": -1.28949213 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.08810878, - "y": 0.694788158, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.5747489, - "y": 0.6930849, - "z": -0.1461632 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -1.436, - "y": 0.6716, - "z": 0.115 - }, - "rotation": { - "x": 0.0, - "y": 300.000122, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.58684492, - "y": 0.1729057, - "z": -2.21154881 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900017, - "y": 0.665941238, - "z": -2.57899928 - }, - "rotation": { - "x": 0.02053208, - "y": -0.000228451157, - "z": -0.000104976 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.633471, - "y": 0.0137409773, - "z": -2.47346067 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": 1.663567, - "y": 0.7945326, - "z": -1.84243464 - }, - "rotation": { - "x": 0.0, - "y": 287.390442, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.58684492, - "y": 0.5065354, - "z": -2.124245 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.680097, - "y": 0.338636845, - "z": -1.4641 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -1.489, - "y": 0.685, - "z": -0.854 - }, - "rotation": { - "x": 0.0, - "y": 345.000031, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -1.061389, - "y": 0.7552619, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": 1.680097, - "y": 0.17171599, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.680097, - "y": 0.6549256, - "z": -1.202188 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.280293047, - "y": 0.352921665, - "z": -2.56462479 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1444806800, - "scene_num": 324 - }, - "task_id": "trial_T20190908_031758_208825", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_33TIN5LC07R4CSCAW90P4US2TPEY9G", - "high_descs": [ - "Turn around and cross the room to turn to the right and face the bed.", - "Pick the racket up from the floor near the bed.", - "Go right and face the dresser with the computer and lamp.", - "Put the racket on the dresser to the right of the computer." - ], - "task_desc": "Put a racket on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A6U2C66WQ7QQN_37ZHEEHM6Z3ZI6RTSR9F045JPZL37V", - "high_descs": [ - "Turn around, take several steps forward", - "Pick up the tennis racket from the floor", - "Turn around, head to the dresser", - "Put the tennis racket on the dresser" - ], - "task_desc": "Take the tennis racket from the floor, put it on the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3Y9N9SS8L1SFZFS3J4C10WFFB9Y3DW", - "high_descs": [ - "Turn around and walk to the wall then turn right.", - "Pick up the racquet at your feet.", - "Turn around and take a tiny step then turn left and walk to the laptop.", - "Put the racquet on the dresser to the right of the laptop./" - ], - "task_desc": "Put a racquet on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031811_820988/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031811_820988/traj_data.json deleted file mode 100644 index a096451b8..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031811_820988/traj_data.json +++ /dev/null @@ -1,4682 +0,0 @@ -{ - "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": 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": 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": 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": 1, - "image_name": "000000041.png", - "low_idx": 4 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 4 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 4 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 4 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 4 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 4 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 4 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 4 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 4 - }, - { - "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": 5 - }, - { - "high_idx": 2, - "image_name": "000000053.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000054.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "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": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 9 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000129.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 21 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "TennisRacket", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "tennisracket" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-6|-6|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "tennisracket" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "TennisRacket", - [ - -6.388, - -6.388, - -5.468, - -5.468, - 0.00402465464, - 0.00402465464 - ] - ], - "forceVisible": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "tennisracket", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "TennisRacket", - [ - -6.388, - -6.388, - -5.468, - -5.468, - 0.00402465464, - 0.00402465464 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - } - ], - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "TennisRacket|-01.60|+00.00|-01.37" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 108, - 233, - 175, - 300 - ], - "mask": [ - [ - 69734, - 3 - ], - [ - 69739, - 1 - ], - [ - 69742, - 1 - ], - [ - 69745, - 1 - ], - [ - 69747, - 2 - ], - [ - 69750, - 1 - ], - [ - 69754, - 1 - ], - [ - 69758, - 1 - ], - [ - 69762, - 1 - ], - [ - 69765, - 2 - ], - [ - 69768, - 1 - ], - [ - 69771, - 3 - ], - [ - 70033, - 3 - ], - [ - 70037, - 1 - ], - [ - 70041, - 1 - ], - [ - 70045, - 1 - ], - [ - 70047, - 2 - ], - [ - 70050, - 1 - ], - [ - 70053, - 1 - ], - [ - 70056, - 1 - ], - [ - 70063, - 2 - ], - [ - 70070, - 1 - ], - [ - 70072, - 2 - ], - [ - 70332, - 3 - ], - [ - 70338, - 1 - ], - [ - 70342, - 1 - ], - [ - 70344, - 1 - ], - [ - 70346, - 1 - ], - [ - 70349, - 1 - ], - [ - 70352, - 2 - ], - [ - 70355, - 1 - ], - [ - 70357, - 2 - ], - [ - 70361, - 1 - ], - [ - 70364, - 1 - ], - [ - 70369, - 1 - ], - [ - 70372, - 3 - ], - [ - 70631, - 3 - ], - [ - 70636, - 2 - ], - [ - 70640, - 1 - ], - [ - 70643, - 1 - ], - [ - 70647, - 2 - ], - [ - 70651, - 1 - ], - [ - 70654, - 1 - ], - [ - 70657, - 2 - ], - [ - 70660, - 1 - ], - [ - 70662, - 2 - ], - [ - 70666, - 1 - ], - [ - 70670, - 2 - ], - [ - 70673, - 2 - ], - [ - 70931, - 2 - ], - [ - 70936, - 2 - ], - [ - 70939, - 1 - ], - [ - 70941, - 2 - ], - [ - 70945, - 1 - ], - [ - 70952, - 1 - ], - [ - 70959, - 1 - ], - [ - 70962, - 2 - ], - [ - 70965, - 1 - ], - [ - 70967, - 2 - ], - [ - 70973, - 2 - ], - [ - 71230, - 3 - ], - [ - 71235, - 1 - ], - [ - 71238, - 1 - ], - [ - 71242, - 1 - ], - [ - 71244, - 1 - ], - [ - 71246, - 2 - ], - [ - 71250, - 1 - ], - [ - 71253, - 1 - ], - [ - 71267, - 2 - ], - [ - 71270, - 1 - ], - [ - 71273, - 3 - ], - [ - 71530, - 3 - ], - [ - 71536, - 1 - ], - [ - 71543, - 1 - ], - [ - 71546, - 2 - ], - [ - 71549, - 1 - ], - [ - 71551, - 2 - ], - [ - 71555, - 1 - ], - [ - 71558, - 1 - ], - [ - 71562, - 1 - ], - [ - 71564, - 1 - ], - [ - 71566, - 1 - ], - [ - 71569, - 1 - ], - [ - 71572, - 1 - ], - [ - 71574, - 2 - ], - [ - 71829, - 2 - ], - [ - 71833, - 2 - ], - [ - 71837, - 1 - ], - [ - 71840, - 2 - ], - [ - 71845, - 1 - ], - [ - 71848, - 1 - ], - [ - 71852, - 1 - ], - [ - 71854, - 1 - ], - [ - 71856, - 2 - ], - [ - 71859, - 2 - ], - [ - 71863, - 1 - ], - [ - 71866, - 2 - ], - [ - 71874, - 2 - ], - [ - 72129, - 2 - ], - [ - 72133, - 1 - ], - [ - 72136, - 1 - ], - [ - 72139, - 1 - ], - [ - 72142, - 1 - ], - [ - 72156, - 2 - ], - [ - 72159, - 1 - ], - [ - 72164, - 2 - ], - [ - 72172, - 1 - ], - [ - 72174, - 2 - ], - [ - 72428, - 2 - ], - [ - 72432, - 1 - ], - [ - 72435, - 1 - ], - [ - 72440, - 2 - ], - [ - 72443, - 2 - ], - [ - 72447, - 1 - ], - [ - 72450, - 2 - ], - [ - 72455, - 1 - ], - [ - 72458, - 1 - ], - [ - 72462, - 1 - ], - [ - 72467, - 1 - ], - [ - 72470, - 1 - ], - [ - 72473, - 3 - ], - [ - 72728, - 2 - ], - [ - 72733, - 1 - ], - [ - 72737, - 1 - ], - [ - 72741, - 1 - ], - [ - 72743, - 1 - ], - [ - 72746, - 1 - ], - [ - 72748, - 2 - ], - [ - 72752, - 1 - ], - [ - 72755, - 2 - ], - [ - 72761, - 1 - ], - [ - 72763, - 1 - ], - [ - 72766, - 2 - ], - [ - 72769, - 1 - ], - [ - 72771, - 1 - ], - [ - 72774, - 2 - ], - [ - 73027, - 2 - ], - [ - 73031, - 1 - ], - [ - 73034, - 1 - ], - [ - 73037, - 2 - ], - [ - 73042, - 1 - ], - [ - 73045, - 2 - ], - [ - 73049, - 1 - ], - [ - 73051, - 1 - ], - [ - 73053, - 2 - ], - [ - 73057, - 1 - ], - [ - 73060, - 2 - ], - [ - 73063, - 2 - ], - [ - 73068, - 1 - ], - [ - 73072, - 1 - ], - [ - 73074, - 2 - ], - [ - 73327, - 2 - ], - [ - 73330, - 1 - ], - [ - 73332, - 2 - ], - [ - 73335, - 2 - ], - [ - 73339, - 1 - ], - [ - 73347, - 1 - ], - [ - 73353, - 1 - ], - [ - 73356, - 1 - ], - [ - 73362, - 1 - ], - [ - 73365, - 1 - ], - [ - 73368, - 1 - ], - [ - 73371, - 1 - ], - [ - 73374, - 2 - ], - [ - 73627, - 3 - ], - [ - 73632, - 2 - ], - [ - 73638, - 1 - ], - [ - 73644, - 1 - ], - [ - 73647, - 2 - ], - [ - 73652, - 1 - ], - [ - 73660, - 1 - ], - [ - 73663, - 2 - ], - [ - 73667, - 1 - ], - [ - 73671, - 1 - ], - [ - 73673, - 3 - ], - [ - 73926, - 2 - ], - [ - 73931, - 1 - ], - [ - 73934, - 1 - ], - [ - 73938, - 1 - ], - [ - 73940, - 1 - ], - [ - 73942, - 2 - ], - [ - 73946, - 1 - ], - [ - 73949, - 1 - ], - [ - 73952, - 2 - ], - [ - 73955, - 1 - ], - [ - 73957, - 2 - ], - [ - 73961, - 1 - ], - [ - 73968, - 1 - ], - [ - 73972, - 4 - ], - [ - 74226, - 3 - ], - [ - 74232, - 1 - ], - [ - 74234, - 1 - ], - [ - 74239, - 1 - ], - [ - 74242, - 2 - ], - [ - 74247, - 2 - ], - [ - 74251, - 1 - ], - [ - 74254, - 1 - ], - [ - 74257, - 2 - ], - [ - 74260, - 1 - ], - [ - 74262, - 1 - ], - [ - 74266, - 1 - ], - [ - 74269, - 1 - ], - [ - 74273, - 2 - ], - [ - 74526, - 2 - ], - [ - 74529, - 2 - ], - [ - 74533, - 1 - ], - [ - 74536, - 2 - ], - [ - 74540, - 1 - ], - [ - 74544, - 2 - ], - [ - 74548, - 1 - ], - [ - 74552, - 1 - ], - [ - 74559, - 1 - ], - [ - 74562, - 1 - ], - [ - 74565, - 1 - ], - [ - 74567, - 2 - ], - [ - 74571, - 1 - ], - [ - 74573, - 2 - ], - [ - 74825, - 3 - ], - [ - 74829, - 2 - ], - [ - 74832, - 1 - ], - [ - 74834, - 2 - ], - [ - 74838, - 1 - ], - [ - 74841, - 1 - ], - [ - 74844, - 2 - ], - [ - 74847, - 1 - ], - [ - 74853, - 1 - ], - [ - 74856, - 2 - ], - [ - 74861, - 1 - ], - [ - 74865, - 1 - ], - [ - 74868, - 1 - ], - [ - 74872, - 3 - ], - [ - 75125, - 2 - ], - [ - 75128, - 1 - ], - [ - 75134, - 1 - ], - [ - 75137, - 1 - ], - [ - 75139, - 2 - ], - [ - 75143, - 1 - ], - [ - 75146, - 1 - ], - [ - 75149, - 1 - ], - [ - 75151, - 2 - ], - [ - 75154, - 2 - ], - [ - 75158, - 1 - ], - [ - 75162, - 1 - ], - [ - 75166, - 2 - ], - [ - 75172, - 2 - ], - [ - 75425, - 2 - ], - [ - 75429, - 1 - ], - [ - 75431, - 1 - ], - [ - 75436, - 2 - ], - [ - 75439, - 2 - ], - [ - 75444, - 2 - ], - [ - 75448, - 1 - ], - [ - 75451, - 2 - ], - [ - 75457, - 1 - ], - [ - 75459, - 2 - ], - [ - 75463, - 1 - ], - [ - 75466, - 2 - ], - [ - 75469, - 1 - ], - [ - 75471, - 3 - ], - [ - 75725, - 3 - ], - [ - 75730, - 1 - ], - [ - 75733, - 2 - ], - [ - 75738, - 1 - ], - [ - 75742, - 1 - ], - [ - 75745, - 1 - ], - [ - 75749, - 1 - ], - [ - 75753, - 1 - ], - [ - 75757, - 1 - ], - [ - 75759, - 1 - ], - [ - 75762, - 1 - ], - [ - 75764, - 1 - ], - [ - 75768, - 1 - ], - [ - 75772, - 2 - ], - [ - 76024, - 3 - ], - [ - 76029, - 1 - ], - [ - 76031, - 2 - ], - [ - 76035, - 1 - ], - [ - 76038, - 2 - ], - [ - 76041, - 1 - ], - [ - 76043, - 2 - ], - [ - 76046, - 1 - ], - [ - 76050, - 1 - ], - [ - 76053, - 2 - ], - [ - 76058, - 1 - ], - [ - 76062, - 1 - ], - [ - 76065, - 1 - ], - [ - 76070, - 4 - ], - [ - 76324, - 3 - ], - [ - 76330, - 3 - ], - [ - 76334, - 1 - ], - [ - 76336, - 2 - ], - [ - 76340, - 1 - ], - [ - 76343, - 2 - ], - [ - 76346, - 1 - ], - [ - 76349, - 1 - ], - [ - 76352, - 1 - ], - [ - 76355, - 1 - ], - [ - 76359, - 1 - ], - [ - 76361, - 1 - ], - [ - 76363, - 2 - ], - [ - 76367, - 1 - ], - [ - 76371, - 2 - ], - [ - 76624, - 2 - ], - [ - 76627, - 1 - ], - [ - 76631, - 1 - ], - [ - 76633, - 1 - ], - [ - 76636, - 2 - ], - [ - 76645, - 1 - ], - [ - 76648, - 1 - ], - [ - 76654, - 1 - ], - [ - 76657, - 1 - ], - [ - 76660, - 1 - ], - [ - 76664, - 1 - ], - [ - 76666, - 1 - ], - [ - 76668, - 1 - ], - [ - 76670, - 3 - ], - [ - 76924, - 2 - ], - [ - 76927, - 1 - ], - [ - 76932, - 1 - ], - [ - 76939, - 1 - ], - [ - 76943, - 1 - ], - [ - 76946, - 1 - ], - [ - 76950, - 2 - ], - [ - 76954, - 1 - ], - [ - 76956, - 1 - ], - [ - 76958, - 1 - ], - [ - 76965, - 1 - ], - [ - 76969, - 3 - ], - [ - 77224, - 3 - ], - [ - 77229, - 1 - ], - [ - 77233, - 1 - ], - [ - 77235, - 2 - ], - [ - 77238, - 1 - ], - [ - 77240, - 2 - ], - [ - 77244, - 1 - ], - [ - 77247, - 1 - ], - [ - 77250, - 2 - ], - [ - 77253, - 1 - ], - [ - 77255, - 1 - ], - [ - 77259, - 1 - ], - [ - 77262, - 2 - ], - [ - 77265, - 1 - ], - [ - 77269, - 2 - ], - [ - 77524, - 2 - ], - [ - 77528, - 1 - ], - [ - 77531, - 1 - ], - [ - 77534, - 1 - ], - [ - 77537, - 1 - ], - [ - 77540, - 2 - ], - [ - 77543, - 1 - ], - [ - 77545, - 2 - ], - [ - 77549, - 1 - ], - [ - 77552, - 1 - ], - [ - 77555, - 2 - ], - [ - 77558, - 1 - ], - [ - 77561, - 1 - ], - [ - 77564, - 1 - ], - [ - 77568, - 3 - ], - [ - 77824, - 2 - ], - [ - 77828, - 1 - ], - [ - 77830, - 1 - ], - [ - 77832, - 2 - ], - [ - 77838, - 1 - ], - [ - 77842, - 1 - ], - [ - 77846, - 1 - ], - [ - 77850, - 1 - ], - [ - 77854, - 1 - ], - [ - 77857, - 1 - ], - [ - 77862, - 1 - ], - [ - 77865, - 1 - ], - [ - 77868, - 2 - ], - [ - 78124, - 2 - ], - [ - 78129, - 1 - ], - [ - 78133, - 1 - ], - [ - 78136, - 2 - ], - [ - 78139, - 1 - ], - [ - 78143, - 1 - ], - [ - 78148, - 1 - ], - [ - 78151, - 1 - ], - [ - 78159, - 2 - ], - [ - 78163, - 1 - ], - [ - 78167, - 3 - ], - [ - 78423, - 4 - ], - [ - 78430, - 1 - ], - [ - 78432, - 1 - ], - [ - 78434, - 2 - ], - [ - 78438, - 1 - ], - [ - 78441, - 1 - ], - [ - 78444, - 1 - ], - [ - 78447, - 1 - ], - [ - 78449, - 2 - ], - [ - 78452, - 2 - ], - [ - 78456, - 1 - ], - [ - 78459, - 2 - ], - [ - 78462, - 1 - ], - [ - 78464, - 1 - ], - [ - 78466, - 3 - ], - [ - 78723, - 6 - ], - [ - 78731, - 1 - ], - [ - 78737, - 1 - ], - [ - 78739, - 2 - ], - [ - 78742, - 2 - ], - [ - 78749, - 2 - ], - [ - 78752, - 1 - ], - [ - 78755, - 1 - ], - [ - 78757, - 1 - ], - [ - 78761, - 1 - ], - [ - 78765, - 3 - ], - [ - 79023, - 5 - ], - [ - 79030, - 1 - ], - [ - 79032, - 1 - ], - [ - 79040, - 1 - ], - [ - 79043, - 1 - ], - [ - 79046, - 2 - ], - [ - 79051, - 1 - ], - [ - 79055, - 1 - ], - [ - 79058, - 1 - ], - [ - 79062, - 1 - ], - [ - 79065, - 3 - ], - [ - 79323, - 4 - ], - [ - 79333, - 1 - ], - [ - 79338, - 1 - ], - [ - 79344, - 2 - ], - [ - 79348, - 1 - ], - [ - 79352, - 1 - ], - [ - 79354, - 1 - ], - [ - 79356, - 2 - ], - [ - 79360, - 1 - ], - [ - 79364, - 3 - ], - [ - 79623, - 4 - ], - [ - 79629, - 1 - ], - [ - 79631, - 2 - ], - [ - 79635, - 1 - ], - [ - 79638, - 2 - ], - [ - 79641, - 1 - ], - [ - 79644, - 2 - ], - [ - 79647, - 1 - ], - [ - 79649, - 2 - ], - [ - 79653, - 1 - ], - [ - 79657, - 1 - ], - [ - 79659, - 1 - ], - [ - 79661, - 1 - ], - [ - 79663, - 3 - ], - [ - 79923, - 2 - ], - [ - 79926, - 3 - ], - [ - 79932, - 1 - ], - [ - 79934, - 1 - ], - [ - 79936, - 2 - ], - [ - 79940, - 1 - ], - [ - 79944, - 1 - ], - [ - 79946, - 1 - ], - [ - 79949, - 2 - ], - [ - 79958, - 1 - ], - [ - 79962, - 3 - ], - [ - 80223, - 2 - ], - [ - 80226, - 3 - ], - [ - 80233, - 1 - ], - [ - 80237, - 1 - ], - [ - 80241, - 1 - ], - [ - 80243, - 1 - ], - [ - 80245, - 1 - ], - [ - 80255, - 2 - ], - [ - 80258, - 1 - ], - [ - 80261, - 3 - ], - [ - 80522, - 3 - ], - [ - 80527, - 2 - ], - [ - 80530, - 1 - ], - [ - 80534, - 1 - ], - [ - 80538, - 2 - ], - [ - 80542, - 1 - ], - [ - 80545, - 2 - ], - [ - 80548, - 2 - ], - [ - 80551, - 1 - ], - [ - 80553, - 2 - ], - [ - 80557, - 1 - ], - [ - 80560, - 3 - ], - [ - 80822, - 2 - ], - [ - 80828, - 2 - ], - [ - 80832, - 1 - ], - [ - 80835, - 1 - ], - [ - 80838, - 2 - ], - [ - 80844, - 1 - ], - [ - 80847, - 1 - ], - [ - 80850, - 1 - ], - [ - 80854, - 1 - ], - [ - 80858, - 4 - ], - [ - 81122, - 2 - ], - [ - 81128, - 4 - ], - [ - 81134, - 1 - ], - [ - 81145, - 1 - ], - [ - 81151, - 1 - ], - [ - 81153, - 1 - ], - [ - 81155, - 1 - ], - [ - 81157, - 4 - ], - [ - 81422, - 2 - ], - [ - 81429, - 3 - ], - [ - 81440, - 1 - ], - [ - 81443, - 1 - ], - [ - 81446, - 1 - ], - [ - 81449, - 1 - ], - [ - 81452, - 1 - ], - [ - 81455, - 5 - ], - [ - 81721, - 3 - ], - [ - 81730, - 4 - ], - [ - 81736, - 1 - ], - [ - 81739, - 1 - ], - [ - 81742, - 2 - ], - [ - 81745, - 1 - ], - [ - 81747, - 2 - ], - [ - 81751, - 1 - ], - [ - 81754, - 4 - ], - [ - 82021, - 2 - ], - [ - 82031, - 5 - ], - [ - 82040, - 1 - ], - [ - 82044, - 1 - ], - [ - 82048, - 1 - ], - [ - 82051, - 5 - ], - [ - 82321, - 2 - ], - [ - 82332, - 4 - ], - [ - 82338, - 1 - ], - [ - 82341, - 1 - ], - [ - 82345, - 1 - ], - [ - 82350, - 5 - ], - [ - 82621, - 2 - ], - [ - 82634, - 5 - ], - [ - 82640, - 1 - ], - [ - 82642, - 2 - ], - [ - 82646, - 7 - ], - [ - 82921, - 2 - ], - [ - 82936, - 15 - ], - [ - 83220, - 3 - ], - [ - 83238, - 11 - ], - [ - 83520, - 2 - ], - [ - 83539, - 7 - ], - [ - 83820, - 2 - ], - [ - 83837, - 6 - ], - [ - 84119, - 3 - ], - [ - 84135, - 6 - ], - [ - 84419, - 2 - ], - [ - 84433, - 6 - ], - [ - 84719, - 2 - ], - [ - 84731, - 6 - ], - [ - 85018, - 3 - ], - [ - 85029, - 6 - ], - [ - 85318, - 2 - ], - [ - 85328, - 5 - ], - [ - 85617, - 3 - ], - [ - 85626, - 5 - ], - [ - 85917, - 2 - ], - [ - 85925, - 4 - ], - [ - 86217, - 2 - ], - [ - 86224, - 4 - ], - [ - 86516, - 3 - ], - [ - 86522, - 5 - ], - [ - 86816, - 2 - ], - [ - 86821, - 4 - ], - [ - 87115, - 3 - ], - [ - 87120, - 4 - ], - [ - 87414, - 3 - ], - [ - 87418, - 4 - ], - [ - 87713, - 8 - ], - [ - 88013, - 7 - ], - [ - 88312, - 7 - ], - [ - 88611, - 8 - ], - [ - 88910, - 8 - ], - [ - 89210, - 8 - ], - [ - 89509, - 8 - ], - [ - 89808, - 8 - ] - ], - "point": [ - 141, - 265 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 213 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 240 - ], - [ - 18381, - 240 - ], - [ - 18682, - 240 - ], - [ - 18983, - 240 - ], - [ - 19283, - 242 - ], - [ - 19584, - 243 - ], - [ - 19884, - 247 - ], - [ - 20185, - 250 - ], - [ - 20486, - 252 - ], - [ - 20786, - 253 - ], - [ - 21087, - 252 - ], - [ - 21387, - 252 - ], - [ - 21688, - 251 - ], - [ - 21988, - 251 - ], - [ - 22289, - 173 - ], - [ - 22464, - 75 - ], - [ - 22589, - 173 - ], - [ - 22764, - 75 - ], - [ - 22889, - 174 - ], - [ - 23065, - 74 - ], - [ - 23190, - 173 - ], - [ - 23365, - 74 - ], - [ - 23490, - 173 - ], - [ - 23665, - 75 - ], - [ - 23790, - 174 - ], - [ - 23966, - 74 - ], - [ - 24090, - 174 - ], - [ - 24266, - 74 - ], - [ - 24390, - 174 - ], - [ - 24566, - 74 - ], - [ - 24690, - 174 - ], - [ - 24866, - 75 - ], - [ - 24990, - 175 - ], - [ - 25167, - 74 - ], - [ - 25290, - 175 - ], - [ - 25467, - 74 - ], - [ - 25590, - 175 - ], - [ - 25767, - 74 - ], - [ - 25889, - 177 - ], - [ - 26068, - 73 - ], - [ - 26189, - 177 - ], - [ - 26368, - 74 - ], - [ - 26488, - 178 - ], - [ - 26668, - 74 - ], - [ - 26788, - 179 - ], - [ - 26969, - 74 - ], - [ - 27087, - 180 - ], - [ - 27269, - 74 - ], - [ - 27386, - 181 - ], - [ - 27569, - 75 - ], - [ - 27685, - 182 - ], - [ - 27870, - 75 - ], - [ - 27984, - 184 - ], - [ - 28170, - 75 - ], - [ - 28283, - 185 - ], - [ - 28470, - 76 - ], - [ - 28582, - 186 - ], - [ - 28770, - 77 - ], - [ - 28881, - 188 - ], - [ - 29071, - 77 - ], - [ - 29179, - 190 - ], - [ - 29371, - 79 - ], - [ - 29477, - 192 - ], - [ - 29671, - 81 - ], - [ - 29775, - 195 - ], - [ - 29972, - 81 - ], - [ - 30073, - 197 - ], - [ - 30272, - 88 - ], - [ - 30366, - 204 - ], - [ - 30572, - 298 - ], - [ - 30873, - 298 - ], - [ - 31173, - 298 - ], - [ - 31473, - 298 - ], - [ - 31773, - 299 - ], - [ - 32074, - 298 - ], - [ - 32374, - 298 - ], - [ - 32674, - 299 - ], - [ - 32974, - 8492 - ], - [ - 41472, - 151 - ], - [ - 41629, - 127 - ], - [ - 41771, - 152 - ], - [ - 41939, - 107 - ], - [ - 42071, - 153 - ], - [ - 42249, - 87 - ], - [ - 42370, - 155 - ], - [ - 42559, - 73 - ], - [ - 42669, - 156 - ], - [ - 42863, - 66 - ], - [ - 42969, - 132 - ], - [ - 43102, - 24 - ], - [ - 43165, - 62 - ], - [ - 43268, - 31 - ], - [ - 43300, - 25 - ], - [ - 43326, - 6 - ], - [ - 43333, - 26 - ], - [ - 43360, - 34 - ], - [ - 43395, - 31 - ], - [ - 43468, - 56 - ], - [ - 43568, - 31 - ], - [ - 43601, - 24 - ], - [ - 43626, - 5 - ], - [ - 43633, - 26 - ], - [ - 43660, - 5 - ], - [ - 43666, - 28 - ], - [ - 43695, - 5 - ], - [ - 43701, - 26 - ], - [ - 43771, - 51 - ], - [ - 43867, - 31 - ], - [ - 43901, - 25 - ], - [ - 43927, - 4 - ], - [ - 43933, - 26 - ], - [ - 43961, - 4 - ], - [ - 43966, - 27 - ], - [ - 43996, - 4 - ], - [ - 44001, - 27 - ], - [ - 44073, - 46 - ], - [ - 44166, - 28 - ], - [ - 44195, - 3 - ], - [ - 44201, - 25 - ], - [ - 44227, - 3 - ], - [ - 44233, - 26 - ], - [ - 44261, - 3 - ], - [ - 44266, - 27 - ], - [ - 44296, - 3 - ], - [ - 44300, - 28 - ], - [ - 44376, - 41 - ], - [ - 44466, - 31 - ], - [ - 44502, - 24 - ], - [ - 44528, - 2 - ], - [ - 44533, - 26 - ], - [ - 44562, - 2 - ], - [ - 44566, - 27 - ], - [ - 44597, - 2 - ], - [ - 44600, - 29 - ], - [ - 44678, - 36 - ], - [ - 44765, - 30 - ], - [ - 44796, - 1 - ], - [ - 44802, - 24 - ], - [ - 44828, - 1 - ], - [ - 44833, - 26 - ], - [ - 44862, - 1 - ], - [ - 44866, - 26 - ], - [ - 44897, - 1 - ], - [ - 44900, - 29 - ], - [ - 44981, - 30 - ], - [ - 45065, - 30 - ], - [ - 45102, - 24 - ], - [ - 45133, - 26 - ], - [ - 45166, - 26 - ], - [ - 45199, - 31 - ], - [ - 45284, - 25 - ], - [ - 45367, - 29 - ], - [ - 45403, - 23 - ], - [ - 45433, - 25 - ], - [ - 45465, - 27 - ], - [ - 45499, - 29 - ], - [ - 45586, - 20 - ], - [ - 45667, - 29 - ], - [ - 45703, - 23 - ], - [ - 45733, - 25 - ], - [ - 45765, - 27 - ], - [ - 45799, - 28 - ], - [ - 45889, - 15 - ], - [ - 45968, - 28 - ], - [ - 46003, - 24 - ], - [ - 46034, - 24 - ], - [ - 46065, - 26 - ], - [ - 46098, - 29 - ], - [ - 46191, - 10 - ], - [ - 46268, - 29 - ], - [ - 46304, - 23 - ], - [ - 46334, - 24 - ], - [ - 46365, - 26 - ], - [ - 46398, - 28 - ], - [ - 46494, - 6 - ], - [ - 46569, - 28 - ], - [ - 46604, - 23 - ], - [ - 46634, - 24 - ], - [ - 46665, - 26 - ], - [ - 46698, - 28 - ], - [ - 46797, - 3 - ], - [ - 46861, - 1 - ], - [ - 46870, - 28 - ], - [ - 46904, - 23 - ], - [ - 46934, - 24 - ], - [ - 46965, - 25 - ], - [ - 46997, - 28 - ], - [ - 47032, - 2 - ], - [ - 47099, - 1 - ], - [ - 47160, - 3 - ], - [ - 47170, - 28 - ], - [ - 47205, - 22 - ], - [ - 47234, - 24 - ], - [ - 47265, - 25 - ], - [ - 47297, - 28 - ], - [ - 47332, - 2 - ], - [ - 47460, - 3 - ], - [ - 47471, - 27 - ], - [ - 47505, - 22 - ], - [ - 47534, - 24 - ], - [ - 47565, - 25 - ], - [ - 47597, - 27 - ], - [ - 47631, - 4 - ], - [ - 47759, - 5 - ], - [ - 47771, - 28 - ], - [ - 47805, - 23 - ], - [ - 47834, - 24 - ], - [ - 47865, - 25 - ], - [ - 47896, - 28 - ], - [ - 47931, - 4 - ], - [ - 48059, - 5 - ], - [ - 48072, - 27 - ], - [ - 48106, - 22 - ], - [ - 48145, - 5 - ], - [ - 48165, - 24 - ], - [ - 48196, - 27 - ], - [ - 48230, - 6 - ], - [ - 48474, - 2 - ], - [ - 49074, - 1 - ], - [ - 49373, - 2 - ], - [ - 51472, - 2 - ], - [ - 51772, - 2 - ], - [ - 52072, - 2 - ], - [ - 52372, - 1 - ], - [ - 52672, - 1 - ], - [ - 52971, - 2 - ], - [ - 53271, - 2 - ], - [ - 55370, - 2 - ], - [ - 55670, - 1 - ], - [ - 55970, - 1 - ], - [ - 56269, - 2 - ], - [ - 56569, - 2 - ], - [ - 56869, - 2 - ], - [ - 57000, - 2 - ], - [ - 57169, - 2 - ], - [ - 58806, - 4 - ], - [ - 58968, - 1 - ], - [ - 59107, - 4 - ], - [ - 59268, - 1 - ], - [ - 59409, - 3 - ], - [ - 59568, - 1 - ], - [ - 60916, - 3 - ], - [ - 61067, - 1 - ], - [ - 61217, - 4 - ], - [ - 61366, - 2 - ], - [ - 61519, - 3 - ], - [ - 61666, - 2 - ], - [ - 63327, - 3 - ], - [ - 63465, - 2 - ], - [ - 63628, - 3 - ], - [ - 63765, - 1 - ] - ], - "point": [ - 149, - 136 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -1.25, - "y": 0.9020053, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.3181601, - "y": 0.186121568, - "z": -2.56462479 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.633471, - "y": 0.5056716, - "z": -1.376796 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.680097, - "y": 0.5056716, - "z": -2.21154881 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.773349, - "y": 0.5000148, - "z": -2.47346067 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.8180689, - "y": 0.694788158, - "z": 0.281510353 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.726723, - "y": 0.6569059, - "z": -1.55140376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900017, - "y": 0.665941238, - "z": -2.57899928 - }, - "rotation": { - "x": 0.02053208, - "y": -0.000228451157, - "z": -0.000104976 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.58684492, - "y": 0.655314863, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.3314289, - "y": 0.6930849, - "z": 0.06767362 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.680097, - "y": 0.17697151, - "z": -2.124245 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.71993923, - "y": 0.8057865, - "z": -2.21951556 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -0.8180689, - "y": 0.7552619, - "z": -1.00151038 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -1.508, - "y": 0.685, - "z": -0.378 - }, - "rotation": { - "x": 0.0, - "y": 288.596283, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -1.061389, - "y": 0.6954822, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.633471, - "y": 0.1709254, - "z": -2.38615656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.280293047, - "y": 0.352921665, - "z": -2.56462479 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2514439670, - "scene_num": 324 - }, - "task_id": "trial_T20190908_031811_820988", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AO33H4GL9KZX9_3WI0P0II6497IHD5UUDXIUIVHO9RDL", - "high_descs": [ - "Turn right and face the bed.", - "Pick up the tennis racket under the bed.", - "Turn right to go to the dresser across the bedroom. ", - "Stand up the tennis racket on its base on the top of the dresser next to the lamp." - ], - "task_desc": "Stand the tennis racket on the dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A14IPKOBOPID9H_3ZSANO2JCIOGHGRE0P8SW4QCF38SFL", - "high_descs": [ - "Turn right towards the bed", - "Pick up the tennis racket from under the bed", - "Turn around then turn left and go to the dresser", - "Set the tennis racket on its handle on the dresser" - ], - "task_desc": "Balance the tennis racket on its handle on the dresser", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A6U2C66WQ7QQN_39RP059MEKAN642TBQQA150L8GWMBJ", - "high_descs": [ - "Turn to the right", - "Take the tennis racket from the floor", - "Take several steps to the right", - "Put the tennis racket on the dresser" - ], - "task_desc": "Take the tennis racket from the floor, put it on the dresser", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031822_994450/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031822_994450/traj_data.json deleted file mode 100644 index b7de42424..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-TennisRacket-None-Dresser-324/trial_T20190908_031822_994450/traj_data.json +++ /dev/null @@ -1,5409 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 5 - }, - { - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 22 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 23 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 3, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 37 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "TennisRacket", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "tennisracket" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-6|-6|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "tennisracket" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "TennisRacket", - [ - -6.388, - -6.388, - -5.468, - -5.468, - 0.00402465464, - 0.00402465464 - ] - ], - "forceVisible": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "tennisracket", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "TennisRacket", - [ - -6.388, - -6.388, - -5.468, - -5.468, - 0.00402465464, - 0.00402465464 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - } - ], - "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": "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": "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": "TennisRacket|-01.60|+00.00|-01.37" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 108, - 233, - 175, - 300 - ], - "mask": [ - [ - 69734, - 3 - ], - [ - 69739, - 1 - ], - [ - 69742, - 1 - ], - [ - 69745, - 1 - ], - [ - 69747, - 2 - ], - [ - 69750, - 1 - ], - [ - 69754, - 1 - ], - [ - 69758, - 1 - ], - [ - 69762, - 1 - ], - [ - 69765, - 2 - ], - [ - 69768, - 1 - ], - [ - 69771, - 3 - ], - [ - 70033, - 3 - ], - [ - 70037, - 1 - ], - [ - 70041, - 1 - ], - [ - 70045, - 1 - ], - [ - 70047, - 2 - ], - [ - 70050, - 1 - ], - [ - 70053, - 1 - ], - [ - 70056, - 1 - ], - [ - 70063, - 2 - ], - [ - 70070, - 1 - ], - [ - 70072, - 2 - ], - [ - 70332, - 3 - ], - [ - 70338, - 1 - ], - [ - 70342, - 1 - ], - [ - 70344, - 1 - ], - [ - 70346, - 1 - ], - [ - 70349, - 1 - ], - [ - 70352, - 2 - ], - [ - 70355, - 1 - ], - [ - 70357, - 2 - ], - [ - 70361, - 1 - ], - [ - 70364, - 1 - ], - [ - 70369, - 1 - ], - [ - 70372, - 3 - ], - [ - 70631, - 3 - ], - [ - 70636, - 2 - ], - [ - 70640, - 1 - ], - [ - 70643, - 1 - ], - [ - 70647, - 2 - ], - [ - 70651, - 1 - ], - [ - 70654, - 1 - ], - [ - 70657, - 2 - ], - [ - 70660, - 1 - ], - [ - 70662, - 2 - ], - [ - 70666, - 1 - ], - [ - 70670, - 2 - ], - [ - 70673, - 2 - ], - [ - 70931, - 2 - ], - [ - 70936, - 2 - ], - [ - 70939, - 1 - ], - [ - 70941, - 2 - ], - [ - 70945, - 1 - ], - [ - 70952, - 1 - ], - [ - 70959, - 1 - ], - [ - 70962, - 2 - ], - [ - 70965, - 1 - ], - [ - 70967, - 2 - ], - [ - 70973, - 2 - ], - [ - 71230, - 3 - ], - [ - 71235, - 1 - ], - [ - 71238, - 1 - ], - [ - 71242, - 1 - ], - [ - 71244, - 1 - ], - [ - 71246, - 2 - ], - [ - 71250, - 1 - ], - [ - 71253, - 1 - ], - [ - 71267, - 2 - ], - [ - 71270, - 1 - ], - [ - 71273, - 3 - ], - [ - 71530, - 3 - ], - [ - 71536, - 1 - ], - [ - 71543, - 1 - ], - [ - 71546, - 2 - ], - [ - 71549, - 1 - ], - [ - 71551, - 2 - ], - [ - 71555, - 1 - ], - [ - 71558, - 1 - ], - [ - 71562, - 1 - ], - [ - 71564, - 1 - ], - [ - 71566, - 1 - ], - [ - 71569, - 1 - ], - [ - 71572, - 1 - ], - [ - 71574, - 2 - ], - [ - 71829, - 2 - ], - [ - 71833, - 2 - ], - [ - 71837, - 1 - ], - [ - 71840, - 2 - ], - [ - 71845, - 1 - ], - [ - 71848, - 1 - ], - [ - 71852, - 1 - ], - [ - 71854, - 1 - ], - [ - 71856, - 2 - ], - [ - 71859, - 2 - ], - [ - 71863, - 1 - ], - [ - 71866, - 2 - ], - [ - 71874, - 2 - ], - [ - 72129, - 2 - ], - [ - 72133, - 1 - ], - [ - 72136, - 1 - ], - [ - 72139, - 1 - ], - [ - 72142, - 1 - ], - [ - 72156, - 2 - ], - [ - 72159, - 1 - ], - [ - 72164, - 2 - ], - [ - 72172, - 1 - ], - [ - 72174, - 2 - ], - [ - 72428, - 2 - ], - [ - 72432, - 1 - ], - [ - 72435, - 1 - ], - [ - 72440, - 2 - ], - [ - 72443, - 2 - ], - [ - 72447, - 1 - ], - [ - 72450, - 2 - ], - [ - 72455, - 1 - ], - [ - 72458, - 1 - ], - [ - 72462, - 1 - ], - [ - 72467, - 1 - ], - [ - 72470, - 1 - ], - [ - 72473, - 3 - ], - [ - 72728, - 2 - ], - [ - 72733, - 1 - ], - [ - 72737, - 1 - ], - [ - 72741, - 1 - ], - [ - 72743, - 1 - ], - [ - 72746, - 1 - ], - [ - 72748, - 2 - ], - [ - 72752, - 1 - ], - [ - 72755, - 2 - ], - [ - 72761, - 1 - ], - [ - 72763, - 1 - ], - [ - 72766, - 2 - ], - [ - 72769, - 1 - ], - [ - 72771, - 1 - ], - [ - 72774, - 2 - ], - [ - 73027, - 2 - ], - [ - 73031, - 1 - ], - [ - 73034, - 1 - ], - [ - 73037, - 2 - ], - [ - 73042, - 1 - ], - [ - 73045, - 2 - ], - [ - 73049, - 1 - ], - [ - 73051, - 1 - ], - [ - 73053, - 2 - ], - [ - 73057, - 1 - ], - [ - 73060, - 2 - ], - [ - 73063, - 2 - ], - [ - 73068, - 1 - ], - [ - 73072, - 1 - ], - [ - 73074, - 2 - ], - [ - 73327, - 2 - ], - [ - 73330, - 1 - ], - [ - 73332, - 2 - ], - [ - 73335, - 2 - ], - [ - 73339, - 1 - ], - [ - 73347, - 1 - ], - [ - 73353, - 1 - ], - [ - 73356, - 1 - ], - [ - 73362, - 1 - ], - [ - 73365, - 1 - ], - [ - 73368, - 1 - ], - [ - 73371, - 1 - ], - [ - 73374, - 2 - ], - [ - 73627, - 3 - ], - [ - 73632, - 2 - ], - [ - 73638, - 1 - ], - [ - 73644, - 1 - ], - [ - 73647, - 2 - ], - [ - 73652, - 1 - ], - [ - 73660, - 1 - ], - [ - 73663, - 2 - ], - [ - 73667, - 1 - ], - [ - 73671, - 1 - ], - [ - 73673, - 3 - ], - [ - 73926, - 2 - ], - [ - 73931, - 1 - ], - [ - 73934, - 1 - ], - [ - 73938, - 1 - ], - [ - 73940, - 1 - ], - [ - 73942, - 2 - ], - [ - 73946, - 1 - ], - [ - 73949, - 1 - ], - [ - 73952, - 2 - ], - [ - 73955, - 1 - ], - [ - 73957, - 2 - ], - [ - 73961, - 1 - ], - [ - 73968, - 1 - ], - [ - 73972, - 4 - ], - [ - 74226, - 3 - ], - [ - 74232, - 1 - ], - [ - 74234, - 1 - ], - [ - 74239, - 1 - ], - [ - 74242, - 2 - ], - [ - 74247, - 2 - ], - [ - 74251, - 1 - ], - [ - 74254, - 1 - ], - [ - 74257, - 2 - ], - [ - 74260, - 1 - ], - [ - 74262, - 1 - ], - [ - 74266, - 1 - ], - [ - 74269, - 1 - ], - [ - 74273, - 2 - ], - [ - 74526, - 2 - ], - [ - 74529, - 2 - ], - [ - 74533, - 1 - ], - [ - 74536, - 2 - ], - [ - 74540, - 1 - ], - [ - 74544, - 2 - ], - [ - 74548, - 1 - ], - [ - 74552, - 1 - ], - [ - 74559, - 1 - ], - [ - 74562, - 1 - ], - [ - 74565, - 1 - ], - [ - 74567, - 2 - ], - [ - 74571, - 1 - ], - [ - 74573, - 2 - ], - [ - 74825, - 3 - ], - [ - 74829, - 2 - ], - [ - 74832, - 1 - ], - [ - 74834, - 2 - ], - [ - 74838, - 1 - ], - [ - 74841, - 1 - ], - [ - 74844, - 2 - ], - [ - 74847, - 1 - ], - [ - 74853, - 1 - ], - [ - 74856, - 2 - ], - [ - 74861, - 1 - ], - [ - 74865, - 1 - ], - [ - 74868, - 1 - ], - [ - 74872, - 3 - ], - [ - 75125, - 2 - ], - [ - 75128, - 1 - ], - [ - 75134, - 1 - ], - [ - 75137, - 1 - ], - [ - 75139, - 2 - ], - [ - 75143, - 1 - ], - [ - 75146, - 1 - ], - [ - 75149, - 1 - ], - [ - 75151, - 2 - ], - [ - 75154, - 2 - ], - [ - 75158, - 1 - ], - [ - 75162, - 1 - ], - [ - 75166, - 2 - ], - [ - 75172, - 2 - ], - [ - 75425, - 2 - ], - [ - 75429, - 1 - ], - [ - 75431, - 1 - ], - [ - 75436, - 2 - ], - [ - 75439, - 2 - ], - [ - 75444, - 2 - ], - [ - 75448, - 1 - ], - [ - 75451, - 2 - ], - [ - 75457, - 1 - ], - [ - 75459, - 2 - ], - [ - 75463, - 1 - ], - [ - 75466, - 2 - ], - [ - 75469, - 1 - ], - [ - 75471, - 3 - ], - [ - 75725, - 3 - ], - [ - 75730, - 1 - ], - [ - 75733, - 2 - ], - [ - 75738, - 1 - ], - [ - 75742, - 1 - ], - [ - 75745, - 1 - ], - [ - 75749, - 1 - ], - [ - 75753, - 1 - ], - [ - 75757, - 1 - ], - [ - 75759, - 1 - ], - [ - 75762, - 1 - ], - [ - 75764, - 1 - ], - [ - 75768, - 1 - ], - [ - 75772, - 2 - ], - [ - 76024, - 3 - ], - [ - 76029, - 1 - ], - [ - 76031, - 2 - ], - [ - 76035, - 1 - ], - [ - 76038, - 2 - ], - [ - 76041, - 1 - ], - [ - 76043, - 2 - ], - [ - 76046, - 1 - ], - [ - 76050, - 1 - ], - [ - 76053, - 2 - ], - [ - 76058, - 1 - ], - [ - 76062, - 1 - ], - [ - 76065, - 1 - ], - [ - 76070, - 4 - ], - [ - 76324, - 3 - ], - [ - 76330, - 3 - ], - [ - 76334, - 1 - ], - [ - 76336, - 2 - ], - [ - 76340, - 1 - ], - [ - 76343, - 2 - ], - [ - 76346, - 1 - ], - [ - 76349, - 1 - ], - [ - 76352, - 1 - ], - [ - 76355, - 1 - ], - [ - 76359, - 1 - ], - [ - 76361, - 1 - ], - [ - 76363, - 2 - ], - [ - 76367, - 1 - ], - [ - 76371, - 2 - ], - [ - 76624, - 2 - ], - [ - 76627, - 1 - ], - [ - 76631, - 1 - ], - [ - 76633, - 1 - ], - [ - 76636, - 2 - ], - [ - 76645, - 1 - ], - [ - 76648, - 1 - ], - [ - 76654, - 1 - ], - [ - 76657, - 1 - ], - [ - 76660, - 1 - ], - [ - 76664, - 1 - ], - [ - 76666, - 1 - ], - [ - 76668, - 1 - ], - [ - 76670, - 3 - ], - [ - 76924, - 2 - ], - [ - 76927, - 1 - ], - [ - 76932, - 1 - ], - [ - 76939, - 1 - ], - [ - 76943, - 1 - ], - [ - 76946, - 1 - ], - [ - 76950, - 2 - ], - [ - 76954, - 1 - ], - [ - 76956, - 1 - ], - [ - 76958, - 1 - ], - [ - 76965, - 1 - ], - [ - 76969, - 3 - ], - [ - 77224, - 3 - ], - [ - 77229, - 1 - ], - [ - 77233, - 1 - ], - [ - 77235, - 2 - ], - [ - 77238, - 1 - ], - [ - 77240, - 2 - ], - [ - 77244, - 1 - ], - [ - 77247, - 1 - ], - [ - 77250, - 2 - ], - [ - 77253, - 1 - ], - [ - 77255, - 1 - ], - [ - 77259, - 1 - ], - [ - 77262, - 2 - ], - [ - 77265, - 1 - ], - [ - 77269, - 2 - ], - [ - 77524, - 2 - ], - [ - 77528, - 1 - ], - [ - 77531, - 1 - ], - [ - 77534, - 1 - ], - [ - 77537, - 1 - ], - [ - 77540, - 2 - ], - [ - 77543, - 1 - ], - [ - 77545, - 2 - ], - [ - 77549, - 1 - ], - [ - 77552, - 1 - ], - [ - 77555, - 2 - ], - [ - 77558, - 1 - ], - [ - 77561, - 1 - ], - [ - 77564, - 1 - ], - [ - 77568, - 3 - ], - [ - 77824, - 2 - ], - [ - 77828, - 1 - ], - [ - 77830, - 1 - ], - [ - 77832, - 2 - ], - [ - 77838, - 1 - ], - [ - 77842, - 1 - ], - [ - 77846, - 1 - ], - [ - 77850, - 1 - ], - [ - 77854, - 1 - ], - [ - 77857, - 1 - ], - [ - 77862, - 1 - ], - [ - 77865, - 1 - ], - [ - 77868, - 2 - ], - [ - 78124, - 2 - ], - [ - 78129, - 1 - ], - [ - 78133, - 1 - ], - [ - 78136, - 2 - ], - [ - 78139, - 1 - ], - [ - 78143, - 1 - ], - [ - 78148, - 1 - ], - [ - 78151, - 1 - ], - [ - 78159, - 2 - ], - [ - 78163, - 1 - ], - [ - 78167, - 3 - ], - [ - 78423, - 4 - ], - [ - 78430, - 1 - ], - [ - 78432, - 1 - ], - [ - 78434, - 2 - ], - [ - 78438, - 1 - ], - [ - 78441, - 1 - ], - [ - 78444, - 1 - ], - [ - 78447, - 1 - ], - [ - 78449, - 2 - ], - [ - 78452, - 2 - ], - [ - 78456, - 1 - ], - [ - 78459, - 2 - ], - [ - 78462, - 1 - ], - [ - 78464, - 1 - ], - [ - 78466, - 3 - ], - [ - 78723, - 6 - ], - [ - 78731, - 1 - ], - [ - 78737, - 1 - ], - [ - 78739, - 2 - ], - [ - 78742, - 2 - ], - [ - 78749, - 2 - ], - [ - 78752, - 1 - ], - [ - 78755, - 1 - ], - [ - 78757, - 1 - ], - [ - 78761, - 1 - ], - [ - 78765, - 3 - ], - [ - 79023, - 5 - ], - [ - 79030, - 1 - ], - [ - 79032, - 1 - ], - [ - 79040, - 1 - ], - [ - 79043, - 1 - ], - [ - 79046, - 2 - ], - [ - 79051, - 1 - ], - [ - 79055, - 1 - ], - [ - 79058, - 1 - ], - [ - 79062, - 1 - ], - [ - 79065, - 3 - ], - [ - 79323, - 4 - ], - [ - 79333, - 1 - ], - [ - 79338, - 1 - ], - [ - 79344, - 2 - ], - [ - 79348, - 1 - ], - [ - 79352, - 1 - ], - [ - 79354, - 1 - ], - [ - 79356, - 2 - ], - [ - 79360, - 1 - ], - [ - 79364, - 3 - ], - [ - 79623, - 4 - ], - [ - 79629, - 1 - ], - [ - 79631, - 2 - ], - [ - 79635, - 1 - ], - [ - 79638, - 2 - ], - [ - 79641, - 1 - ], - [ - 79644, - 2 - ], - [ - 79647, - 1 - ], - [ - 79649, - 2 - ], - [ - 79653, - 1 - ], - [ - 79657, - 1 - ], - [ - 79659, - 1 - ], - [ - 79661, - 1 - ], - [ - 79663, - 3 - ], - [ - 79923, - 2 - ], - [ - 79926, - 3 - ], - [ - 79932, - 1 - ], - [ - 79934, - 1 - ], - [ - 79936, - 2 - ], - [ - 79940, - 1 - ], - [ - 79944, - 1 - ], - [ - 79946, - 1 - ], - [ - 79949, - 2 - ], - [ - 79958, - 1 - ], - [ - 79962, - 3 - ], - [ - 80223, - 2 - ], - [ - 80226, - 3 - ], - [ - 80233, - 1 - ], - [ - 80237, - 1 - ], - [ - 80241, - 1 - ], - [ - 80243, - 1 - ], - [ - 80245, - 1 - ], - [ - 80255, - 2 - ], - [ - 80258, - 1 - ], - [ - 80261, - 3 - ], - [ - 80522, - 3 - ], - [ - 80527, - 2 - ], - [ - 80530, - 1 - ], - [ - 80534, - 1 - ], - [ - 80538, - 2 - ], - [ - 80542, - 1 - ], - [ - 80545, - 2 - ], - [ - 80548, - 2 - ], - [ - 80551, - 1 - ], - [ - 80553, - 2 - ], - [ - 80557, - 1 - ], - [ - 80560, - 3 - ], - [ - 80822, - 2 - ], - [ - 80828, - 2 - ], - [ - 80832, - 1 - ], - [ - 80835, - 1 - ], - [ - 80838, - 2 - ], - [ - 80844, - 1 - ], - [ - 80847, - 1 - ], - [ - 80850, - 1 - ], - [ - 80854, - 1 - ], - [ - 80858, - 4 - ], - [ - 81122, - 2 - ], - [ - 81128, - 4 - ], - [ - 81134, - 1 - ], - [ - 81145, - 1 - ], - [ - 81151, - 1 - ], - [ - 81153, - 1 - ], - [ - 81155, - 1 - ], - [ - 81157, - 4 - ], - [ - 81422, - 2 - ], - [ - 81429, - 3 - ], - [ - 81440, - 1 - ], - [ - 81443, - 1 - ], - [ - 81446, - 1 - ], - [ - 81449, - 1 - ], - [ - 81452, - 1 - ], - [ - 81455, - 5 - ], - [ - 81721, - 3 - ], - [ - 81730, - 4 - ], - [ - 81736, - 1 - ], - [ - 81739, - 1 - ], - [ - 81742, - 2 - ], - [ - 81745, - 1 - ], - [ - 81747, - 2 - ], - [ - 81751, - 1 - ], - [ - 81754, - 4 - ], - [ - 82021, - 2 - ], - [ - 82031, - 5 - ], - [ - 82040, - 1 - ], - [ - 82044, - 1 - ], - [ - 82048, - 1 - ], - [ - 82051, - 5 - ], - [ - 82321, - 2 - ], - [ - 82332, - 4 - ], - [ - 82338, - 1 - ], - [ - 82341, - 1 - ], - [ - 82345, - 1 - ], - [ - 82350, - 5 - ], - [ - 82621, - 2 - ], - [ - 82634, - 5 - ], - [ - 82640, - 1 - ], - [ - 82642, - 2 - ], - [ - 82646, - 7 - ], - [ - 82921, - 2 - ], - [ - 82936, - 15 - ], - [ - 83220, - 3 - ], - [ - 83238, - 11 - ], - [ - 83520, - 2 - ], - [ - 83539, - 7 - ], - [ - 83820, - 2 - ], - [ - 83837, - 6 - ], - [ - 84119, - 3 - ], - [ - 84135, - 6 - ], - [ - 84419, - 2 - ], - [ - 84433, - 6 - ], - [ - 84719, - 2 - ], - [ - 84731, - 6 - ], - [ - 85018, - 3 - ], - [ - 85029, - 6 - ], - [ - 85318, - 2 - ], - [ - 85328, - 5 - ], - [ - 85617, - 3 - ], - [ - 85626, - 5 - ], - [ - 85917, - 2 - ], - [ - 85925, - 4 - ], - [ - 86217, - 2 - ], - [ - 86224, - 4 - ], - [ - 86516, - 3 - ], - [ - 86522, - 5 - ], - [ - 86816, - 2 - ], - [ - 86821, - 4 - ], - [ - 87115, - 3 - ], - [ - 87120, - 4 - ], - [ - 87414, - 3 - ], - [ - 87418, - 4 - ], - [ - 87713, - 8 - ], - [ - 88013, - 7 - ], - [ - 88312, - 7 - ], - [ - 88611, - 8 - ], - [ - 88910, - 8 - ], - [ - 89210, - 8 - ], - [ - 89509, - 8 - ], - [ - 89808, - 8 - ] - ], - "point": [ - 141, - 265 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "TennisRacket|-01.60|+00.00|-01.37", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 213 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 64 - ], - [ - 18241, - 79 - ], - [ - 18381, - 56 - ], - [ - 18439, - 10 - ], - [ - 18541, - 80 - ], - [ - 18682, - 55 - ], - [ - 18744, - 10 - ], - [ - 18840, - 82 - ], - [ - 18983, - 53 - ], - [ - 19048, - 10 - ], - [ - 19140, - 83 - ], - [ - 19283, - 53 - ], - [ - 19353, - 7 - ], - [ - 19440, - 85 - ], - [ - 19584, - 52 - ], - [ - 19657, - 3 - ], - [ - 19739, - 88 - ], - [ - 19884, - 51 - ], - [ - 20039, - 92 - ], - [ - 20185, - 50 - ], - [ - 20338, - 97 - ], - [ - 20486, - 48 - ], - [ - 20638, - 100 - ], - [ - 20786, - 48 - ], - [ - 20938, - 101 - ], - [ - 21087, - 46 - ], - [ - 21237, - 102 - ], - [ - 21387, - 46 - ], - [ - 21537, - 102 - ], - [ - 21688, - 45 - ], - [ - 21837, - 102 - ], - [ - 21988, - 44 - ], - [ - 22136, - 103 - ], - [ - 22289, - 43 - ], - [ - 22408, - 1 - ], - [ - 22436, - 103 - ], - [ - 22589, - 42 - ], - [ - 22708, - 5 - ], - [ - 22735, - 104 - ], - [ - 22889, - 42 - ], - [ - 23008, - 10 - ], - [ - 23035, - 104 - ], - [ - 23190, - 40 - ], - [ - 23312, - 10 - ], - [ - 23335, - 104 - ], - [ - 23490, - 40 - ], - [ - 23617, - 10 - ], - [ - 23634, - 106 - ], - [ - 23790, - 39 - ], - [ - 23921, - 11 - ], - [ - 23934, - 106 - ], - [ - 24090, - 39 - ], - [ - 24226, - 114 - ], - [ - 24390, - 38 - ], - [ - 24530, - 110 - ], - [ - 24690, - 38 - ], - [ - 24833, - 108 - ], - [ - 24990, - 37 - ], - [ - 25132, - 109 - ], - [ - 25290, - 37 - ], - [ - 25432, - 109 - ], - [ - 25590, - 36 - ], - [ - 25732, - 109 - ], - [ - 25889, - 37 - ], - [ - 26032, - 109 - ], - [ - 26189, - 36 - ], - [ - 26331, - 111 - ], - [ - 26488, - 37 - ], - [ - 26631, - 111 - ], - [ - 26788, - 36 - ], - [ - 26931, - 112 - ], - [ - 27087, - 37 - ], - [ - 27231, - 112 - ], - [ - 27386, - 37 - ], - [ - 27531, - 113 - ], - [ - 27685, - 38 - ], - [ - 27830, - 115 - ], - [ - 27984, - 38 - ], - [ - 28130, - 115 - ], - [ - 28283, - 39 - ], - [ - 28430, - 116 - ], - [ - 28582, - 40 - ], - [ - 28730, - 117 - ], - [ - 28881, - 41 - ], - [ - 29029, - 119 - ], - [ - 29179, - 43 - ], - [ - 29329, - 121 - ], - [ - 29477, - 45 - ], - [ - 29629, - 123 - ], - [ - 29775, - 47 - ], - [ - 29929, - 124 - ], - [ - 30073, - 48 - ], - [ - 30229, - 131 - ], - [ - 30366, - 55 - ], - [ - 30528, - 193 - ], - [ - 30828, - 193 - ], - [ - 31128, - 193 - ], - [ - 31428, - 193 - ], - [ - 31728, - 193 - ], - [ - 32027, - 194 - ], - [ - 32327, - 194 - ], - [ - 32627, - 194 - ], - [ - 32927, - 194 - ], - [ - 33227, - 194 - ], - [ - 33526, - 194 - ], - [ - 33826, - 194 - ], - [ - 34126, - 194 - ], - [ - 34426, - 195 - ], - [ - 34726, - 199 - ], - [ - 35025, - 204 - ], - [ - 35325, - 208 - ], - [ - 35625, - 212 - ], - [ - 35925, - 216 - ], - [ - 36224, - 221 - ], - [ - 36524, - 225 - ], - [ - 36823, - 230 - ], - [ - 37123, - 234 - ], - [ - 37422, - 239 - ], - [ - 37721, - 244 - ], - [ - 38021, - 248 - ], - [ - 38320, - 253 - ], - [ - 38619, - 257 - ], - [ - 38919, - 261 - ], - [ - 39218, - 266 - ], - [ - 39517, - 271 - ], - [ - 39817, - 275 - ], - [ - 40116, - 280 - ], - [ - 40415, - 285 - ], - [ - 40715, - 289 - ], - [ - 41014, - 294 - ], - [ - 41313, - 153 - ], - [ - 41472, - 151 - ], - [ - 41629, - 127 - ], - [ - 41771, - 152 - ], - [ - 41939, - 107 - ], - [ - 42071, - 153 - ], - [ - 42249, - 87 - ], - [ - 42370, - 155 - ], - [ - 42559, - 73 - ], - [ - 42669, - 156 - ], - [ - 42863, - 66 - ], - [ - 42969, - 132 - ], - [ - 43102, - 24 - ], - [ - 43165, - 62 - ], - [ - 43268, - 31 - ], - [ - 43300, - 25 - ], - [ - 43326, - 6 - ], - [ - 43333, - 26 - ], - [ - 43360, - 34 - ], - [ - 43395, - 31 - ], - [ - 43468, - 56 - ], - [ - 43568, - 31 - ], - [ - 43601, - 24 - ], - [ - 43626, - 5 - ], - [ - 43633, - 26 - ], - [ - 43660, - 5 - ], - [ - 43666, - 28 - ], - [ - 43695, - 5 - ], - [ - 43701, - 26 - ], - [ - 43771, - 51 - ], - [ - 43867, - 31 - ], - [ - 43901, - 25 - ], - [ - 43927, - 4 - ], - [ - 43933, - 26 - ], - [ - 43961, - 4 - ], - [ - 43966, - 27 - ], - [ - 43996, - 4 - ], - [ - 44001, - 27 - ], - [ - 44073, - 46 - ], - [ - 44166, - 28 - ], - [ - 44195, - 3 - ], - [ - 44201, - 25 - ], - [ - 44227, - 3 - ], - [ - 44233, - 26 - ], - [ - 44261, - 3 - ], - [ - 44266, - 27 - ], - [ - 44296, - 3 - ], - [ - 44300, - 28 - ], - [ - 44376, - 41 - ], - [ - 44466, - 31 - ], - [ - 44502, - 24 - ], - [ - 44528, - 2 - ], - [ - 44533, - 26 - ], - [ - 44562, - 2 - ], - [ - 44566, - 27 - ], - [ - 44597, - 2 - ], - [ - 44600, - 29 - ], - [ - 44678, - 36 - ], - [ - 44765, - 30 - ], - [ - 44796, - 1 - ], - [ - 44802, - 24 - ], - [ - 44828, - 1 - ], - [ - 44833, - 26 - ], - [ - 44862, - 1 - ], - [ - 44866, - 26 - ], - [ - 44897, - 1 - ], - [ - 44900, - 29 - ], - [ - 44981, - 30 - ], - [ - 45065, - 30 - ], - [ - 45102, - 24 - ], - [ - 45133, - 26 - ], - [ - 45166, - 26 - ], - [ - 45199, - 31 - ], - [ - 45284, - 25 - ], - [ - 45367, - 29 - ], - [ - 45403, - 23 - ], - [ - 45433, - 25 - ], - [ - 45465, - 27 - ], - [ - 45499, - 29 - ], - [ - 45586, - 20 - ], - [ - 45667, - 29 - ], - [ - 45703, - 23 - ], - [ - 45733, - 25 - ], - [ - 45765, - 27 - ], - [ - 45799, - 28 - ], - [ - 45889, - 15 - ], - [ - 45968, - 28 - ], - [ - 46003, - 24 - ], - [ - 46034, - 24 - ], - [ - 46065, - 26 - ], - [ - 46098, - 29 - ], - [ - 46191, - 10 - ], - [ - 46268, - 29 - ], - [ - 46304, - 23 - ], - [ - 46334, - 24 - ], - [ - 46365, - 26 - ], - [ - 46398, - 28 - ], - [ - 46494, - 6 - ], - [ - 46569, - 28 - ], - [ - 46604, - 23 - ], - [ - 46634, - 24 - ], - [ - 46665, - 26 - ], - [ - 46698, - 28 - ], - [ - 46797, - 3 - ], - [ - 46861, - 1 - ], - [ - 46870, - 28 - ], - [ - 46904, - 23 - ], - [ - 46934, - 24 - ], - [ - 46965, - 25 - ], - [ - 46997, - 28 - ], - [ - 47032, - 2 - ], - [ - 47099, - 1 - ], - [ - 47160, - 3 - ], - [ - 47170, - 28 - ], - [ - 47205, - 22 - ], - [ - 47234, - 24 - ], - [ - 47265, - 25 - ], - [ - 47297, - 28 - ], - [ - 47332, - 2 - ], - [ - 47460, - 3 - ], - [ - 47471, - 27 - ], - [ - 47505, - 22 - ], - [ - 47534, - 24 - ], - [ - 47565, - 25 - ], - [ - 47597, - 27 - ], - [ - 47631, - 4 - ], - [ - 47759, - 5 - ], - [ - 47771, - 28 - ], - [ - 47805, - 23 - ], - [ - 47834, - 24 - ], - [ - 47865, - 25 - ], - [ - 47896, - 28 - ], - [ - 47931, - 4 - ], - [ - 48059, - 5 - ], - [ - 48072, - 27 - ], - [ - 48106, - 22 - ], - [ - 48145, - 5 - ], - [ - 48165, - 24 - ], - [ - 48196, - 27 - ], - [ - 48230, - 6 - ], - [ - 48474, - 2 - ], - [ - 49074, - 1 - ], - [ - 49373, - 2 - ], - [ - 51472, - 2 - ], - [ - 51772, - 2 - ], - [ - 52072, - 2 - ], - [ - 52372, - 1 - ], - [ - 52672, - 1 - ], - [ - 52971, - 2 - ], - [ - 53271, - 2 - ], - [ - 55370, - 2 - ], - [ - 55670, - 1 - ], - [ - 55970, - 1 - ], - [ - 56269, - 2 - ], - [ - 56569, - 2 - ], - [ - 56869, - 2 - ], - [ - 57000, - 2 - ], - [ - 57169, - 2 - ], - [ - 58806, - 4 - ], - [ - 58968, - 1 - ], - [ - 59107, - 4 - ], - [ - 59268, - 1 - ], - [ - 59409, - 3 - ], - [ - 59568, - 1 - ], - [ - 60916, - 3 - ], - [ - 61067, - 1 - ], - [ - 61217, - 4 - ], - [ - 61366, - 2 - ], - [ - 61519, - 3 - ], - [ - 61666, - 2 - ], - [ - 63327, - 3 - ], - [ - 63465, - 2 - ], - [ - 63628, - 3 - ], - [ - 63765, - 1 - ] - ], - "point": [ - 149, - 136 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 1.5, - "y": 0.9020053, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.26414156, - "y": 0.186121568, - "z": -2.5817 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.680097, - "y": 0.0142155048, - "z": -2.21154881 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.540219, - "y": 0.1717892, - "z": -2.21154881 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.633471, - "y": 0.0188627, - "z": -1.46409988 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.633471, - "y": 0.5042727, - "z": -2.036941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.540219, - "y": 0.5000148, - "z": -1.46409988 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.58684492, - "y": 0.0153320041, - "z": -2.47346067 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.49359286, - "y": 0.5016058, - "z": -1.94963694 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.08810878, - "y": 0.6930849, - "z": -1.00151038 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.8180689, - "y": 0.6930849, - "z": 0.06767362 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.8180689, - "y": 0.694788158, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.633471, - "y": 0.1737695, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900017, - "y": 0.665941238, - "z": -2.57899928 - }, - "rotation": { - "x": 0.02053208, - "y": -0.000228451157, - "z": -0.000104976 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 0.427345663, - "y": 0.6733728, - "z": -2.57097316 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": 1.663567, - "y": 0.7945326, - "z": -1.84243464 - }, - "rotation": { - "x": 0.0, - "y": 287.390442, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 0.34141016, - "y": 0.679029644, - "z": -2.55196 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.633471, - "y": 0.6595728, - "z": -1.46409988 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -0.08810878, - "y": 0.7552619, - "z": -0.573836863 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -1.061389, - "y": 0.7552619, - "z": -1.00151038 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": 1.58684492, - "y": 0.0141422953, - "z": -1.94963694 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.726723, - "y": 0.0133516993, - "z": -1.202188 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.3721786, - "y": 0.186121568, - "z": -2.56462479 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2727968567, - "scene_num": 324 - }, - "task_id": "trial_T20190908_031822_994450", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3F51C49T9A34D_34Z02EIMIVUQZCP3M7UX32ZUBL3T0F", - "high_descs": [ - "go forward to the bed and turn to the left and take a few steps forward and turn to the right and go to the wall and turn to the right facing the bed", - "pick up the tennis racket from the floor by the bed", - "turn to the right twice and take a step and turn to the left and go to the dresser", - "place the tennis racket on the dresser top right of the notebook computer" - ], - "task_desc": "Place a tennis racket on the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3R19ZA45J8915_3CFJTT4SXW7E899CDUG24A788HSI7K", - "high_descs": [ - "Walk around the left side of the bed to the tennis racket.", - "Pick up the tennis racket that is on the floor. ", - "Turn and walk up to the dresser. ", - "Place the tennis racket on the right side of the dresser. " - ], - "task_desc": "Move the tennis racket to the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A272X64FOZFYLB_3RKNTXVS3PF2J48VZ8QIK0ZF48Y4AL", - "high_descs": [ - "Walk forward to the left side of the bed, near the baseball bat.", - "Pick up the tennis racket from the floor.", - "Turn right and walk forward to the dresser against the wall.", - "Put the tennis racket on the dresser, to the right of the laptop." - ], - "task_desc": "Move a tennis racket from the floor to a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/traj_data.json deleted file mode 100644 index 67d60f167..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/traj_data.json +++ /dev/null @@ -1,4707 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 23 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 24 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "TissueBox", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-4|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "tissuebox" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "TissueBox", - [ - -5.17880632, - -5.17880632, - -3.817442, - -3.817442, - 3.879210948, - 3.879210948 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -5.1436, - -5.1436, - -3.676000596, - -3.676000596, - 4.0751996, - 4.0751996 - ] - ], - "forceVisible": true, - "objectId": "TissueBox|-01.29|+00.97|-00.95" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "tissuebox", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "TissueBox", - [ - -5.17880632, - -5.17880632, - -3.817442, - -3.817442, - 3.879210948, - 3.879210948 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "TissueBox|-01.29|+00.97|-00.95", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - } - ], - "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": "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": "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": "OpenObject", - "objectId": "Drawer|-01.29|+01.02|-00.92" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 117, - 147, - 254, - 205 - ], - "mask": [ - [ - 43917, - 137 - ], - [ - 44217, - 137 - ], - [ - 44517, - 138 - ], - [ - 44817, - 137 - ], - [ - 45117, - 137 - ], - [ - 45417, - 137 - ], - [ - 45717, - 136 - ], - [ - 46017, - 136 - ], - [ - 46317, - 135 - ], - [ - 46617, - 135 - ], - [ - 46917, - 135 - ], - [ - 47218, - 133 - ], - [ - 47518, - 133 - ], - [ - 47818, - 132 - ], - [ - 48118, - 132 - ], - [ - 48418, - 132 - ], - [ - 48718, - 131 - ], - [ - 49018, - 131 - ], - [ - 49319, - 129 - ], - [ - 49619, - 129 - ], - [ - 49919, - 129 - ], - [ - 50219, - 128 - ], - [ - 50519, - 128 - ], - [ - 50819, - 127 - ], - [ - 51119, - 127 - ], - [ - 51419, - 127 - ], - [ - 51720, - 125 - ], - [ - 52020, - 125 - ], - [ - 52320, - 124 - ], - [ - 52620, - 124 - ], - [ - 52920, - 124 - ], - [ - 53220, - 123 - ], - [ - 53520, - 123 - ], - [ - 53820, - 122 - ], - [ - 54121, - 121 - ], - [ - 54421, - 121 - ], - [ - 54721, - 120 - ], - [ - 55021, - 120 - ], - [ - 55321, - 119 - ], - [ - 55621, - 119 - ], - [ - 55921, - 119 - ], - [ - 56221, - 118 - ], - [ - 56522, - 117 - ], - [ - 56822, - 116 - ], - [ - 57122, - 116 - ], - [ - 57422, - 116 - ], - [ - 57722, - 115 - ], - [ - 58022, - 115 - ], - [ - 58322, - 114 - ], - [ - 58622, - 114 - ], - [ - 58923, - 113 - ], - [ - 59223, - 112 - ], - [ - 59523, - 112 - ], - [ - 59823, - 111 - ], - [ - 60123, - 111 - ], - [ - 60423, - 111 - ], - [ - 60723, - 110 - ], - [ - 61024, - 109 - ], - [ - 61324, - 108 - ] - ], - "point": [ - 185, - 175 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "TissueBox|-01.29|+00.97|-00.95" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 150, - 172, - 183, - 183 - ], - "mask": [ - [ - 51450, - 34 - ], - [ - 51751, - 32 - ], - [ - 52051, - 32 - ], - [ - 52351, - 31 - ], - [ - 52652, - 30 - ], - [ - 52952, - 29 - ], - [ - 53252, - 29 - ], - [ - 53553, - 27 - ], - [ - 53853, - 27 - ], - [ - 54153, - 27 - ], - [ - 54452, - 28 - ], - [ - 54752, - 29 - ] - ], - "point": [ - 166, - 176 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.29|+01.02|-00.92" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 116, - 148, - 287, - 280 - ], - "mask": [ - [ - 44225, - 123 - ], - [ - 44525, - 123 - ], - [ - 44821, - 3 - ], - [ - 44825, - 123 - ], - [ - 45121, - 3 - ], - [ - 45125, - 124 - ], - [ - 45421, - 3 - ], - [ - 45426, - 123 - ], - [ - 45721, - 3 - ], - [ - 45726, - 123 - ], - [ - 46021, - 3 - ], - [ - 46026, - 124 - ], - [ - 46321, - 3 - ], - [ - 46326, - 124 - ], - [ - 46621, - 3 - ], - [ - 46626, - 125 - ], - [ - 46920, - 4 - ], - [ - 46926, - 125 - ], - [ - 47220, - 4 - ], - [ - 47226, - 125 - ], - [ - 47520, - 5 - ], - [ - 47526, - 126 - ], - [ - 47820, - 5 - ], - [ - 47826, - 126 - ], - [ - 48120, - 5 - ], - [ - 48126, - 126 - ], - [ - 48420, - 5 - ], - [ - 48426, - 127 - ], - [ - 48720, - 5 - ], - [ - 48727, - 126 - ], - [ - 49020, - 5 - ], - [ - 49027, - 127 - ], - [ - 49320, - 5 - ], - [ - 49327, - 127 - ], - [ - 49619, - 6 - ], - [ - 49627, - 127 - ], - [ - 49919, - 6 - ], - [ - 49927, - 128 - ], - [ - 50219, - 6 - ], - [ - 50227, - 128 - ], - [ - 50519, - 7 - ], - [ - 50527, - 128 - ], - [ - 50819, - 7 - ], - [ - 50827, - 129 - ], - [ - 51119, - 7 - ], - [ - 51127, - 129 - ], - [ - 51419, - 7 - ], - [ - 51427, - 130 - ], - [ - 51719, - 7 - ], - [ - 51727, - 130 - ], - [ - 52019, - 7 - ], - [ - 52028, - 129 - ], - [ - 52318, - 8 - ], - [ - 52328, - 130 - ], - [ - 52618, - 8 - ], - [ - 52628, - 130 - ], - [ - 52918, - 8 - ], - [ - 52928, - 131 - ], - [ - 53218, - 8 - ], - [ - 53228, - 131 - ], - [ - 53518, - 9 - ], - [ - 53528, - 131 - ], - [ - 53818, - 9 - ], - [ - 53828, - 132 - ], - [ - 54118, - 9 - ], - [ - 54128, - 132 - ], - [ - 54418, - 9 - ], - [ - 54428, - 132 - ], - [ - 54718, - 9 - ], - [ - 54728, - 133 - ], - [ - 55017, - 10 - ], - [ - 55029, - 132 - ], - [ - 55317, - 10 - ], - [ - 55329, - 133 - ], - [ - 55617, - 10 - ], - [ - 55629, - 133 - ], - [ - 55917, - 10 - ], - [ - 55929, - 133 - ], - [ - 56217, - 11 - ], - [ - 56229, - 134 - ], - [ - 56517, - 11 - ], - [ - 56529, - 134 - ], - [ - 56817, - 11 - ], - [ - 56829, - 30 - ], - [ - 56867, - 96 - ], - [ - 57117, - 11 - ], - [ - 57129, - 25 - ], - [ - 57170, - 94 - ], - [ - 57417, - 11 - ], - [ - 57429, - 8 - ], - [ - 57473, - 91 - ], - [ - 57716, - 12 - ], - [ - 57729, - 6 - ], - [ - 57776, - 89 - ], - [ - 58016, - 12 - ], - [ - 58029, - 3 - ], - [ - 58078, - 12 - ], - [ - 58091, - 74 - ], - [ - 58316, - 12 - ], - [ - 58329, - 1 - ], - [ - 58380, - 7 - ], - [ - 58391, - 74 - ], - [ - 58616, - 12 - ], - [ - 58684, - 2 - ], - [ - 58691, - 75 - ], - [ - 58916, - 11 - ], - [ - 58991, - 75 - ], - [ - 59216, - 10 - ], - [ - 59291, - 75 - ], - [ - 59516, - 8 - ], - [ - 59590, - 77 - ], - [ - 59816, - 7 - ], - [ - 59890, - 77 - ], - [ - 60116, - 5 - ], - [ - 60190, - 78 - ], - [ - 60516, - 52 - ], - [ - 60816, - 52 - ], - [ - 61117, - 52 - ], - [ - 61417, - 52 - ], - [ - 61717, - 52 - ], - [ - 62017, - 53 - ], - [ - 62318, - 52 - ], - [ - 62618, - 53 - ], - [ - 62918, - 53 - ], - [ - 63218, - 53 - ], - [ - 63518, - 54 - ], - [ - 63819, - 53 - ], - [ - 64119, - 54 - ], - [ - 64419, - 54 - ], - [ - 64719, - 54 - ], - [ - 65019, - 55 - ], - [ - 65320, - 54 - ], - [ - 65620, - 54 - ], - [ - 65920, - 55 - ], - [ - 66220, - 55 - ], - [ - 66521, - 55 - ], - [ - 66821, - 55 - ], - [ - 67121, - 55 - ], - [ - 67421, - 56 - ], - [ - 67721, - 56 - ], - [ - 68022, - 55 - ], - [ - 68322, - 56 - ], - [ - 68622, - 56 - ], - [ - 68922, - 66 - ], - [ - 69222, - 66 - ], - [ - 69523, - 65 - ], - [ - 69823, - 65 - ], - [ - 70123, - 65 - ], - [ - 70423, - 64 - ], - [ - 70723, - 63 - ], - [ - 71024, - 62 - ], - [ - 71324, - 61 - ], - [ - 71624, - 60 - ], - [ - 71924, - 59 - ], - [ - 72225, - 57 - ], - [ - 72525, - 57 - ], - [ - 72825, - 56 - ], - [ - 73125, - 55 - ], - [ - 73425, - 54 - ], - [ - 73726, - 52 - ], - [ - 74026, - 52 - ], - [ - 74326, - 51 - ], - [ - 74626, - 50 - ], - [ - 74926, - 49 - ], - [ - 75227, - 48 - ], - [ - 75527, - 47 - ], - [ - 75827, - 46 - ], - [ - 76127, - 45 - ], - [ - 76428, - 43 - ], - [ - 76728, - 43 - ], - [ - 77028, - 42 - ], - [ - 77328, - 41 - ], - [ - 77628, - 40 - ], - [ - 77929, - 39 - ], - [ - 78229, - 38 - ], - [ - 78529, - 37 - ], - [ - 78829, - 36 - ], - [ - 79129, - 35 - ], - [ - 79430, - 34 - ], - [ - 79730, - 33 - ], - [ - 80030, - 32 - ], - [ - 80330, - 31 - ], - [ - 80631, - 29 - ], - [ - 80931, - 29 - ], - [ - 81231, - 28 - ], - [ - 81531, - 27 - ], - [ - 81831, - 26 - ], - [ - 82131, - 26 - ], - [ - 82430, - 26 - ], - [ - 82730, - 25 - ], - [ - 83029, - 25 - ], - [ - 83328, - 25 - ], - [ - 83628, - 25 - ], - [ - 83927, - 25 - ] - ], - "point": [ - 201, - 200 - ] - } - }, - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "TissueBox|-01.29|+00.97|-00.95", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 211 - ], - "mask": [ - [ - 76, - 97 - ], - [ - 221, - 79 - ], - [ - 376, - 99 - ], - [ - 519, - 81 - ], - [ - 676, - 100 - ], - [ - 817, - 83 - ], - [ - 975, - 102 - ], - [ - 1116, - 84 - ], - [ - 1275, - 104 - ], - [ - 1414, - 86 - ], - [ - 1575, - 106 - ], - [ - 1712, - 88 - ], - [ - 1875, - 108 - ], - [ - 2009, - 91 - ], - [ - 2174, - 112 - ], - [ - 2306, - 94 - ], - [ - 2474, - 118 - ], - [ - 2600, - 100 - ], - [ - 2774, - 119 - ], - [ - 2896, - 104 - ], - [ - 3074, - 119 - ], - [ - 3195, - 105 - ], - [ - 3373, - 176 - ], - [ - 3673, - 29 - ], - [ - 3715, - 70 - ], - [ - 3808, - 24 - ], - [ - 3845, - 4 - ], - [ - 3973, - 25 - ], - [ - 4020, - 64 - ], - [ - 4109, - 19 - ], - [ - 4273, - 22 - ], - [ - 4323, - 61 - ], - [ - 4409, - 16 - ], - [ - 4572, - 20 - ], - [ - 4625, - 59 - ], - [ - 4709, - 14 - ], - [ - 4872, - 18 - ], - [ - 4927, - 58 - ], - [ - 5010, - 11 - ], - [ - 5172, - 17 - ], - [ - 5228, - 57 - ], - [ - 5310, - 10 - ], - [ - 5472, - 16 - ], - [ - 5529, - 56 - ], - [ - 5610, - 10 - ], - [ - 5771, - 15 - ], - [ - 5830, - 55 - ], - [ - 5910, - 9 - ], - [ - 6071, - 14 - ], - [ - 6131, - 54 - ], - [ - 6210, - 8 - ], - [ - 6369, - 15 - ], - [ - 6432, - 53 - ], - [ - 6510, - 7 - ], - [ - 6669, - 14 - ], - [ - 6732, - 53 - ], - [ - 6811, - 6 - ], - [ - 6969, - 14 - ], - [ - 7033, - 52 - ], - [ - 7111, - 6 - ], - [ - 7200, - 1 - ], - [ - 7269, - 13 - ], - [ - 7333, - 52 - ], - [ - 7411, - 6 - ], - [ - 7500, - 1 - ], - [ - 7568, - 14 - ], - [ - 7606, - 3 - ], - [ - 7633, - 53 - ], - [ - 7711, - 5 - ], - [ - 7740, - 4 - ], - [ - 7800, - 2 - ], - [ - 7868, - 13 - ], - [ - 7904, - 7 - ], - [ - 7933, - 53 - ], - [ - 8011, - 5 - ], - [ - 8039, - 7 - ], - [ - 8100, - 81 - ], - [ - 8203, - 8 - ], - [ - 8233, - 53 - ], - [ - 8312, - 4 - ], - [ - 8339, - 8 - ], - [ - 8400, - 81 - ], - [ - 8503, - 8 - ], - [ - 8534, - 52 - ], - [ - 8612, - 5 - ], - [ - 8639, - 8 - ], - [ - 8700, - 81 - ], - [ - 8804, - 6 - ], - [ - 8833, - 53 - ], - [ - 8912, - 5 - ], - [ - 8940, - 6 - ], - [ - 9000, - 81 - ], - [ - 9133, - 53 - ], - [ - 9212, - 6 - ], - [ - 9300, - 81 - ], - [ - 9432, - 54 - ], - [ - 9512, - 6 - ], - [ - 9600, - 81 - ], - [ - 9732, - 54 - ], - [ - 9813, - 6 - ], - [ - 9900, - 81 - ], - [ - 10032, - 54 - ], - [ - 10113, - 6 - ], - [ - 10200, - 82 - ], - [ - 10331, - 56 - ], - [ - 10413, - 7 - ], - [ - 10500, - 82 - ], - [ - 10630, - 57 - ], - [ - 10713, - 8 - ], - [ - 10800, - 83 - ], - [ - 10929, - 58 - ], - [ - 11013, - 9 - ], - [ - 11068, - 116 - ], - [ - 11228, - 60 - ], - [ - 11312, - 11 - ], - [ - 11367, - 118 - ], - [ - 11527, - 98 - ], - [ - 11667, - 118 - ], - [ - 11826, - 100 - ], - [ - 11966, - 121 - ], - [ - 12124, - 104 - ], - [ - 12265, - 124 - ], - [ - 12422, - 108 - ], - [ - 12563, - 128 - ], - [ - 12720, - 113 - ], - [ - 12861, - 132 - ], - [ - 13017, - 118 - ], - [ - 13159, - 138 - ], - [ - 13313, - 127 - ], - [ - 13456, - 148 - ], - [ - 13605, - 9197 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60517, - 9 - ], - [ - 60677, - 7 - ], - [ - 60816, - 9 - ], - [ - 60978, - 5 - ], - [ - 61117, - 7 - ], - [ - 61278, - 5 - ], - [ - 61417, - 7 - ], - [ - 61579, - 4 - ], - [ - 61717, - 6 - ], - [ - 61880, - 3 - ], - [ - 62017, - 5 - ], - [ - 62181, - 1 - ], - [ - 62318, - 3 - ], - [ - 62481, - 1 - ], - [ - 62618, - 3 - ], - [ - 62918, - 2 - ], - [ - 63218, - 1 - ] - ], - "point": [ - 149, - 105 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan301", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.75, - "y": 0.9009992, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 1.83983088, - "y": 0.7959879, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 1.98229468, - "y": 0.1276559, - "z": -1.24634492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.2898885, - "y": 0.5653898, - "z": 0.358137846 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.5919466, - "y": 0.795321941, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": -1.248423, - "y": 1.23320663, - "z": -0.5537876 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.248423, - "y": 1.23690486, - "z": -0.458181381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.15151465, - "y": 0.5663049, - "z": 0.358137846 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": -1.3876152, - "y": 1.23925281, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": -1.248423, - "y": 1.23491287, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.5244391, - "y": 0.795809, - "z": -1.37770557 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": 1.651802, - "y": 0.7958623, - "z": -1.153574 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.979189456, - "y": 0.640530765, - "z": 0.113711596 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": -1.35281718, - "y": 1.23443329, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.462213755, - "y": 0.561, - "z": 1.0914166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.902, - "y": 0.5744, - "z": 1.179 - }, - "rotation": { - "x": 0.0, - "y": 332.922272, - "z": 0.0 - } - }, - { - "objectName": "Box_32219d9d", - "position": { - "x": 2.7342, - "y": 0.195, - "z": 0.89 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.979189456, - "y": 0.681278169, - "z": 1.5802691 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -0.979189456, - "y": 0.5663049, - "z": 0.846990347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_7de4b683", - "position": { - "x": 2.847, - "y": 0.643, - "z": 1.838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 335.1118 - } - }, - { - "objectName": "BasketBall_7b5f2c88", - "position": { - "x": 1.01984191, - "y": 0.3307791, - "z": -0.977466643 - }, - "rotation": { - "x": 346.775848, - "y": 295.617249, - "z": 1.02139926 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29470158, - "y": 0.969802737, - "z": -0.9543605 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.91130269, - "y": 0.3492792, - "z": -1.16139162 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": 2.21588874, - "y": 0.7965486, - "z": -1.18569851 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 1.75862527, - "y": 0.8060935, - "z": -1.37026334 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_dc0ae5c1", - "position": { - "x": -1.27998614, - "y": 0.0006508231, - "z": -1.34300911 - }, - "rotation": { - "x": 359.9876, - "y": 27.1430378, - "z": 359.993652 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.634, - "y": 0.63, - "z": 1.6116 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": -1.35084438, - "y": 0.6763282, - "z": -0.65047 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": 2.451, - "y": 0.788715243, - "z": -1.20707834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 1.96231079, - "y": 1.04764462, - "z": -1.43291223 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": -1.248423, - "y": 1.23452353, - "z": -0.8406062 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 2.58702, - "y": 1.05037677, - "z": -1.36826336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.82123566, - "y": 0.7887154, - "z": -1.22375739 - }, - "rotation": { - "x": -0.000530867, - "y": -7.92670653e-06, - "z": 0.0005655335 - } - }, - { - "objectName": "Statue_e0075340", - "position": { - "x": 1.823921, - "y": 1.036511, - "z": -1.419659 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3470049177, - "scene_num": 301 - }, - "task_id": "trial_T20190906_221445_679815", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1P0XSCJ9XAV74_3018Q3ZVOL79KAATAKMVSTAPVEOARZ", - "high_descs": [ - "Turn left to walk towards the bean bag. Make a right and then turn left to face the window, turning right again to go towards the chest of drawers.", - "Open the left top drawer and take out the tissue box inside it shut the drawer.", - "Turn right to face the bed and then to the left back towards the chest of drawers holding the box lower.", - "Place the tissue box on top of the chest of drawers on the CD." - ], - "task_desc": "To take out the tissue box to place it on top of drawers.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3LUY3GC632H6PVWGQP6MD78KTNAP79", - "high_descs": [ - "Turn left, then turn right, to go around the bed and to the dresser to the left of the bed. ", - "Open the top left drawer of the dresser.", - "Remove the tissue box from in the drawer.", - "Place the tissue box on top of the dresser, on the compact disk on the left." - ], - "task_desc": "Put a tissue box on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3QAPZX2QN7UWFDVQ3SA12FQ4AYF200", - "high_descs": [ - "turn left and move around to the foot of the bed", - "open the top left drawer of the dresser and get the box of tissues out", - "move to the right a bit and face the dresser", - "place the box of tissues on top of the dresser" - ], - "task_desc": "place a box of tissues on top of the dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/traj_data.json deleted file mode 100644 index 2bf6c4248..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/traj_data.json +++ /dev/null @@ -1,3477 +0,0 @@ -{ - "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": 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": 8 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "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": 1, - "image_name": "000000062.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "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": 3, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000126.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 17 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "TissueBox", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "tissuebox" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "TissueBox", - [ - -5.17340088, - -5.17340088, - -2.4627712, - -2.4627712, - 0.428489508, - 0.428489508 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -5.1436, - -5.1436, - -2.3224, - -2.3224, - 0.663599968, - 0.663599968 - ] - ], - "forceVisible": true, - "objectId": "TissueBox|-01.29|+00.11|-00.62" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "tissuebox", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "TissueBox", - [ - -5.17340088, - -5.17340088, - -2.4627712, - -2.4627712, - 0.428489508, - 0.428489508 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "TissueBox|-01.29|+00.11|-00.62", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - } - ], - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "OpenObject", - "objectId": "Drawer|-01.29|+00.17|-00.58" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 103, - 203, - 165, - 217 - ], - "mask": [ - [ - 60703, - 63 - ], - [ - 61003, - 63 - ], - [ - 61304, - 61 - ], - [ - 61604, - 61 - ], - [ - 61904, - 61 - ], - [ - 62205, - 60 - ], - [ - 62505, - 60 - ], - [ - 62806, - 59 - ], - [ - 63106, - 59 - ], - [ - 63407, - 57 - ], - [ - 63707, - 57 - ], - [ - 64008, - 56 - ], - [ - 64308, - 56 - ], - [ - 64609, - 55 - ], - [ - 64909, - 55 - ] - ], - "point": [ - 134, - 209 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "TissueBox|-01.29|+00.11|-00.62" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 121, - 206, - 137, - 209 - ], - "mask": [ - [ - 61621, - 17 - ], - [ - 61921, - 17 - ], - [ - 62221, - 17 - ], - [ - 62521, - 17 - ] - ], - "point": [ - 129, - 206 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.29|+00.17|-00.58" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 104, - 203, - 163, - 211 - ], - "mask": [ - [ - 60705, - 59 - ], - [ - 61005, - 59 - ], - [ - 61305, - 59 - ], - [ - 61605, - 59 - ], - [ - 61905, - 59 - ], - [ - 62205, - 59 - ], - [ - 62504, - 60 - ], - [ - 62804, - 60 - ], - [ - 63104, - 60 - ] - ], - "point": [ - 133, - 206 - ] - } - }, - "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": "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": "TissueBox|-01.29|+00.11|-00.62", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 211 - ], - "mask": [ - [ - 76, - 79 - ], - [ - 157, - 13 - ], - [ - 191, - 6 - ], - [ - 218, - 29 - ], - [ - 376, - 79 - ], - [ - 457, - 13 - ], - [ - 517, - 30 - ], - [ - 676, - 78 - ], - [ - 756, - 14 - ], - [ - 817, - 30 - ], - [ - 975, - 67 - ], - [ - 1045, - 8 - ], - [ - 1056, - 15 - ], - [ - 1117, - 30 - ], - [ - 1275, - 66 - ], - [ - 1346, - 6 - ], - [ - 1355, - 16 - ], - [ - 1417, - 30 - ], - [ - 1575, - 67 - ], - [ - 1645, - 7 - ], - [ - 1655, - 17 - ], - [ - 1717, - 31 - ], - [ - 1875, - 67 - ], - [ - 1946, - 5 - ], - [ - 1954, - 19 - ], - [ - 2016, - 32 - ], - [ - 2174, - 68 - ], - [ - 2247, - 4 - ], - [ - 2253, - 22 - ], - [ - 2315, - 33 - ], - [ - 2474, - 68 - ], - [ - 2547, - 3 - ], - [ - 2553, - 23 - ], - [ - 2614, - 34 - ], - [ - 2774, - 69 - ], - [ - 2852, - 25 - ], - [ - 2913, - 36 - ], - [ - 3074, - 69 - ], - [ - 3153, - 27 - ], - [ - 3211, - 39 - ], - [ - 3373, - 68 - ], - [ - 3454, - 28 - ], - [ - 3508, - 43 - ], - [ - 3673, - 68 - ], - [ - 3754, - 31 - ], - [ - 3806, - 47 - ], - [ - 3973, - 67 - ], - [ - 4054, - 37 - ], - [ - 4100, - 55 - ], - [ - 4273, - 68 - ], - [ - 4353, - 104 - ], - [ - 4499, - 1 - ], - [ - 4572, - 70 - ], - [ - 4648, - 4 - ], - [ - 4653, - 107 - ], - [ - 4798, - 2 - ], - [ - 4872, - 73 - ], - [ - 4950, - 1 - ], - [ - 4952, - 110 - ], - [ - 5097, - 3 - ], - [ - 5172, - 71 - ], - [ - 5253, - 111 - ], - [ - 5396, - 4 - ], - [ - 5472, - 70 - ], - [ - 5555, - 112 - ], - [ - 5695, - 5 - ], - [ - 5771, - 71 - ], - [ - 5855, - 114 - ], - [ - 5994, - 6 - ], - [ - 6071, - 70 - ], - [ - 6155, - 116 - ], - [ - 6293, - 7 - ], - [ - 6369, - 72 - ], - [ - 6455, - 117 - ], - [ - 6591, - 9 - ], - [ - 6669, - 72 - ], - [ - 6755, - 116 - ], - [ - 6890, - 10 - ], - [ - 6969, - 72 - ], - [ - 7056, - 115 - ], - [ - 7177, - 1 - ], - [ - 7188, - 13 - ], - [ - 7269, - 72 - ], - [ - 7356, - 115 - ], - [ - 7476, - 5 - ], - [ - 7486, - 15 - ], - [ - 7568, - 73 - ], - [ - 7656, - 114 - ], - [ - 7775, - 27 - ], - [ - 7868, - 73 - ], - [ - 7956, - 114 - ], - [ - 8075, - 165 - ], - [ - 8256, - 113 - ], - [ - 8374, - 166 - ], - [ - 8556, - 113 - ], - [ - 8673, - 167 - ], - [ - 8856, - 113 - ], - [ - 8972, - 168 - ], - [ - 9156, - 112 - ], - [ - 9272, - 168 - ], - [ - 9457, - 111 - ], - [ - 9571, - 169 - ], - [ - 9757, - 111 - ], - [ - 9870, - 170 - ], - [ - 10057, - 283 - ], - [ - 10357, - 283 - ], - [ - 10656, - 4 - ], - [ - 10737, - 203 - ], - [ - 10956, - 4 - ], - [ - 11042, - 199 - ], - [ - 11255, - 5 - ], - [ - 11342, - 202 - ], - [ - 11553, - 7 - ], - [ - 11638, - 11164 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57448, - 5 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57748, - 5 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58048, - 5 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58348, - 5 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58648, - 5 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 58948, - 5 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59248, - 5 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59548, - 5 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59848, - 5 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60148, - 5 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60447, - 6 - ], - [ - 60517, - 9 - ], - [ - 60677, - 8 - ], - [ - 60748, - 5 - ], - [ - 60816, - 9 - ], - [ - 60978, - 7 - ], - [ - 61048, - 5 - ], - [ - 61115, - 9 - ], - [ - 61278, - 8 - ], - [ - 61348, - 5 - ], - [ - 61415, - 9 - ], - [ - 61579, - 8 - ], - [ - 61648, - 5 - ], - [ - 61714, - 9 - ], - [ - 61880, - 7 - ], - [ - 61948, - 5 - ], - [ - 62013, - 9 - ], - [ - 62181, - 7 - ], - [ - 62248, - 5 - ], - [ - 62313, - 8 - ], - [ - 62481, - 8 - ], - [ - 62548, - 5 - ], - [ - 62612, - 9 - ], - [ - 62782, - 7 - ], - [ - 62848, - 5 - ], - [ - 62911, - 9 - ], - [ - 63083, - 7 - ], - [ - 63148, - 5 - ], - [ - 63211, - 8 - ] - ], - "point": [ - 149, - 105 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan301", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.75, - "y": 0.9009992, - "z": -0.5 - }, - "object_poses": [ - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.21588874, - "y": 0.793715239, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 2.823699, - "y": 0.57462275, - "z": -1.21824765 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": -1.21362484, - "y": 1.23694086, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.21588874, - "y": 0.7981409, - "z": -1.12144959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": -1.248423, - "y": 1.23506391, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.2898885, - "y": 0.6812781, - "z": 1.5802691 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.2898885, - "y": 0.5653898, - "z": 1.0914166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_32219d9d", - "position": { - "x": 2.7342, - "y": 0.195, - "z": 0.89 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.5, - "y": 0.56, - "z": 0.286 - }, - "rotation": { - "x": 0.0, - "y": 63.46487, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.15151465, - "y": 0.5663049, - "z": 0.113711596 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_7de4b683", - "position": { - "x": 2.847, - "y": 0.643, - "z": 1.838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 335.1118 - } - }, - { - "objectName": "BasketBall_7b5f2c88", - "position": { - "x": 1.01986575, - "y": 0.330830961, - "z": -0.9766739 - }, - "rotation": { - "x": 346.948517, - "y": 295.8199, - "z": 0.656402946 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29335022, - "y": 0.107122377, - "z": -0.6156928 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.50911212, - "y": 0.795809, - "z": -1.41259813 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": -1.2700001, - "y": 1.22743726, - "z": -0.473998249 - }, - "rotation": { - "x": 0.00253671943, - "y": 228.19104, - "z": -0.00137744634 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 1.85996807, - "y": 0.8060935, - "z": -1.37026334 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_dc0ae5c1", - "position": { - "x": -1.279986, - "y": 0.0006509721, - "z": -1.343009 - }, - "rotation": { - "x": 359.9876, - "y": 27.1430244, - "z": 359.993622 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.634, - "y": 0.63, - "z": 1.6116 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": 2.70629644, - "y": 1.27874744, - "z": -1.37226343 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": 2.451, - "y": 0.788715243, - "z": -1.20707834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": -1.2365061, - "y": 0.106428817, - "z": -0.988704443 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": -1.35281718, - "y": 1.23452353, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 1.83983088, - "y": 0.8004528, - "z": -1.21782291 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.02785969, - "y": 0.793715239, - "z": -1.153574 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_e0075340", - "position": { - "x": 1.823921, - "y": 1.036511, - "z": -1.419659 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 767947594, - "scene_num": 301 - }, - "task_id": "trial_T20190906_221500_723697", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AD0NVUGLDYDYN_32KTQ2V7RGW4IBNWD6CEAZ5VJ599MP", - "high_descs": [ - "Turn right, walk to the white dresser", - "Open the bottom drawer on the right, grab the tissue box, close the drawer", - "Walk to the left a bit, facing the dresser", - "Put the tissue box on the car key" - ], - "task_desc": "Move the tissue box from the bottom right drawer to the dresser top", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3C8HJ7UOPABJO259H46DNN7OY8RMZB", - "high_descs": [ - "Turn right then walk over to the tall white dresser.", - "Open the bottom right drawer of the dresser and remove the tissue box inside.", - "Turn left and walk towards the wall, then turn right to face the dresser again.", - "Place the tissue box on the white dresser on top of the keys." - ], - "task_desc": "Place a tissue box on the top of a white dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3HMIGG0U4ON4YNT0RHUB4YXR8AE8Y0", - "high_descs": [ - "go over to the bedroom dresser", - "grab a box of tissues out from the bottom right drawer", - "move a bit to face the center of the dresser", - "place the box of tissues on top of the dresser" - ], - "task_desc": "place a box of tissues on top of the dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/traj_data.json deleted file mode 100644 index a36754dad..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/traj_data.json +++ /dev/null @@ -1,4632 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 11 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 11 - }, - { - "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": 1, - "image_name": "000000074.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 20 - }, - { - "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": 2, - "image_name": "000000097.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 22 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 24 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 25 - }, - { - "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 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 26 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "TissueBox", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-4|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "tissuebox" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "TissueBox", - [ - -5.17880632, - -5.17880632, - -3.676000596, - -3.676000596, - 3.879210948, - 3.879210948 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -5.1436, - -5.1436, - -3.676000596, - -3.676000596, - 4.0751996, - 4.0751996 - ] - ], - "forceVisible": true, - "objectId": "TissueBox|-01.29|+00.97|-00.92" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "tissuebox", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "TissueBox", - [ - -5.17880632, - -5.17880632, - -3.676000596, - -3.676000596, - 3.879210948, - 3.879210948 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "TissueBox|-01.29|+00.97|-00.92", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - }, - { - "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": "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": "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": "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": "OpenObject", - "objectId": "Drawer|-01.29|+01.02|-00.92" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 117, - 147, - 254, - 205 - ], - "mask": [ - [ - 43917, - 137 - ], - [ - 44217, - 137 - ], - [ - 44517, - 138 - ], - [ - 44817, - 137 - ], - [ - 45117, - 137 - ], - [ - 45417, - 137 - ], - [ - 45717, - 136 - ], - [ - 46017, - 136 - ], - [ - 46317, - 135 - ], - [ - 46617, - 135 - ], - [ - 46917, - 135 - ], - [ - 47218, - 133 - ], - [ - 47518, - 133 - ], - [ - 47818, - 132 - ], - [ - 48118, - 132 - ], - [ - 48418, - 132 - ], - [ - 48718, - 131 - ], - [ - 49018, - 131 - ], - [ - 49319, - 129 - ], - [ - 49619, - 129 - ], - [ - 49919, - 129 - ], - [ - 50219, - 128 - ], - [ - 50519, - 128 - ], - [ - 50819, - 127 - ], - [ - 51119, - 127 - ], - [ - 51419, - 127 - ], - [ - 51720, - 125 - ], - [ - 52020, - 125 - ], - [ - 52320, - 124 - ], - [ - 52620, - 124 - ], - [ - 52920, - 124 - ], - [ - 53220, - 123 - ], - [ - 53520, - 123 - ], - [ - 53820, - 122 - ], - [ - 54121, - 121 - ], - [ - 54421, - 121 - ], - [ - 54721, - 120 - ], - [ - 55021, - 120 - ], - [ - 55321, - 119 - ], - [ - 55621, - 119 - ], - [ - 55921, - 119 - ], - [ - 56221, - 118 - ], - [ - 56522, - 117 - ], - [ - 56822, - 116 - ], - [ - 57122, - 116 - ], - [ - 57422, - 116 - ], - [ - 57722, - 115 - ], - [ - 58022, - 115 - ], - [ - 58322, - 114 - ], - [ - 58622, - 114 - ], - [ - 58923, - 113 - ], - [ - 59223, - 112 - ], - [ - 59523, - 112 - ], - [ - 59823, - 111 - ], - [ - 60123, - 111 - ], - [ - 60423, - 111 - ], - [ - 60723, - 110 - ], - [ - 61024, - 109 - ], - [ - 61324, - 108 - ] - ], - "point": [ - 185, - 175 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "TissueBox|-01.29|+00.97|-00.92" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 163, - 172, - 196, - 183 - ], - "mask": [ - [ - 51463, - 34 - ], - [ - 51764, - 32 - ], - [ - 52064, - 32 - ], - [ - 52364, - 31 - ], - [ - 52665, - 30 - ], - [ - 52965, - 29 - ], - [ - 53265, - 29 - ], - [ - 53566, - 27 - ], - [ - 53866, - 27 - ], - [ - 54165, - 28 - ], - [ - 54465, - 28 - ], - [ - 54764, - 29 - ] - ], - "point": [ - 179, - 176 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.29|+01.02|-00.92" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 116, - 148, - 287, - 280 - ], - "mask": [ - [ - 44225, - 123 - ], - [ - 44525, - 123 - ], - [ - 44821, - 3 - ], - [ - 44825, - 123 - ], - [ - 45121, - 3 - ], - [ - 45125, - 124 - ], - [ - 45421, - 3 - ], - [ - 45426, - 123 - ], - [ - 45721, - 3 - ], - [ - 45726, - 123 - ], - [ - 46021, - 3 - ], - [ - 46026, - 124 - ], - [ - 46321, - 3 - ], - [ - 46326, - 124 - ], - [ - 46621, - 3 - ], - [ - 46626, - 125 - ], - [ - 46920, - 4 - ], - [ - 46926, - 125 - ], - [ - 47220, - 4 - ], - [ - 47226, - 125 - ], - [ - 47520, - 5 - ], - [ - 47526, - 126 - ], - [ - 47820, - 5 - ], - [ - 47826, - 126 - ], - [ - 48120, - 5 - ], - [ - 48126, - 126 - ], - [ - 48420, - 5 - ], - [ - 48426, - 127 - ], - [ - 48720, - 5 - ], - [ - 48727, - 126 - ], - [ - 49020, - 5 - ], - [ - 49027, - 127 - ], - [ - 49320, - 5 - ], - [ - 49327, - 127 - ], - [ - 49619, - 6 - ], - [ - 49627, - 127 - ], - [ - 49919, - 6 - ], - [ - 49927, - 128 - ], - [ - 50219, - 6 - ], - [ - 50227, - 128 - ], - [ - 50519, - 7 - ], - [ - 50527, - 128 - ], - [ - 50819, - 7 - ], - [ - 50827, - 129 - ], - [ - 51119, - 7 - ], - [ - 51127, - 129 - ], - [ - 51419, - 7 - ], - [ - 51427, - 130 - ], - [ - 51719, - 7 - ], - [ - 51727, - 130 - ], - [ - 52019, - 7 - ], - [ - 52028, - 129 - ], - [ - 52318, - 8 - ], - [ - 52328, - 130 - ], - [ - 52618, - 8 - ], - [ - 52628, - 130 - ], - [ - 52918, - 8 - ], - [ - 52928, - 131 - ], - [ - 53218, - 8 - ], - [ - 53228, - 131 - ], - [ - 53518, - 9 - ], - [ - 53528, - 131 - ], - [ - 53818, - 9 - ], - [ - 53828, - 132 - ], - [ - 54118, - 9 - ], - [ - 54128, - 132 - ], - [ - 54418, - 9 - ], - [ - 54428, - 132 - ], - [ - 54718, - 9 - ], - [ - 54728, - 133 - ], - [ - 55017, - 10 - ], - [ - 55029, - 132 - ], - [ - 55317, - 10 - ], - [ - 55329, - 133 - ], - [ - 55617, - 10 - ], - [ - 55629, - 133 - ], - [ - 55917, - 10 - ], - [ - 55929, - 133 - ], - [ - 56217, - 11 - ], - [ - 56229, - 134 - ], - [ - 56517, - 11 - ], - [ - 56529, - 134 - ], - [ - 56817, - 11 - ], - [ - 56829, - 30 - ], - [ - 56867, - 96 - ], - [ - 57117, - 11 - ], - [ - 57129, - 25 - ], - [ - 57170, - 94 - ], - [ - 57417, - 11 - ], - [ - 57429, - 8 - ], - [ - 57473, - 91 - ], - [ - 57716, - 12 - ], - [ - 57729, - 6 - ], - [ - 57776, - 89 - ], - [ - 58016, - 12 - ], - [ - 58029, - 3 - ], - [ - 58078, - 12 - ], - [ - 58091, - 74 - ], - [ - 58316, - 12 - ], - [ - 58329, - 1 - ], - [ - 58380, - 7 - ], - [ - 58391, - 74 - ], - [ - 58616, - 12 - ], - [ - 58684, - 2 - ], - [ - 58691, - 75 - ], - [ - 58916, - 11 - ], - [ - 58991, - 75 - ], - [ - 59216, - 10 - ], - [ - 59291, - 75 - ], - [ - 59516, - 8 - ], - [ - 59590, - 77 - ], - [ - 59816, - 7 - ], - [ - 59890, - 77 - ], - [ - 60116, - 5 - ], - [ - 60190, - 78 - ], - [ - 60516, - 52 - ], - [ - 60816, - 52 - ], - [ - 61117, - 52 - ], - [ - 61417, - 52 - ], - [ - 61717, - 52 - ], - [ - 62017, - 53 - ], - [ - 62318, - 52 - ], - [ - 62618, - 53 - ], - [ - 62918, - 53 - ], - [ - 63218, - 53 - ], - [ - 63518, - 54 - ], - [ - 63819, - 53 - ], - [ - 64119, - 54 - ], - [ - 64419, - 54 - ], - [ - 64719, - 54 - ], - [ - 65019, - 55 - ], - [ - 65320, - 54 - ], - [ - 65620, - 54 - ], - [ - 65920, - 55 - ], - [ - 66220, - 55 - ], - [ - 66521, - 55 - ], - [ - 66821, - 55 - ], - [ - 67121, - 55 - ], - [ - 67421, - 56 - ], - [ - 67721, - 56 - ], - [ - 68022, - 55 - ], - [ - 68322, - 56 - ], - [ - 68622, - 56 - ], - [ - 68922, - 66 - ], - [ - 69222, - 66 - ], - [ - 69523, - 65 - ], - [ - 69823, - 65 - ], - [ - 70123, - 65 - ], - [ - 70423, - 64 - ], - [ - 70723, - 63 - ], - [ - 71024, - 62 - ], - [ - 71324, - 61 - ], - [ - 71624, - 60 - ], - [ - 71924, - 59 - ], - [ - 72225, - 57 - ], - [ - 72525, - 57 - ], - [ - 72825, - 56 - ], - [ - 73125, - 55 - ], - [ - 73425, - 54 - ], - [ - 73726, - 52 - ], - [ - 74026, - 52 - ], - [ - 74326, - 51 - ], - [ - 74626, - 50 - ], - [ - 74926, - 49 - ], - [ - 75227, - 48 - ], - [ - 75527, - 47 - ], - [ - 75827, - 46 - ], - [ - 76127, - 45 - ], - [ - 76428, - 43 - ], - [ - 76728, - 43 - ], - [ - 77028, - 42 - ], - [ - 77328, - 41 - ], - [ - 77628, - 40 - ], - [ - 77929, - 39 - ], - [ - 78229, - 38 - ], - [ - 78529, - 37 - ], - [ - 78829, - 36 - ], - [ - 79129, - 35 - ], - [ - 79430, - 34 - ], - [ - 79730, - 33 - ], - [ - 80030, - 32 - ], - [ - 80330, - 31 - ], - [ - 80631, - 29 - ], - [ - 80931, - 29 - ], - [ - 81231, - 28 - ], - [ - 81531, - 27 - ], - [ - 81831, - 26 - ], - [ - 82131, - 26 - ], - [ - 82430, - 26 - ], - [ - 82730, - 25 - ], - [ - 83029, - 25 - ], - [ - 83328, - 25 - ], - [ - 83628, - 25 - ], - [ - 83927, - 25 - ] - ], - "point": [ - 201, - 200 - ] - } - }, - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "TissueBox|-01.29|+00.97|-00.92", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 211 - ], - "mask": [ - [ - 76, - 22 - ], - [ - 122, - 19 - ], - [ - 183, - 38 - ], - [ - 248, - 27 - ], - [ - 280, - 20 - ], - [ - 376, - 22 - ], - [ - 422, - 19 - ], - [ - 483, - 41 - ], - [ - 546, - 30 - ], - [ - 581, - 19 - ], - [ - 676, - 22 - ], - [ - 721, - 20 - ], - [ - 783, - 45 - ], - [ - 843, - 33 - ], - [ - 881, - 19 - ], - [ - 975, - 22 - ], - [ - 1021, - 20 - ], - [ - 1083, - 94 - ], - [ - 1182, - 18 - ], - [ - 1275, - 22 - ], - [ - 1321, - 19 - ], - [ - 1382, - 95 - ], - [ - 1482, - 18 - ], - [ - 1575, - 22 - ], - [ - 1621, - 19 - ], - [ - 1682, - 95 - ], - [ - 1783, - 17 - ], - [ - 1875, - 22 - ], - [ - 1921, - 19 - ], - [ - 1982, - 96 - ], - [ - 2083, - 17 - ], - [ - 2174, - 23 - ], - [ - 2221, - 19 - ], - [ - 2282, - 96 - ], - [ - 2383, - 17 - ], - [ - 2474, - 23 - ], - [ - 2521, - 19 - ], - [ - 2582, - 97 - ], - [ - 2684, - 16 - ], - [ - 2774, - 22 - ], - [ - 2821, - 19 - ], - [ - 2881, - 98 - ], - [ - 2984, - 16 - ], - [ - 3074, - 22 - ], - [ - 3121, - 19 - ], - [ - 3181, - 98 - ], - [ - 3285, - 15 - ], - [ - 3373, - 23 - ], - [ - 3421, - 19 - ], - [ - 3481, - 99 - ], - [ - 3585, - 15 - ], - [ - 3673, - 23 - ], - [ - 3720, - 20 - ], - [ - 3780, - 100 - ], - [ - 3886, - 14 - ], - [ - 3973, - 23 - ], - [ - 4020, - 20 - ], - [ - 4080, - 101 - ], - [ - 4186, - 14 - ], - [ - 4273, - 22 - ], - [ - 4320, - 20 - ], - [ - 4380, - 101 - ], - [ - 4486, - 14 - ], - [ - 4572, - 23 - ], - [ - 4620, - 20 - ], - [ - 4680, - 102 - ], - [ - 4787, - 13 - ], - [ - 4872, - 68 - ], - [ - 4979, - 103 - ], - [ - 5087, - 13 - ], - [ - 5172, - 68 - ], - [ - 5279, - 103 - ], - [ - 5388, - 12 - ], - [ - 5472, - 68 - ], - [ - 5578, - 105 - ], - [ - 5688, - 12 - ], - [ - 5771, - 73 - ], - [ - 5878, - 105 - ], - [ - 5989, - 11 - ], - [ - 6071, - 75 - ], - [ - 6152, - 3 - ], - [ - 6177, - 107 - ], - [ - 6289, - 11 - ], - [ - 6369, - 77 - ], - [ - 6452, - 15 - ], - [ - 6476, - 108 - ], - [ - 6589, - 11 - ], - [ - 6669, - 77 - ], - [ - 6751, - 133 - ], - [ - 6890, - 10 - ], - [ - 6969, - 78 - ], - [ - 7051, - 134 - ], - [ - 7190, - 11 - ], - [ - 7269, - 78 - ], - [ - 7351, - 134 - ], - [ - 7491, - 10 - ], - [ - 7568, - 79 - ], - [ - 7651, - 135 - ], - [ - 7791, - 11 - ], - [ - 7868, - 79 - ], - [ - 7950, - 136 - ], - [ - 8092, - 155 - ], - [ - 8250, - 137 - ], - [ - 8392, - 155 - ], - [ - 8550, - 137 - ], - [ - 8692, - 155 - ], - [ - 8850, - 137 - ], - [ - 8993, - 154 - ], - [ - 9150, - 138 - ], - [ - 9293, - 154 - ], - [ - 9449, - 139 - ], - [ - 9593, - 296 - ], - [ - 9893, - 297 - ], - [ - 10193, - 298 - ], - [ - 10493, - 299 - ], - [ - 10793, - 12009 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60517, - 9 - ], - [ - 60677, - 7 - ], - [ - 60816, - 9 - ], - [ - 60978, - 5 - ], - [ - 61117, - 7 - ], - [ - 61278, - 5 - ], - [ - 61417, - 7 - ], - [ - 61579, - 4 - ], - [ - 61717, - 6 - ], - [ - 61880, - 3 - ], - [ - 62017, - 5 - ], - [ - 62181, - 1 - ], - [ - 62318, - 3 - ], - [ - 62481, - 1 - ], - [ - 62618, - 3 - ], - [ - 62918, - 2 - ], - [ - 63218, - 1 - ] - ], - "point": [ - 149, - 105 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan301", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 1.75, - "y": 0.9009992, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": 1.66552961, - "y": 0.129082769, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29470158, - "y": 0.969802737, - "z": -0.919000149 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": 1.94679868, - "y": 0.350982755, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": -1.3876152, - "y": 1.23387265, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 2.85323119, - "y": 0.127048954, - "z": -1.21824765 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.2898885, - "y": 0.5653898, - "z": 1.0914166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 1.59453762, - "y": 0.5687899, - "z": -1.27466273 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 1.83983088, - "y": 0.7944067, - "z": -1.28207183 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.4821074, - "y": 1.04806483, - "z": -1.38317561 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": -1.3876152, - "y": 1.233596, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": 1.651802, - "y": 0.7958623, - "z": -1.28207183 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": 2.21588874, - "y": 0.7965486, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.902, - "y": 0.5744, - "z": 1.179 - }, - "rotation": { - "x": 0.0, - "y": 332.922272, - "z": 0.0 - } - }, - { - "objectName": "Box_32219d9d", - "position": { - "x": 2.7342, - "y": 0.195, - "z": 0.89 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.5, - "y": 0.56, - "z": 0.286 - }, - "rotation": { - "x": 0.0, - "y": 63.46487, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.32206893, - "y": 0.3854111, - "z": -0.543433368 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_7de4b683", - "position": { - "x": 2.847, - "y": 0.643, - "z": 1.838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 335.1118 - } - }, - { - "objectName": "BasketBall_7b5f2c88", - "position": { - "x": 1.01986575, - "y": 0.330830961, - "z": -0.9766739 - }, - "rotation": { - "x": 346.948517, - "y": 295.8199, - "z": 0.656402946 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29435253, - "y": 0.677880645, - "z": -0.9188626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": -1.31801915, - "y": 1.23491287, - "z": -0.8406062 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": -1.283221, - "y": 1.23443329, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 1.94679868, - "y": 0.1307241, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_dc0ae5c1", - "position": { - "x": -1.27998614, - "y": 0.0006508529, - "z": -1.34300911 - }, - "rotation": { - "x": 359.9876, - "y": 27.1430378, - "z": 359.993622 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.634, - "y": 0.63, - "z": 1.6116 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": 1.83983088, - "y": 0.7949471, - "z": -1.153574 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": 2.451, - "y": 0.788715243, - "z": -1.20707834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 1.91130269, - "y": 0.1276559, - "z": -1.16139162 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.85323119, - "y": 0.568576634, - "z": -1.24647689 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": -1.31801915, - "y": 1.24056971, - "z": -0.458181381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": -1.3876152, - "y": 1.23159993, - "z": -0.5537876 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_e0075340", - "position": { - "x": 1.823921, - "y": 1.036511, - "z": -1.419659 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3845825488, - "scene_num": 301 - }, - "task_id": "trial_T20190906_221513_072505", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AM2KK02JXXW48_35GMH2SV3HY9DAZPYX7DUHVB51VOEI", - "high_descs": [ - "Move over to the white dresser.", - "Open the top left shelf and pick up the box of tissues in it. ", - "Bring the tissues to the top of the dresser. ", - "Put the tissues on the top of the dresser." - ], - "task_desc": "Put the tissue box on the top of the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A24RGLS3BRZ60J_3NLZY2D53S6Q4SMXUWMLWHGVTYKLQE", - "high_descs": [ - "Go to the right and locate the tall dresser.", - "Open the top left drawer, and take out the tissues.", - "Take the tissues and turn to the right and back up.", - "Put the tissues on top of the dresser." - ], - "task_desc": "Place tissues on top of the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1GVTH5YS3WOK0_3WAKVUDHUZXJH04C7B5GNDVJ1ZD7UO", - "high_descs": [ - "Turn right and head towards the dresser.", - "Pull out the top left drawer and take out the tissue box from the drawer.", - "Close the drawer and look up at the top of the dresser.", - "Place the tissue box in front of the red card on the top of the dresser." - ], - "task_desc": "Place the tissue box on top of the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015035_153821/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015035_153821/traj_data.json deleted file mode 100644 index 385f96ed2..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015035_153821/traj_data.json +++ /dev/null @@ -1,4338 +0,0 @@ -{ - "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": 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": 10 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 32 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 42 - }, - { - "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": 47 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000235.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000236.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000237.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000238.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000239.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000240.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000241.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000242.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000243.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000244.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000245.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000246.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000249.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000250.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000251.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000252.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000253.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000254.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000255.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000256.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000257.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000258.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000259.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000260.png", - "low_idx": 69 - }, - { - "high_idx": 3, - "image_name": "000000261.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000262.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000263.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000264.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000265.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000266.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000267.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000268.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000269.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000270.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000271.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000272.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000273.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000274.png", - "low_idx": 70 - }, - { - "high_idx": 3, - "image_name": "000000275.png", - "low_idx": 70 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "WateringCan", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "wateringcan" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|-8|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "wateringcan" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "WateringCan", - [ - 11.57599832, - 11.57599832, - -7.66400528, - -7.66400528, - 0.059756428, - 0.059756428 - ] - ], - "forceVisible": true, - "objectId": "WateringCan|+02.89|+00.01|-01.92" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|8|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "wateringcan", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "WateringCan", - [ - 11.57599832, - 11.57599832, - -7.66400528, - -7.66400528, - 0.059756428, - 0.059756428 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.0928, - -0.0928, - 6.8896, - 6.8896, - 0.0436, - 0.0436 - ] - ], - "forceVisible": true, - "objectId": "WateringCan|+02.89|+00.01|-01.92", - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - } - } - ], - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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|+02.89|+00.01|-01.92" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 110, - 205, - 153, - 235 - ], - "mask": [ - [ - 61332, - 4 - ], - [ - 61630, - 10 - ], - [ - 61928, - 15 - ], - [ - 62227, - 17 - ], - [ - 62246, - 6 - ], - [ - 62525, - 28 - ], - [ - 62824, - 30 - ], - [ - 63124, - 24 - ], - [ - 63150, - 3 - ], - [ - 63423, - 24 - ], - [ - 63450, - 3 - ], - [ - 63723, - 24 - ], - [ - 63749, - 4 - ], - [ - 64023, - 29 - ], - [ - 64322, - 29 - ], - [ - 64622, - 28 - ], - [ - 64922, - 27 - ], - [ - 65221, - 28 - ], - [ - 65521, - 28 - ], - [ - 65821, - 28 - ], - [ - 66121, - 28 - ], - [ - 66421, - 28 - ], - [ - 66721, - 27 - ], - [ - 67021, - 27 - ], - [ - 67320, - 28 - ], - [ - 67618, - 30 - ], - [ - 67916, - 31 - ], - [ - 68213, - 34 - ], - [ - 68510, - 36 - ], - [ - 68810, - 36 - ], - [ - 69110, - 2 - ], - [ - 69116, - 29 - ], - [ - 69419, - 24 - ], - [ - 69721, - 21 - ], - [ - 70023, - 3 - ], - [ - 70031, - 9 - ], - [ - 70335, - 3 - ] - ], - "point": [ - 131, - 219 - ] - } - }, - "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": "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": "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": "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": "WateringCan|+02.89|+00.01|-01.92", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 16, - 299, - 224 - ], - "mask": [ - [ - 4500, - 74 - ], - [ - 4800, - 74 - ], - [ - 5100, - 74 - ], - [ - 5400, - 74 - ], - [ - 5700, - 74 - ], - [ - 6000, - 74 - ], - [ - 6300, - 74 - ], - [ - 6600, - 74 - ], - [ - 6900, - 74 - ], - [ - 7200, - 74 - ], - [ - 7500, - 74 - ], - [ - 7800, - 74 - ], - [ - 7890, - 6 - ], - [ - 8100, - 74 - ], - [ - 8190, - 11 - ], - [ - 8400, - 74 - ], - [ - 8489, - 17 - ], - [ - 8700, - 74 - ], - [ - 8789, - 23 - ], - [ - 9000, - 74 - ], - [ - 9089, - 28 - ], - [ - 9300, - 74 - ], - [ - 9389, - 34 - ], - [ - 9600, - 73 - ], - [ - 9689, - 8 - ], - [ - 9710, - 18 - ], - [ - 9900, - 73 - ], - [ - 9990, - 7 - ], - [ - 10010, - 23 - ], - [ - 10200, - 73 - ], - [ - 10290, - 7 - ], - [ - 10310, - 29 - ], - [ - 10500, - 73 - ], - [ - 10591, - 6 - ], - [ - 10610, - 36 - ], - [ - 10800, - 73 - ], - [ - 10891, - 6 - ], - [ - 10910, - 45 - ], - [ - 11100, - 44 - ], - [ - 11150, - 23 - ], - [ - 11192, - 5 - ], - [ - 11210, - 48 - ], - [ - 11400, - 20 - ], - [ - 11424, - 7 - ], - [ - 11435, - 2 - ], - [ - 11451, - 22 - ], - [ - 11492, - 4 - ], - [ - 11510, - 48 - ], - [ - 11700, - 23 - ], - [ - 11733, - 2 - ], - [ - 11752, - 21 - ], - [ - 11792, - 4 - ], - [ - 11810, - 48 - ], - [ - 12000, - 28 - ], - [ - 12033, - 2 - ], - [ - 12052, - 21 - ], - [ - 12092, - 4 - ], - [ - 12109, - 49 - ], - [ - 12294, - 34 - ], - [ - 12332, - 1 - ], - [ - 12334, - 1 - ], - [ - 12351, - 23 - ], - [ - 12392, - 4 - ], - [ - 12409, - 49 - ], - [ - 12594, - 29 - ], - [ - 12634, - 1 - ], - [ - 12651, - 23 - ], - [ - 12692, - 4 - ], - [ - 12709, - 49 - ], - [ - 12895, - 26 - ], - [ - 12932, - 6 - ], - [ - 12951, - 23 - ], - [ - 12991, - 5 - ], - [ - 13009, - 49 - ], - [ - 13195, - 79 - ], - [ - 13291, - 4 - ], - [ - 13309, - 49 - ], - [ - 13495, - 79 - ], - [ - 13591, - 4 - ], - [ - 13609, - 49 - ], - [ - 13796, - 28 - ], - [ - 13855, - 19 - ], - [ - 13877, - 2 - ], - [ - 13891, - 67 - ], - [ - 14096, - 24 - ], - [ - 14158, - 17 - ], - [ - 14177, - 2 - ], - [ - 14191, - 67 - ], - [ - 14396, - 24 - ], - [ - 14458, - 17 - ], - [ - 14478, - 1 - ], - [ - 14491, - 67 - ], - [ - 14697, - 22 - ], - [ - 14758, - 17 - ], - [ - 14778, - 1 - ], - [ - 14791, - 67 - ], - [ - 14997, - 22 - ], - [ - 15057, - 18 - ], - [ - 15078, - 2 - ], - [ - 15091, - 67 - ], - [ - 15297, - 22 - ], - [ - 15358, - 17 - ], - [ - 15377, - 3 - ], - [ - 15391, - 68 - ], - [ - 15597, - 21 - ], - [ - 15657, - 19 - ], - [ - 15677, - 3 - ], - [ - 15692, - 67 - ], - [ - 15897, - 21 - ], - [ - 15957, - 19 - ], - [ - 15978, - 2 - ], - [ - 15992, - 67 - ], - [ - 16197, - 21 - ], - [ - 16256, - 21 - ], - [ - 16278, - 3 - ], - [ - 16292, - 68 - ], - [ - 16497, - 20 - ], - [ - 16556, - 25 - ], - [ - 16593, - 67 - ], - [ - 16796, - 21 - ], - [ - 16856, - 26 - ], - [ - 16893, - 68 - ], - [ - 17096, - 20 - ], - [ - 17156, - 26 - ], - [ - 17193, - 69 - ], - [ - 17395, - 21 - ], - [ - 17456, - 27 - ], - [ - 17493, - 69 - ], - [ - 17695, - 21 - ], - [ - 17756, - 27 - ], - [ - 17793, - 70 - ], - [ - 17994, - 23 - ], - [ - 18055, - 29 - ], - [ - 18094, - 70 - ], - [ - 18294, - 24 - ], - [ - 18329, - 1 - ], - [ - 18354, - 31 - ], - [ - 18394, - 71 - ], - [ - 18593, - 92 - ], - [ - 18694, - 72 - ], - [ - 18893, - 92 - ], - [ - 18994, - 74 - ], - [ - 19192, - 93 - ], - [ - 19294, - 76 - ], - [ - 19490, - 95 - ], - [ - 19595, - 76 - ], - [ - 19789, - 85 - ], - [ - 19919, - 54 - ], - [ - 20088, - 83 - ], - [ - 20225, - 50 - ], - [ - 20386, - 85 - ], - [ - 20525, - 52 - ], - [ - 20685, - 86 - ], - [ - 20825, - 54 - ], - [ - 20983, - 87 - ], - [ - 21125, - 57 - ], - [ - 21281, - 89 - ], - [ - 21425, - 60 - ], - [ - 21578, - 92 - ], - [ - 21725, - 63 - ], - [ - 21875, - 95 - ], - [ - 22025, - 66 - ], - [ - 22173, - 97 - ], - [ - 22325, - 70 - ], - [ - 22469, - 100 - ], - [ - 22625, - 75 - ], - [ - 22764, - 105 - ], - [ - 22925, - 81 - ], - [ - 23059, - 110 - ], - [ - 23224, - 87 - ], - [ - 23358, - 111 - ], - [ - 23524, - 87 - ], - [ - 23659, - 109 - ], - [ - 23824, - 87 - ], - [ - 23959, - 109 - ], - [ - 24124, - 87 - ], - [ - 24259, - 109 - ], - [ - 24424, - 88 - ], - [ - 24560, - 108 - ], - [ - 24724, - 88 - ], - [ - 24860, - 108 - ], - [ - 25024, - 88 - ], - [ - 25160, - 107 - ], - [ - 25324, - 88 - ], - [ - 25460, - 107 - ], - [ - 25624, - 88 - ], - [ - 25761, - 106 - ], - [ - 25924, - 88 - ], - [ - 26061, - 106 - ], - [ - 26224, - 89 - ], - [ - 26361, - 106 - ], - [ - 26524, - 89 - ], - [ - 26662, - 104 - ], - [ - 26824, - 89 - ], - [ - 26962, - 104 - ], - [ - 27124, - 89 - ], - [ - 27262, - 104 - ], - [ - 27424, - 89 - ], - [ - 27562, - 104 - ], - [ - 27723, - 90 - ], - [ - 27863, - 102 - ], - [ - 28023, - 91 - ], - [ - 28163, - 102 - ], - [ - 28323, - 91 - ], - [ - 28463, - 102 - ], - [ - 28623, - 91 - ], - [ - 28764, - 101 - ], - [ - 28923, - 91 - ], - [ - 29064, - 101 - ], - [ - 29223, - 91 - ], - [ - 29364, - 100 - ], - [ - 29523, - 24 - ], - [ - 29553, - 61 - ], - [ - 29664, - 100 - ], - [ - 29823, - 22 - ], - [ - 29855, - 59 - ], - [ - 29965, - 99 - ], - [ - 30123, - 21 - ], - [ - 30156, - 59 - ], - [ - 30265, - 99 - ], - [ - 30423, - 21 - ], - [ - 30456, - 59 - ], - [ - 30565, - 99 - ], - [ - 30723, - 20 - ], - [ - 30757, - 58 - ], - [ - 30866, - 97 - ], - [ - 31023, - 21 - ], - [ - 31056, - 59 - ], - [ - 31166, - 97 - ], - [ - 31323, - 21 - ], - [ - 31356, - 59 - ], - [ - 31466, - 97 - ], - [ - 31623, - 21 - ], - [ - 31656, - 59 - ], - [ - 31766, - 97 - ], - [ - 31922, - 22 - ], - [ - 31956, - 60 - ], - [ - 32067, - 95 - ], - [ - 32222, - 22 - ], - [ - 32256, - 60 - ], - [ - 32367, - 95 - ], - [ - 32522, - 22 - ], - [ - 32556, - 60 - ], - [ - 32667, - 96 - ], - [ - 32822, - 23 - ], - [ - 32855, - 61 - ], - [ - 32968, - 95 - ], - [ - 33122, - 23 - ], - [ - 33155, - 61 - ], - [ - 33268, - 177 - ], - [ - 33455, - 61 - ], - [ - 33568, - 177 - ], - [ - 33755, - 62 - ], - [ - 33868, - 177 - ], - [ - 34055, - 62 - ], - [ - 34169, - 176 - ], - [ - 34355, - 62 - ], - [ - 34469, - 176 - ], - [ - 34655, - 62 - ], - [ - 34769, - 176 - ], - [ - 34955, - 62 - ], - [ - 35070, - 174 - ], - [ - 35256, - 61 - ], - [ - 35370, - 174 - ], - [ - 35556, - 62 - ], - [ - 35670, - 174 - ], - [ - 35856, - 62 - ], - [ - 35970, - 174 - ], - [ - 36156, - 62 - ], - [ - 36271, - 173 - ], - [ - 36456, - 62 - ], - [ - 36571, - 173 - ], - [ - 36756, - 62 - ], - [ - 36871, - 167 - ], - [ - 37056, - 62 - ], - [ - 37172, - 164 - ], - [ - 37357, - 24 - ], - [ - 37395, - 24 - ], - [ - 37472, - 163 - ], - [ - 37698, - 21 - ], - [ - 37772, - 162 - ], - [ - 38000, - 19 - ], - [ - 38072, - 162 - ], - [ - 38301, - 18 - ], - [ - 38373, - 160 - ], - [ - 38602, - 17 - ], - [ - 38673, - 160 - ], - [ - 38903, - 16 - ], - [ - 38973, - 160 - ], - [ - 39203, - 17 - ], - [ - 39274, - 158 - ], - [ - 39503, - 17 - ], - [ - 39574, - 158 - ], - [ - 39804, - 16 - ], - [ - 39874, - 158 - ], - [ - 40103, - 17 - ], - [ - 40174, - 159 - ], - [ - 40403, - 17 - ], - [ - 40475, - 158 - ], - [ - 40703, - 17 - ], - [ - 40775, - 158 - ], - [ - 41003, - 17 - ], - [ - 41075, - 158 - ], - [ - 41302, - 19 - ], - [ - 41376, - 158 - ], - [ - 41601, - 20 - ], - [ - 41676, - 158 - ], - [ - 41900, - 21 - ], - [ - 41976, - 159 - ], - [ - 42198, - 23 - ], - [ - 42276, - 160 - ], - [ - 42459, - 22 - ], - [ - 42496, - 25 - ], - [ - 42577, - 160 - ], - [ - 42759, - 62 - ], - [ - 42877, - 164 - ], - [ - 43059, - 63 - ], - [ - 43177, - 163 - ], - [ - 43360, - 62 - ], - [ - 43478, - 162 - ], - [ - 43660, - 62 - ], - [ - 43778, - 162 - ], - [ - 43960, - 62 - ], - [ - 44078, - 162 - ], - [ - 44260, - 62 - ], - [ - 44378, - 162 - ], - [ - 44560, - 62 - ], - [ - 44679, - 160 - ], - [ - 44861, - 62 - ], - [ - 44979, - 160 - ], - [ - 45161, - 62 - ], - [ - 45279, - 160 - ], - [ - 45461, - 62 - ], - [ - 45580, - 159 - ], - [ - 45761, - 67 - ], - [ - 45880, - 159 - ], - [ - 46061, - 277 - ], - [ - 46362, - 276 - ], - [ - 46662, - 276 - ], - [ - 46962, - 276 - ], - [ - 47262, - 276 - ], - [ - 47562, - 275 - ], - [ - 47863, - 137 - ], - [ - 48095, - 1 - ], - [ - 48696, - 1 - ], - [ - 49297, - 1 - ], - [ - 49597, - 1 - ], - [ - 50198, - 1 - ], - [ - 50498, - 1 - ], - [ - 51099, - 1 - ], - [ - 51700, - 1 - ], - [ - 52000, - 1 - ], - [ - 52601, - 1 - ], - [ - 53202, - 1 - ], - [ - 53502, - 1 - ], - [ - 54103, - 1 - ], - [ - 66287, - 2 - ], - [ - 66337, - 40 - ], - [ - 66523, - 77 - ], - [ - 66638, - 39 - ], - [ - 66823, - 77 - ], - [ - 66940, - 37 - ], - [ - 67123, - 77 - ] - ], - "point": [ - 144, - 116 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan224", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -1.25, - "y": 0.916797757, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "Statue_7e494874", - "position": { - "x": 3.12127233, - "y": 0.5976248, - "z": -0.573999763 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "Statue_7e494874", - "position": { - "x": 3.16004658, - "y": 0.5976248, - "z": 0.497424662 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": -0.14561443, - "y": 0.670639932, - "z": 2.4194622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": -0.204738, - "y": 0.9160614, - "z": 1.70314872 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": -0.2795056, - "y": 0.5400471, - "z": -2.139723 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -0.04653709, - "y": 0.664158344, - "z": 1.09704852 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -0.204738, - "y": 0.9069203, - "z": 1.217382 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": -0.0232000053, - "y": 0.9062047, - "z": 1.217382 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": 0.158338, - "y": 0.909576, - "z": 2.18891549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": -3.29934573, - "y": 0.7824192, - "z": -0.49 - }, - "rotation": { - "x": 0.0, - "y": 6.659434e-05, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fe37edd9", - "position": { - "x": -2.81280375, - "y": 0.62348485, - "z": 1.18768549 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Book_4e0dbe45", - "position": { - "x": 0.116, - "y": 0.902580142, - "z": 1.073 - }, - "rotation": { - "x": 0.0, - "y": 29.9999466, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": -2.8858037, - "y": 0.754010558, - "z": 2.012937 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Statue_7e494874", - "position": { - "x": -0.113969006, - "y": 0.91209656, - "z": 2.18891549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": -3.104855, - "y": 0.5457306, - "z": 0.775064468 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": -2.78081179, - "y": 0.365461469, - "z": -1.874968 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_cb2be04d", - "position": { - "x": 2.89399958, - "y": 0.014939107, - "z": -1.91600132 - }, - "rotation": { - "x": 0.0007921082, - "y": 328.832336, - "z": 0.000867555 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": -2.73978662, - "y": 0.569761634, - "z": 1.60030973 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Vase_4c89f135", - "position": { - "x": -2.16899252, - "y": 1.19524324, - "z": -2.1836822 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": 0.067569, - "y": 0.9069203, - "z": 2.431799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": -0.295507044, - "y": 0.907442868, - "z": 1.94603217 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_eef72b70", - "position": { - "x": -1.04643679, - "y": 1.19524324, - "z": -2.15178347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fe37edd9", - "position": { - "x": -2.893, - "y": 0.616, - "z": 0.818 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": 0.158338, - "y": 0.909727156, - "z": 2.431799 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 937239257, - "scene_num": 224 - }, - "task_id": "trial_T20190909_015035_153821", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_3SNVL38CI7JJBAGU0MY6YYY1VMECK1", - "high_descs": [ - "Turn left then cross the room turn left walk forward then turn right by the window", - "Pick up the watering can on the wall ", - "Turn left then cross the room head to the tv stand ", - "Put the watering can in front of the tv on the tv stand" - ], - "task_desc": "Put the watering can in front of the tv on the tv stand", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3Z3ZLGNNSLLH9DI6KY721H6GOFS3QL", - "high_descs": [ - "Turn left and walk until you're almost to the end of the green striped rug but turn left before you are and walk to the black table then turn right and walk to the wall then turn left.", - "Pick up the watering can that's in front of you on the floor.", - "Walk back to where you started but walk to the tv before you get there and stand in front of it.", - "Put the watering can in front of the tv's base on top of the top left corner of the newspaper." - ], - "task_desc": "Put a watering can on the tv stand.", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A12HZGOZQD5YK7_39ZSFO5CABNKMKRC4SJURPKUN1ZJU5", - "high_descs": [ - "Turn left, go towards the fireplace, turn left, go across the room and then turn right and go to the window.", - "Pick up the tea pot on the floor.", - "Head back to the fire place, turn right and go to the dresser with the TV on it.", - "Put the tea pot on the dresser to the left of the newspaper." - ], - "task_desc": "Put a tea pot on the dresser.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015104_862652/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015104_862652/traj_data.json deleted file mode 100644 index 838134f67..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015104_862652/traj_data.json +++ /dev/null @@ -1,3177 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 7 - }, - { - "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": 1, - "image_name": "000000054.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 43 - }, - { - "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": 44 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "WateringCan", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "wateringcan" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|-8|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "wateringcan" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "WateringCan", - [ - 11.57599832, - 11.57599832, - -7.66400528, - -7.66400528, - 0.059756428, - 0.059756428 - ] - ], - "forceVisible": true, - "objectId": "WateringCan|+02.89|+00.01|-01.92" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|8|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "wateringcan", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "WateringCan", - [ - 11.57599832, - 11.57599832, - -7.66400528, - -7.66400528, - 0.059756428, - 0.059756428 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.0928, - -0.0928, - 6.8896, - 6.8896, - 0.0436, - 0.0436 - ] - ], - "forceVisible": true, - "objectId": "WateringCan|+02.89|+00.01|-01.92", - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - } - } - ], - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "WateringCan|+02.89|+00.01|-01.92" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 110, - 205, - 153, - 235 - ], - "mask": [ - [ - 61332, - 4 - ], - [ - 61630, - 10 - ], - [ - 61928, - 15 - ], - [ - 62227, - 17 - ], - [ - 62246, - 6 - ], - [ - 62525, - 28 - ], - [ - 62824, - 30 - ], - [ - 63124, - 24 - ], - [ - 63150, - 3 - ], - [ - 63423, - 24 - ], - [ - 63450, - 3 - ], - [ - 63723, - 24 - ], - [ - 63749, - 4 - ], - [ - 64023, - 29 - ], - [ - 64322, - 29 - ], - [ - 64622, - 28 - ], - [ - 64922, - 27 - ], - [ - 65221, - 28 - ], - [ - 65521, - 28 - ], - [ - 65821, - 28 - ], - [ - 66121, - 28 - ], - [ - 66421, - 28 - ], - [ - 66721, - 27 - ], - [ - 67021, - 27 - ], - [ - 67320, - 28 - ], - [ - 67618, - 30 - ], - [ - 67916, - 31 - ], - [ - 68213, - 34 - ], - [ - 68510, - 36 - ], - [ - 68810, - 36 - ], - [ - 69110, - 2 - ], - [ - 69116, - 29 - ], - [ - 69419, - 24 - ], - [ - 69721, - 21 - ], - [ - 70023, - 3 - ], - [ - 70031, - 9 - ], - [ - 70335, - 3 - ] - ], - "point": [ - 131, - 219 - ] - } - }, - "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": "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": "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": "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": "WateringCan|+02.89|+00.01|-01.92", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 16, - 299, - 224 - ], - "mask": [ - [ - 4500, - 40 - ], - [ - 4582, - 4 - ], - [ - 4800, - 40 - ], - [ - 4882, - 4 - ], - [ - 5100, - 40 - ], - [ - 5183, - 4 - ], - [ - 5400, - 40 - ], - [ - 5483, - 4 - ], - [ - 5700, - 32 - ], - [ - 5783, - 4 - ], - [ - 6000, - 27 - ], - [ - 6083, - 4 - ], - [ - 6300, - 21 - ], - [ - 6383, - 5 - ], - [ - 6600, - 15 - ], - [ - 6682, - 6 - ], - [ - 6900, - 13 - ], - [ - 6982, - 6 - ], - [ - 7200, - 13 - ], - [ - 7282, - 6 - ], - [ - 7500, - 13 - ], - [ - 7582, - 8 - ], - [ - 7800, - 12 - ], - [ - 7882, - 14 - ], - [ - 8100, - 12 - ], - [ - 8181, - 20 - ], - [ - 8400, - 11 - ], - [ - 8481, - 25 - ], - [ - 8700, - 11 - ], - [ - 8781, - 31 - ], - [ - 9000, - 10 - ], - [ - 9081, - 36 - ], - [ - 9300, - 10 - ], - [ - 9380, - 43 - ], - [ - 9600, - 10 - ], - [ - 9680, - 48 - ], - [ - 9900, - 9 - ], - [ - 9980, - 53 - ], - [ - 10200, - 9 - ], - [ - 10280, - 59 - ], - [ - 10500, - 8 - ], - [ - 10580, - 66 - ], - [ - 10800, - 8 - ], - [ - 10879, - 76 - ], - [ - 11100, - 7 - ], - [ - 11179, - 79 - ], - [ - 11400, - 7 - ], - [ - 11479, - 79 - ], - [ - 11700, - 7 - ], - [ - 11779, - 79 - ], - [ - 12000, - 6 - ], - [ - 12079, - 79 - ], - [ - 12294, - 12 - ], - [ - 12378, - 80 - ], - [ - 12594, - 11 - ], - [ - 12678, - 80 - ], - [ - 12895, - 10 - ], - [ - 12978, - 80 - ], - [ - 13195, - 9 - ], - [ - 13278, - 80 - ], - [ - 13495, - 9 - ], - [ - 13578, - 80 - ], - [ - 13796, - 8 - ], - [ - 13877, - 81 - ], - [ - 14096, - 7 - ], - [ - 14177, - 81 - ], - [ - 14396, - 7 - ], - [ - 14477, - 81 - ], - [ - 14697, - 5 - ], - [ - 14777, - 81 - ], - [ - 14997, - 5 - ], - [ - 15076, - 82 - ], - [ - 15297, - 5 - ], - [ - 15376, - 83 - ], - [ - 15597, - 4 - ], - [ - 15676, - 83 - ], - [ - 15897, - 4 - ], - [ - 15976, - 83 - ], - [ - 16197, - 3 - ], - [ - 16276, - 84 - ], - [ - 16497, - 3 - ], - [ - 16575, - 85 - ], - [ - 16796, - 4 - ], - [ - 16875, - 86 - ], - [ - 17096, - 4 - ], - [ - 17175, - 87 - ], - [ - 17395, - 5 - ], - [ - 17475, - 87 - ], - [ - 17695, - 5 - ], - [ - 17775, - 88 - ], - [ - 17994, - 6 - ], - [ - 18074, - 90 - ], - [ - 18294, - 6 - ], - [ - 18374, - 91 - ], - [ - 18593, - 7 - ], - [ - 18674, - 92 - ], - [ - 18893, - 7 - ], - [ - 18974, - 94 - ], - [ - 19192, - 8 - ], - [ - 19274, - 96 - ], - [ - 19490, - 10 - ], - [ - 19573, - 98 - ], - [ - 19789, - 11 - ], - [ - 19873, - 100 - ], - [ - 20088, - 12 - ], - [ - 20173, - 102 - ], - [ - 20386, - 14 - ], - [ - 20473, - 104 - ], - [ - 20685, - 15 - ], - [ - 20772, - 107 - ], - [ - 20983, - 17 - ], - [ - 21072, - 110 - ], - [ - 21281, - 19 - ], - [ - 21372, - 113 - ], - [ - 21578, - 22 - ], - [ - 21672, - 116 - ], - [ - 21875, - 25 - ], - [ - 21972, - 119 - ], - [ - 22173, - 27 - ], - [ - 22271, - 124 - ], - [ - 22469, - 31 - ], - [ - 22571, - 129 - ], - [ - 22764, - 36 - ], - [ - 22871, - 135 - ], - [ - 23059, - 41 - ], - [ - 23171, - 145 - ], - [ - 23349, - 51 - ], - [ - 23471, - 229 - ], - [ - 23770, - 230 - ], - [ - 24070, - 230 - ], - [ - 24370, - 230 - ], - [ - 24670, - 230 - ], - [ - 24970, - 230 - ], - [ - 25269, - 231 - ], - [ - 25569, - 231 - ], - [ - 25869, - 231 - ], - [ - 26169, - 231 - ], - [ - 26469, - 231 - ], - [ - 26768, - 232 - ], - [ - 27068, - 236 - ], - [ - 27368, - 240 - ], - [ - 27667, - 245 - ], - [ - 27967, - 1580 - ], - [ - 29553, - 292 - ], - [ - 29855, - 289 - ], - [ - 30156, - 135 - ], - [ - 30300, - 144 - ], - [ - 30456, - 133 - ], - [ - 30600, - 143 - ], - [ - 30757, - 131 - ], - [ - 30900, - 144 - ], - [ - 31056, - 132 - ], - [ - 31200, - 144 - ], - [ - 31356, - 132 - ], - [ - 31500, - 144 - ], - [ - 31656, - 133 - ], - [ - 31800, - 144 - ], - [ - 31956, - 133 - ], - [ - 32100, - 144 - ], - [ - 32256, - 133 - ], - [ - 32400, - 144 - ], - [ - 32556, - 134 - ], - [ - 32700, - 145 - ], - [ - 32855, - 135 - ], - [ - 33000, - 145 - ], - [ - 33155, - 135 - ], - [ - 33300, - 145 - ], - [ - 33455, - 136 - ], - [ - 33600, - 145 - ], - [ - 33755, - 136 - ], - [ - 33900, - 145 - ], - [ - 34055, - 136 - ], - [ - 34200, - 145 - ], - [ - 34355, - 137 - ], - [ - 34500, - 145 - ], - [ - 34655, - 137 - ], - [ - 34800, - 145 - ], - [ - 34955, - 137 - ], - [ - 35100, - 144 - ], - [ - 35256, - 137 - ], - [ - 35400, - 144 - ], - [ - 35556, - 137 - ], - [ - 35700, - 144 - ], - [ - 35856, - 139 - ], - [ - 36000, - 144 - ], - [ - 36156, - 288 - ], - [ - 36456, - 288 - ], - [ - 36756, - 282 - ], - [ - 37056, - 280 - ], - [ - 37357, - 24 - ], - [ - 37395, - 240 - ], - [ - 37698, - 236 - ], - [ - 38000, - 234 - ], - [ - 38301, - 232 - ], - [ - 38602, - 231 - ], - [ - 38903, - 230 - ], - [ - 39203, - 229 - ], - [ - 39503, - 229 - ], - [ - 39804, - 228 - ], - [ - 40103, - 230 - ], - [ - 40403, - 230 - ], - [ - 40703, - 230 - ], - [ - 41003, - 230 - ], - [ - 41302, - 232 - ], - [ - 41601, - 233 - ], - [ - 41900, - 235 - ], - [ - 42198, - 238 - ], - [ - 42459, - 22 - ], - [ - 42496, - 241 - ], - [ - 42759, - 282 - ], - [ - 43059, - 281 - ], - [ - 43360, - 280 - ], - [ - 43660, - 280 - ], - [ - 43960, - 280 - ], - [ - 44260, - 280 - ], - [ - 44560, - 279 - ], - [ - 44861, - 278 - ], - [ - 45161, - 278 - ], - [ - 45461, - 278 - ], - [ - 45761, - 278 - ], - [ - 46061, - 277 - ], - [ - 46362, - 276 - ], - [ - 46662, - 276 - ], - [ - 46962, - 276 - ], - [ - 47262, - 276 - ], - [ - 47562, - 275 - ], - [ - 47863, - 137 - ], - [ - 48095, - 1 - ], - [ - 48696, - 1 - ], - [ - 49297, - 1 - ], - [ - 49597, - 1 - ], - [ - 50198, - 1 - ], - [ - 50498, - 1 - ], - [ - 51099, - 1 - ], - [ - 51700, - 1 - ], - [ - 52000, - 1 - ], - [ - 52601, - 1 - ], - [ - 53202, - 1 - ], - [ - 53502, - 1 - ], - [ - 54103, - 1 - ], - [ - 66287, - 2 - ], - [ - 66337, - 40 - ], - [ - 66523, - 77 - ], - [ - 66638, - 39 - ], - [ - 66823, - 77 - ], - [ - 66940, - 37 - ], - [ - 67123, - 77 - ] - ], - "point": [ - 144, - 116 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan224", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 2.5, - "y": 0.916797757, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": -0.14561443, - "y": 0.16597189, - "z": 1.466278 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": -0.14561443, - "y": 0.6690492, - "z": 1.46478987 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -0.204738, - "y": 0.9069203, - "z": 1.46026528 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -0.1951531, - "y": 0.16130352, - "z": 1.94448411 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": -0.295507044, - "y": 0.9108142, - "z": 1.94603217 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": -2.88580942, - "y": 0.5613307, - "z": 1.60031164 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": 0.067569, - "y": 0.9075801, - "z": 2.431799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4e0dbe45", - "position": { - "x": 0.116, - "y": 0.902580142, - "z": 1.073 - }, - "rotation": { - "x": 0.0, - "y": 29.9999466, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": 3.16004467, - "y": 0.7824192, - "z": 0.166363046 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "Statue_7e494874", - "position": { - "x": -0.204738, - "y": 0.9154679, - "z": 1.217382 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": 0.00300158374, - "y": 0.160587847, - "z": 1.7843672 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": -2.78081179, - "y": 0.365461469, - "z": -1.874968 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_cb2be04d", - "position": { - "x": 2.89399958, - "y": 0.014939107, - "z": -1.91600132 - }, - "rotation": { - "x": 0.0007924095, - "y": 328.832336, - "z": 0.000867145543 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": -0.14561443, - "y": 0.166728467, - "z": 0.9901179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_4c89f135", - "position": { - "x": -2.16899252, - "y": 1.19524324, - "z": -2.1836822 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -3.075718, - "y": 0.370212972, - "z": -1.981472 - }, - "rotation": { - "x": 0.0, - "y": 29.9999466, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": -2.81280375, - "y": 0.564542055, - "z": 1.18768549 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Vase_eef72b70", - "position": { - "x": -1.04643679, - "y": 1.19524324, - "z": -2.15178347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fe37edd9", - "position": { - "x": -2.893, - "y": 0.616, - "z": 0.818 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": 3.08376431, - "y": 0.332477838, - "z": 1.54613721 - }, - "rotation": { - "x": 0.0, - "y": 270.000336, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3508359590, - "scene_num": 224 - }, - "task_id": "trial_T20190909_015104_862652", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A12HZGOZQD5YK7_37UQDCYH60MRF4FA8942KLH4A9ZV7I", - "high_descs": [ - "Turn left, go towards the window and look down to the left.", - "Pick up the tea pot from the floor.", - "Turn left, go halfway across the room, turn left, go across the room, turn right, go across the room and turn right to the dresser.", - "Put the tea pot on the dresser." - ], - "task_desc": "Put the tea pot on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3TAYZSBPLOZ41B1082I2D7GP0PJS2U", - "high_descs": [ - "Turn left and walk over to the tall lamp in the corner of the room.", - "Pick up the water can that is on the ground in front of the tall lamp.", - "Turn left and begin walking across the room, then hang a left and begin walking across the room, turn right and walk up to the left side of the black dresser with the television on it.", - "Put the watering can on the left side of the black dresser." - ], - "task_desc": "Move a watering can to a black dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3TS1AR6UQT52J7TK8UZY2ZEIMFAF7D", - "high_descs": [ - "turn left and walk over to the left side corner of the room, then look down at the floor", - "grab the water spout off of the ground there", - "turn around and walk to the other room, turn right to walk over to the black cabinet at the start of the room on your right, turn to face it", - "place the water spout down on the cabinet there" - ], - "task_desc": "place a water spout on top of the black cabinet", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015129_566328/traj_data.json b/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015129_566328/traj_data.json deleted file mode 100644 index 2634d05d2..000000000 --- a/data/json_2.1.0/train/pick_and_place_simple-WateringCan-None-Dresser-224/trial_T20190909_015129_566328/traj_data.json +++ /dev/null @@ -1,3533 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 9 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 21 - }, - { - "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": 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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000225.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000226.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000227.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000228.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000229.png", - "low_idx": 56 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "WateringCan", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "wateringcan" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|-8|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "wateringcan" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "WateringCan", - [ - 11.57599832, - 11.57599832, - -7.66400528, - -7.66400528, - 0.059756428, - 0.059756428 - ] - ], - "forceVisible": true, - "objectId": "WateringCan|+02.89|+00.01|-01.92" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|8|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "wateringcan", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "WateringCan", - [ - 11.57599832, - 11.57599832, - -7.66400528, - -7.66400528, - 0.059756428, - 0.059756428 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.0928, - -0.0928, - 6.8896, - 6.8896, - 0.0436, - 0.0436 - ] - ], - "forceVisible": true, - "objectId": "WateringCan|+02.89|+00.01|-01.92", - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - } - } - ], - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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|+02.89|+00.01|-01.92" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 110, - 205, - 153, - 235 - ], - "mask": [ - [ - 61332, - 4 - ], - [ - 61630, - 10 - ], - [ - 61928, - 15 - ], - [ - 62227, - 17 - ], - [ - 62246, - 6 - ], - [ - 62525, - 28 - ], - [ - 62824, - 30 - ], - [ - 63124, - 24 - ], - [ - 63150, - 3 - ], - [ - 63423, - 24 - ], - [ - 63450, - 3 - ], - [ - 63723, - 24 - ], - [ - 63749, - 4 - ], - [ - 64023, - 29 - ], - [ - 64322, - 29 - ], - [ - 64622, - 28 - ], - [ - 64922, - 27 - ], - [ - 65221, - 28 - ], - [ - 65521, - 28 - ], - [ - 65821, - 28 - ], - [ - 66121, - 28 - ], - [ - 66421, - 28 - ], - [ - 66721, - 27 - ], - [ - 67021, - 27 - ], - [ - 67320, - 28 - ], - [ - 67618, - 30 - ], - [ - 67916, - 31 - ], - [ - 68213, - 34 - ], - [ - 68510, - 36 - ], - [ - 68810, - 36 - ], - [ - 69110, - 2 - ], - [ - 69116, - 29 - ], - [ - 69419, - 24 - ], - [ - 69721, - 21 - ], - [ - 70023, - 3 - ], - [ - 70031, - 9 - ], - [ - 70335, - 3 - ] - ], - "point": [ - 131, - 219 - ] - } - }, - "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": "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": "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": "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": "WateringCan|+02.89|+00.01|-01.92", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 16, - 299, - 224 - ], - "mask": [ - [ - 4500, - 6 - ], - [ - 4800, - 6 - ], - [ - 5100, - 7 - ], - [ - 5400, - 7 - ], - [ - 5700, - 8 - ], - [ - 6000, - 8 - ], - [ - 6300, - 9 - ], - [ - 6600, - 9 - ], - [ - 6900, - 10 - ], - [ - 7200, - 10 - ], - [ - 7500, - 11 - ], - [ - 7589, - 1 - ], - [ - 7800, - 11 - ], - [ - 7889, - 7 - ], - [ - 8100, - 12 - ], - [ - 8189, - 12 - ], - [ - 8400, - 12 - ], - [ - 8489, - 17 - ], - [ - 8700, - 13 - ], - [ - 8788, - 24 - ], - [ - 9000, - 13 - ], - [ - 9088, - 29 - ], - [ - 9300, - 14 - ], - [ - 9388, - 35 - ], - [ - 9600, - 14 - ], - [ - 9691, - 22 - ], - [ - 9721, - 7 - ], - [ - 9900, - 15 - ], - [ - 10025, - 8 - ], - [ - 10200, - 15 - ], - [ - 10327, - 12 - ], - [ - 10500, - 16 - ], - [ - 10627, - 19 - ], - [ - 10800, - 16 - ], - [ - 10928, - 27 - ], - [ - 11100, - 17 - ], - [ - 11228, - 30 - ], - [ - 11400, - 17 - ], - [ - 11528, - 30 - ], - [ - 11700, - 18 - ], - [ - 11828, - 30 - ], - [ - 12000, - 18 - ], - [ - 12128, - 30 - ], - [ - 12294, - 25 - ], - [ - 12428, - 30 - ], - [ - 12594, - 25 - ], - [ - 12727, - 31 - ], - [ - 12895, - 25 - ], - [ - 13025, - 33 - ], - [ - 13195, - 25 - ], - [ - 13296, - 9 - ], - [ - 13323, - 35 - ], - [ - 13495, - 26 - ], - [ - 13586, - 72 - ], - [ - 13796, - 25 - ], - [ - 13886, - 72 - ], - [ - 14096, - 26 - ], - [ - 14186, - 72 - ], - [ - 14396, - 26 - ], - [ - 14485, - 73 - ], - [ - 14697, - 26 - ], - [ - 14785, - 73 - ], - [ - 14997, - 26 - ], - [ - 15085, - 73 - ], - [ - 15297, - 27 - ], - [ - 15385, - 74 - ], - [ - 15597, - 27 - ], - [ - 15685, - 74 - ], - [ - 15897, - 28 - ], - [ - 15985, - 74 - ], - [ - 16197, - 28 - ], - [ - 16285, - 75 - ], - [ - 16497, - 29 - ], - [ - 16586, - 74 - ], - [ - 16796, - 30 - ], - [ - 16887, - 74 - ], - [ - 17096, - 31 - ], - [ - 17187, - 75 - ], - [ - 17395, - 33 - ], - [ - 17488, - 74 - ], - [ - 17695, - 33 - ], - [ - 17788, - 75 - ], - [ - 17994, - 73 - ], - [ - 18088, - 76 - ], - [ - 18294, - 73 - ], - [ - 18388, - 77 - ], - [ - 18593, - 74 - ], - [ - 18688, - 78 - ], - [ - 18893, - 74 - ], - [ - 18988, - 80 - ], - [ - 19192, - 75 - ], - [ - 19287, - 83 - ], - [ - 19490, - 78 - ], - [ - 19587, - 84 - ], - [ - 19789, - 79 - ], - [ - 19887, - 86 - ], - [ - 20088, - 80 - ], - [ - 20187, - 88 - ], - [ - 20386, - 83 - ], - [ - 20472, - 2 - ], - [ - 20487, - 90 - ], - [ - 20685, - 84 - ], - [ - 20772, - 2 - ], - [ - 20787, - 92 - ], - [ - 20983, - 86 - ], - [ - 21072, - 2 - ], - [ - 21087, - 95 - ], - [ - 21281, - 88 - ], - [ - 21372, - 2 - ], - [ - 21387, - 98 - ], - [ - 21578, - 91 - ], - [ - 21672, - 3 - ], - [ - 21687, - 101 - ], - [ - 21875, - 95 - ], - [ - 21972, - 3 - ], - [ - 21987, - 104 - ], - [ - 22173, - 97 - ], - [ - 22272, - 3 - ], - [ - 22288, - 107 - ], - [ - 22469, - 102 - ], - [ - 22572, - 4 - ], - [ - 22588, - 112 - ], - [ - 22764, - 108 - ], - [ - 22873, - 3 - ], - [ - 22889, - 117 - ], - [ - 23059, - 117 - ], - [ - 23189, - 127 - ], - [ - 23349, - 128 - ], - [ - 23489, - 289 - ], - [ - 23789, - 289 - ], - [ - 24089, - 290 - ], - [ - 24390, - 290 - ], - [ - 24690, - 290 - ], - [ - 24990, - 280 - ], - [ - 25317, - 250 - ], - [ - 25623, - 244 - ], - [ - 25924, - 242 - ], - [ - 26224, - 242 - ], - [ - 26524, - 242 - ], - [ - 26824, - 242 - ], - [ - 27123, - 242 - ], - [ - 27423, - 242 - ], - [ - 27723, - 242 - ], - [ - 28023, - 242 - ], - [ - 28323, - 242 - ], - [ - 28623, - 241 - ], - [ - 28923, - 241 - ], - [ - 29223, - 241 - ], - [ - 29523, - 24 - ], - [ - 29553, - 211 - ], - [ - 29823, - 22 - ], - [ - 29855, - 209 - ], - [ - 30123, - 21 - ], - [ - 30156, - 207 - ], - [ - 30423, - 21 - ], - [ - 30456, - 207 - ], - [ - 30723, - 20 - ], - [ - 30757, - 206 - ], - [ - 31023, - 21 - ], - [ - 31056, - 207 - ], - [ - 31322, - 22 - ], - [ - 31356, - 206 - ], - [ - 31622, - 22 - ], - [ - 31656, - 206 - ], - [ - 31922, - 22 - ], - [ - 31956, - 206 - ], - [ - 32222, - 22 - ], - [ - 32256, - 206 - ], - [ - 32522, - 22 - ], - [ - 32556, - 206 - ], - [ - 32822, - 23 - ], - [ - 32855, - 206 - ], - [ - 33122, - 23 - ], - [ - 33155, - 206 - ], - [ - 33422, - 23 - ], - [ - 33455, - 206 - ], - [ - 33722, - 23 - ], - [ - 33755, - 206 - ], - [ - 34022, - 23 - ], - [ - 34055, - 206 - ], - [ - 34322, - 23 - ], - [ - 34355, - 205 - ], - [ - 34622, - 23 - ], - [ - 34655, - 205 - ], - [ - 34922, - 23 - ], - [ - 34955, - 205 - ], - [ - 35222, - 22 - ], - [ - 35256, - 204 - ], - [ - 35522, - 22 - ], - [ - 35556, - 203 - ], - [ - 35821, - 23 - ], - [ - 35856, - 203 - ], - [ - 36121, - 23 - ], - [ - 36156, - 203 - ], - [ - 36421, - 23 - ], - [ - 36456, - 203 - ], - [ - 36721, - 23 - ], - [ - 36756, - 203 - ], - [ - 37021, - 23 - ], - [ - 37056, - 2 - ], - [ - 37075, - 183 - ], - [ - 37321, - 23 - ], - [ - 37356, - 2 - ], - [ - 37375, - 183 - ], - [ - 37621, - 22 - ], - [ - 37657, - 2 - ], - [ - 37675, - 183 - ], - [ - 37921, - 22 - ], - [ - 37957, - 2 - ], - [ - 37975, - 183 - ], - [ - 38221, - 22 - ], - [ - 38257, - 2 - ], - [ - 38275, - 182 - ], - [ - 38521, - 22 - ], - [ - 38557, - 2 - ], - [ - 38575, - 182 - ], - [ - 38821, - 22 - ], - [ - 38857, - 2 - ], - [ - 38875, - 182 - ], - [ - 39121, - 22 - ], - [ - 39157, - 2 - ], - [ - 39175, - 182 - ], - [ - 39421, - 22 - ], - [ - 39457, - 2 - ], - [ - 39475, - 183 - ], - [ - 39721, - 22 - ], - [ - 39757, - 2 - ], - [ - 39776, - 182 - ], - [ - 40020, - 22 - ], - [ - 40058, - 1 - ], - [ - 40076, - 266 - ], - [ - 40358, - 1 - ], - [ - 40376, - 266 - ], - [ - 40658, - 1 - ], - [ - 40676, - 266 - ], - [ - 40958, - 1 - ], - [ - 40976, - 266 - ], - [ - 41258, - 1 - ], - [ - 41276, - 266 - ], - [ - 41558, - 1 - ], - [ - 41576, - 265 - ], - [ - 41876, - 265 - ], - [ - 42176, - 265 - ], - [ - 42476, - 265 - ], - [ - 42776, - 265 - ], - [ - 43076, - 264 - ], - [ - 43376, - 264 - ], - [ - 43660, - 280 - ], - [ - 43960, - 280 - ], - [ - 44260, - 280 - ], - [ - 44560, - 279 - ], - [ - 44861, - 278 - ], - [ - 45161, - 278 - ], - [ - 45461, - 278 - ], - [ - 45761, - 278 - ], - [ - 46061, - 277 - ], - [ - 46362, - 276 - ], - [ - 46662, - 276 - ], - [ - 46962, - 276 - ], - [ - 47262, - 276 - ], - [ - 47562, - 275 - ], - [ - 47863, - 137 - ], - [ - 48095, - 1 - ], - [ - 48696, - 1 - ], - [ - 49297, - 1 - ], - [ - 49597, - 1 - ], - [ - 50198, - 1 - ], - [ - 50498, - 1 - ], - [ - 51099, - 1 - ], - [ - 51700, - 1 - ], - [ - 52000, - 1 - ], - [ - 52601, - 1 - ], - [ - 53202, - 1 - ], - [ - 53502, - 1 - ], - [ - 54103, - 1 - ], - [ - 66287, - 2 - ], - [ - 66337, - 40 - ], - [ - 66523, - 77 - ], - [ - 66638, - 39 - ], - [ - 66823, - 77 - ], - [ - 66940, - 37 - ], - [ - 67123, - 77 - ] - ], - "point": [ - 144, - 116 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan224", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.5, - "y": 0.916797757, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "Statue_7e494874", - "position": { - "x": 3.16004586, - "y": 0.5958878, - "z": 0.365 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": -0.204738, - "y": 0.9063558, - "z": 1.217382 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": -0.295507044, - "y": 0.9062047, - "z": 1.94603217 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": 0.158338, - "y": 1.09689093, - "z": 2.431799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fe37edd9", - "position": { - "x": -2.81280375, - "y": 0.62348485, - "z": 1.18768549 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Book_4e0dbe45", - "position": { - "x": 0.116, - "y": 0.902580142, - "z": 1.073 - }, - "rotation": { - "x": 0.0, - "y": 29.9999466, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": -3.37689257, - "y": 0.7806822, - "z": -0.48999992 - }, - "rotation": { - "x": 0.0, - "y": 270.000061, - "z": 0.0 - } - }, - { - "objectName": "Statue_7e494874", - "position": { - "x": -0.204738, - "y": 0.9154679, - "z": 2.18891549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": -2.66677547, - "y": 0.5457306, - "z": 1.60030866 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": -2.78081179, - "y": 0.365461469, - "z": -1.874968 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_cb2be04d", - "position": { - "x": 2.89399958, - "y": 0.014939107, - "z": -1.91600132 - }, - "rotation": { - "x": 0.0007932222, - "y": 328.832336, - "z": 0.0008675767 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": 3.18, - "y": 0.586334169, - "z": -0.543 - }, - "rotation": { - "x": 0.0, - "y": 259.7471, - "z": 0.0 - } - }, - { - "objectName": "Vase_4c89f135", - "position": { - "x": -2.16899252, - "y": 1.19524324, - "z": -2.1836822 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -0.244691774, - "y": 0.16020216, - "z": 1.41290569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": 0.158338, - "y": 0.9108142, - "z": 2.18891549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_eef72b70", - "position": { - "x": -1.04643679, - "y": 1.19524324, - "z": -2.15178347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fe37edd9", - "position": { - "x": -2.893, - "y": 0.616, - "z": 0.818 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": -3.283706, - "y": 0.332477838, - "z": -0.441621125 - }, - "rotation": { - "x": 0.0, - "y": 90.00007, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2524914261, - "scene_num": 224 - }, - "task_id": "trial_T20190909_015129_566328", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A31681CCEVDIH3_3FIJLY1B6XVRPDXK4GTF2L53M8YFP0", - "high_descs": [ - "Make a right and then walk forwards towards the tall lamp.", - "Pick up the teapot at the base of the tall lamp.", - "Turn around and walk out through the entrance to the other room, then hang a right to stand in front of the black dresser.", - "Set the teapot down to the right of the credit card on the dresser." - ], - "task_desc": "Move a teapot from the base of a tall lamp to the black dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3S3AMIZX3XWBX4AK85CJUL3BBC1DC7", - "high_descs": [ - "Walk to the black end table in front of you then turn right and walk to the wall then turn left.", - "Pick up the watering can that's in front of you.", - "Turn left and walk until you are even with the green rug in the room on your left then when you are turn left and walk to it then turn right and walk to the wall then turn right.", - "Put the watering can to the right of the credit card." - ], - "task_desc": "Put a watering can on the stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2Z43TA0WZ0EG0_3ZPBJO59KSS2ECL0UXQK5C0RO45DHF", - "high_descs": [ - "Go straight then turn right and head to the tall silver floor lamp and small circle table.", - "Pick up the tea pot from the small circle table.", - "Turn left, then turn left again to walk through the doorway, then turn right to the black entertainment center with a tv on it.", - "Set the white tea pot on the entertainment center in front of the tv." - ], - "task_desc": "Pick up the white tea pot and set it on the black entertainment center in front of the tv.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014224_474324/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014224_474324/traj_data.json deleted file mode 100644 index 7f8a03453..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014224_474324/traj_data.json +++ /dev/null @@ -1,3209 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 5 - }, - { - "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": 1, - "image_name": "000000038.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "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": 2, - "image_name": "000000053.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000054.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "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": 3, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000073.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000074.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000075.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000096.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000097.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000098.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000099.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000100.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000101.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000102.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000105.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000106.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000108.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000109.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 27 - }, - { - "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": 27 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 27 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 5.15277912, - 5.15277912, - 4.265648, - 4.265648, - 2.929219724, - 2.929219724 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.29|+00.73|+01.07" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 5.15277912, - 5.15277912, - 4.265648, - 4.265648, - 2.929219724, - 2.929219724 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.29|+00.73|+01.07", - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "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": "PickupObject", - "objectId": "CellPhone|+01.29|+00.73|+01.07" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 116, - 153, - 152, - 165 - ], - "mask": [ - [ - 45718, - 35 - ], - [ - 46017, - 36 - ], - [ - 46317, - 36 - ], - [ - 46617, - 36 - ], - [ - 46917, - 36 - ], - [ - 47217, - 36 - ], - [ - 47517, - 36 - ], - [ - 47817, - 36 - ], - [ - 48117, - 36 - ], - [ - 48416, - 37 - ], - [ - 48716, - 37 - ], - [ - 49016, - 37 - ], - [ - 49316, - 37 - ] - ], - "point": [ - 134, - 158 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+01.29|+00.73|+01.07", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 154, - 127, - 194, - 160 - ], - "mask": [ - [ - 37966, - 14 - ], - [ - 38263, - 20 - ], - [ - 38561, - 24 - ], - [ - 38859, - 28 - ], - [ - 39158, - 31 - ], - [ - 39457, - 33 - ], - [ - 39756, - 35 - ], - [ - 40055, - 37 - ], - [ - 40355, - 38 - ], - [ - 40654, - 39 - ], - [ - 40954, - 40 - ], - [ - 41254, - 40 - ], - [ - 41554, - 41 - ], - [ - 41854, - 41 - ], - [ - 42154, - 41 - ], - [ - 42454, - 41 - ], - [ - 42754, - 41 - ], - [ - 43055, - 39 - ], - [ - 43355, - 39 - ], - [ - 43655, - 39 - ], - [ - 43955, - 38 - ], - [ - 44256, - 37 - ], - [ - 44556, - 36 - ], - [ - 44857, - 35 - ], - [ - 45157, - 34 - ], - [ - 45458, - 32 - ], - [ - 45759, - 31 - ], - [ - 46059, - 30 - ], - [ - 46361, - 27 - ], - [ - 46662, - 25 - ], - [ - 46963, - 23 - ], - [ - 47265, - 19 - ], - [ - 47568, - 13 - ], - [ - 47872, - 4 - ] - ], - "point": [ - 174, - 142 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 154, - 127, - 194, - 160 - ], - "mask": [ - [ - 37968, - 12 - ], - [ - 38263, - 2 - ], - [ - 38268, - 15 - ], - [ - 38561, - 4 - ], - [ - 38568, - 17 - ], - [ - 38859, - 6 - ], - [ - 38868, - 19 - ], - [ - 39158, - 7 - ], - [ - 39168, - 21 - ], - [ - 39457, - 8 - ], - [ - 39468, - 22 - ], - [ - 39756, - 9 - ], - [ - 39768, - 23 - ], - [ - 40055, - 10 - ], - [ - 40068, - 24 - ], - [ - 40355, - 10 - ], - [ - 40367, - 26 - ], - [ - 40654, - 11 - ], - [ - 40667, - 26 - ], - [ - 40954, - 11 - ], - [ - 40967, - 27 - ], - [ - 41254, - 11 - ], - [ - 41267, - 27 - ], - [ - 41554, - 11 - ], - [ - 41567, - 28 - ], - [ - 41854, - 10 - ], - [ - 41867, - 28 - ], - [ - 42154, - 10 - ], - [ - 42167, - 28 - ], - [ - 42454, - 10 - ], - [ - 42467, - 28 - ], - [ - 42754, - 10 - ], - [ - 42767, - 28 - ], - [ - 43055, - 9 - ], - [ - 43067, - 27 - ], - [ - 43355, - 9 - ], - [ - 43367, - 27 - ], - [ - 43655, - 9 - ], - [ - 43667, - 27 - ], - [ - 43955, - 9 - ], - [ - 43967, - 26 - ], - [ - 44256, - 9 - ], - [ - 44267, - 26 - ], - [ - 44556, - 9 - ], - [ - 44567, - 25 - ], - [ - 44857, - 8 - ], - [ - 44867, - 25 - ], - [ - 45157, - 8 - ], - [ - 45166, - 25 - ], - [ - 45458, - 32 - ], - [ - 45759, - 31 - ], - [ - 46059, - 30 - ], - [ - 46361, - 27 - ], - [ - 46662, - 25 - ], - [ - 46963, - 23 - ], - [ - 47265, - 19 - ], - [ - 47568, - 13 - ], - [ - 47872, - 4 - ] - ], - "point": [ - 174, - 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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 162 - ], - [ - 26169, - 80 - ], - [ - 26291, - 42 - ], - [ - 26469, - 83 - ], - [ - 26588, - 46 - ], - [ - 26769, - 166 - ], - [ - 27068, - 168 - ], - [ - 27368, - 168 - ], - [ - 27668, - 166 - ], - [ - 27968, - 165 - ], - [ - 28268, - 165 - ], - [ - 28567, - 165 - ], - [ - 28867, - 164 - ], - [ - 29167, - 163 - ], - [ - 29467, - 162 - ], - [ - 29767, - 162 - ], - [ - 30066, - 162 - ], - [ - 30366, - 161 - ], - [ - 30666, - 160 - ], - [ - 30966, - 160 - ], - [ - 31266, - 159 - ], - [ - 31565, - 159 - ], - [ - 31775, - 2 - ], - [ - 31865, - 159 - ], - [ - 32072, - 6 - ], - [ - 32165, - 158 - ], - [ - 32372, - 6 - ], - [ - 32465, - 158 - ], - [ - 32672, - 6 - ], - [ - 32765, - 158 - ], - [ - 32972, - 7 - ], - [ - 33064, - 85 - ], - [ - 33193, - 30 - ], - [ - 33272, - 7 - ], - [ - 33364, - 88 - ], - [ - 33490, - 33 - ], - [ - 33572, - 7 - ], - [ - 33664, - 159 - ], - [ - 33871, - 8 - ], - [ - 33964, - 158 - ], - [ - 34171, - 9 - ], - [ - 34263, - 159 - ], - [ - 34471, - 9 - ], - [ - 34563, - 159 - ], - [ - 34771, - 9 - ], - [ - 34863, - 160 - ], - [ - 35070, - 11 - ], - [ - 35163, - 160 - ], - [ - 35370, - 11 - ], - [ - 35463, - 160 - ], - [ - 35670, - 11 - ], - [ - 35762, - 162 - ], - [ - 35969, - 13 - ], - [ - 36062, - 162 - ], - [ - 36269, - 13 - ], - [ - 36362, - 163 - ], - [ - 36569, - 13 - ], - [ - 36662, - 163 - ], - [ - 36868, - 15 - ], - [ - 36962, - 147 - ], - [ - 37110, - 3 - ], - [ - 37117, - 9 - ], - [ - 37168, - 15 - ], - [ - 37261, - 134 - ], - [ - 37397, - 10 - ], - [ - 37418, - 9 - ], - [ - 37467, - 16 - ], - [ - 37561, - 133 - ], - [ - 37695, - 4 - ], - [ - 37704, - 2 - ], - [ - 37714, - 14 - ], - [ - 37767, - 17 - ], - [ - 37861, - 133 - ], - [ - 37995, - 7 - ], - [ - 38003, - 1 - ], - [ - 38005, - 1 - ], - [ - 38012, - 17 - ], - [ - 38066, - 18 - ], - [ - 38161, - 133 - ], - [ - 38295, - 7 - ], - [ - 38303, - 1 - ], - [ - 38306, - 1 - ], - [ - 38308, - 1 - ], - [ - 38313, - 17 - ], - [ - 38366, - 18 - ], - [ - 38461, - 133 - ], - [ - 38595, - 8 - ], - [ - 38605, - 1 - ], - [ - 38607, - 2 - ], - [ - 38610, - 3 - ], - [ - 38614, - 17 - ], - [ - 38664, - 21 - ], - [ - 38760, - 134 - ], - [ - 38895, - 7 - ], - [ - 38905, - 27 - ], - [ - 38964, - 21 - ], - [ - 39060, - 135 - ], - [ - 39200, - 15 - ], - [ - 39219, - 15 - ], - [ - 39262, - 23 - ], - [ - 39360, - 17 - ], - [ - 39398, - 102 - ], - [ - 39505, - 10 - ], - [ - 39520, - 16 - ], - [ - 39560, - 25 - ], - [ - 39660, - 17 - ], - [ - 39698, - 101 - ], - [ - 39806, - 9 - ], - [ - 39821, - 17 - ], - [ - 39859, - 27 - ], - [ - 39960, - 17 - ], - [ - 39997, - 102 - ], - [ - 40107, - 9 - ], - [ - 40123, - 18 - ], - [ - 40157, - 29 - ], - [ - 40259, - 17 - ], - [ - 40297, - 102 - ], - [ - 40407, - 14 - ], - [ - 40424, - 23 - ], - [ - 40451, - 35 - ], - [ - 40559, - 17 - ], - [ - 40597, - 102 - ], - [ - 40707, - 15 - ], - [ - 40726, - 61 - ], - [ - 40859, - 17 - ], - [ - 40897, - 103 - ], - [ - 41006, - 81 - ], - [ - 41159, - 17 - ], - [ - 41197, - 105 - ], - [ - 41305, - 82 - ], - [ - 41458, - 18 - ], - [ - 41497, - 191 - ], - [ - 41758, - 18 - ], - [ - 41797, - 191 - ], - [ - 42058, - 17 - ], - [ - 42097, - 191 - ], - [ - 42358, - 17 - ], - [ - 42396, - 193 - ], - [ - 42658, - 231 - ], - [ - 42957, - 232 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 10 - ], - [ - 58138, - 8 - ], - [ - 58287, - 9 - ], - [ - 58437, - 8 - ], - [ - 58588, - 9 - ], - [ - 58736, - 8 - ], - [ - 58888, - 9 - ], - [ - 59035, - 9 - ], - [ - 59189, - 9 - ], - [ - 59335, - 8 - ], - [ - 59489, - 9 - ], - [ - 59634, - 8 - ], - [ - 59790, - 9 - ], - [ - 59933, - 8 - ], - [ - 60091, - 7 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.5, - "y": 0.9009992, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.08474612, - "y": 0.7286067, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.34200048, - "y": 1.14213014, - "z": 0.933637 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 0.579895854, - "y": 0.7821378, - "z": -1.26292872 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": -0.09598863, - "y": 0.6958528, - "z": -1.83854759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": -0.09598863, - "y": 0.698968053, - "z": -1.70533371 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.134, - "y": 0.08082468, - "z": 0.588 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": -0.180307955, - "y": 0.391632438, - "z": -1.66384864 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.27875352, - "y": 1.139661, - "z": 1.40250552 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.213294759, - "y": 0.691035748, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8299653, - "y": 0.8492504, - "z": -0.714678645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.20506942, - "y": 0.7802308, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.28819478, - "y": 0.732304931, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.35345471, - "y": 0.721387863, - "z": 0.8918423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.08003473, - "y": 0.7768329, - "z": -1.5370537 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 0.255929768, - "y": 0.6933112, - "z": -1.57212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.08474612, - "y": 0.729835749, - "z": 1.23166156 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.35601091, - "y": 0.7294924, - "z": 1.72741032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.08474612, - "y": 0.732291162, - "z": 1.72741032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 1.08003473, - "y": 0.8492504, - "z": -0.166428566 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.37362337, - "y": 1.13843191, - "z": 1.2462163 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.08474612, - "y": 0.7346528, - "z": 0.9011624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.2787534, - "y": 1.1368252, - "z": 1.55879509 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1075188073, - "scene_num": 305 - }, - "task_id": "trial_T20190909_014224_474324", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1HKHM4NVAO98H_374TNBHA8EMIPGFU9J0SRB2TXF4YQ1", - "high_descs": [ - "turn right and walk over to the right side of the desk up ahead", - "grab the cell phone off of the lower part of the desk there", - "place the cell phone inside of the clear bowl on the lower part of the desk", - "pick up the bowl off of the lower part of the desk", - "turn right and walk over to the nightstand on the right side of the bed up ahead", - "place the bowl down on top of the nightstand" - ], - "task_desc": "place a bowl with a cell phone in it on top of the night stand next to the bed", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A31681CCEVDIH3_3QL2OFSM999KJG1XXZQMQQF5PGVCNG", - "high_descs": [ - "Walk forward and hang a right to reach the desk.", - "Pick up the smartphone from the lower level of the desk.", - "Set the smartphone in the bowl on top of the desk.", - "Pick up the bowl with the smartphone in it from the desk.", - "Turn around and then make a left around the bed to walk towards the nightstand.", - "Set the bowl with the smartphone in it down on the nightstand." - ], - "task_desc": "Put a smartphone in a bowl to put it on a nightstand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3TXMY6UCAHF5MDEPDRI3UKAAURIQCH", - "high_descs": [ - "Take two steps forward then turn right and walk to the chair at the desk.\n", - "Pick up the that's in front of you on the bottom portion of the desk.", - "Put the phone in the clear bowl on the desk.", - "Pick up the bowl with the phone in it.", - "Turn around and take a step then turn left and walk to the night stand.", - "Put the bowl to the left of the two pens." - ], - "task_desc": "Put a bowl with a phone in it on the desk.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014240_025318/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014240_025318/traj_data.json deleted file mode 100644 index f77514634..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014240_025318/traj_data.json +++ /dev/null @@ -1,3858 +0,0 @@ -{ - "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": 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": 12 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "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": 5, - "image_name": "000000176.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 36 - }, - { - "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": 38 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|0|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 2.319583416, - 2.319583416, - 0.430785896, - 0.430785896, - 3.1285512, - 3.1285512 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 3.82, - 3.82, - -2.888, - -2.888, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+00.58|+00.78|+00.11" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 2.319583416, - 2.319583416, - 0.430785896, - 0.430785896, - 3.1285512, - 3.1285512 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 4.33898448, - 4.33898448, - 6.24864292, - 6.24864292, - 2.916461468, - 2.916461468 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+00.58|+00.78|+00.11", - "receptacleObjectId": "Bowl|+01.08|+00.73|+01.56" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.33898448, - 4.33898448, - 6.24864292, - 6.24864292, - 2.916461468, - 2.916461468 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.08|+00.73|+01.56" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.33898448, - 4.33898448, - 6.24864292, - 6.24864292, - 2.916461468, - 2.916461468 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.08|+00.73|+01.56", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - } - ], - "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": "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": "CellPhone|+00.58|+00.78|+00.11" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 91, - 173, - 141, - 195 - ], - "mask": [ - [ - 51694, - 47 - ], - [ - 51994, - 48 - ], - [ - 52293, - 49 - ], - [ - 52593, - 49 - ], - [ - 52893, - 49 - ], - [ - 53193, - 49 - ], - [ - 53493, - 49 - ], - [ - 53793, - 49 - ], - [ - 54093, - 49 - ], - [ - 54393, - 49 - ], - [ - 54692, - 50 - ], - [ - 54992, - 50 - ], - [ - 55292, - 50 - ], - [ - 55592, - 50 - ], - [ - 55892, - 50 - ], - [ - 56192, - 50 - ], - [ - 56492, - 50 - ], - [ - 56792, - 50 - ], - [ - 57091, - 51 - ], - [ - 57391, - 51 - ], - [ - 57691, - 51 - ], - [ - 57991, - 50 - ], - [ - 58292, - 49 - ] - ], - "point": [ - 116, - 183 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+00.58|+00.78|+00.11", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.08|+00.73|+01.56" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 109, - 100, - 157, - 143 - ], - "mask": [ - [ - 29829, - 10 - ], - [ - 30125, - 18 - ], - [ - 30422, - 23 - ], - [ - 30720, - 27 - ], - [ - 31019, - 30 - ], - [ - 31317, - 34 - ], - [ - 31616, - 36 - ], - [ - 31915, - 38 - ], - [ - 32214, - 40 - ], - [ - 32513, - 41 - ], - [ - 32812, - 43 - ], - [ - 33111, - 45 - ], - [ - 33411, - 45 - ], - [ - 33710, - 47 - ], - [ - 34010, - 47 - ], - [ - 34309, - 48 - ], - [ - 34609, - 48 - ], - [ - 34909, - 49 - ], - [ - 35209, - 49 - ], - [ - 35509, - 49 - ], - [ - 35809, - 49 - ], - [ - 36109, - 49 - ], - [ - 36409, - 49 - ], - [ - 36709, - 48 - ], - [ - 37009, - 48 - ], - [ - 37309, - 48 - ], - [ - 37610, - 46 - ], - [ - 37910, - 46 - ], - [ - 38211, - 45 - ], - [ - 38511, - 44 - ], - [ - 38812, - 43 - ], - [ - 39112, - 42 - ], - [ - 39413, - 41 - ], - [ - 39714, - 39 - ], - [ - 40014, - 38 - ], - [ - 40315, - 37 - ], - [ - 40616, - 35 - ], - [ - 40917, - 33 - ], - [ - 41218, - 31 - ], - [ - 41519, - 29 - ], - [ - 41821, - 25 - ], - [ - 42122, - 22 - ], - [ - 42424, - 18 - ], - [ - 42728, - 11 - ] - ], - "point": [ - 133, - 120 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.08|+00.73|+01.56" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 109, - 100, - 157, - 143 - ], - "mask": [ - [ - 29829, - 10 - ], - [ - 30125, - 18 - ], - [ - 30423, - 22 - ], - [ - 30723, - 24 - ], - [ - 31023, - 26 - ], - [ - 31317, - 2 - ], - [ - 31324, - 27 - ], - [ - 31616, - 3 - ], - [ - 31624, - 28 - ], - [ - 31915, - 4 - ], - [ - 31924, - 29 - ], - [ - 32214, - 5 - ], - [ - 32224, - 30 - ], - [ - 32513, - 6 - ], - [ - 32524, - 30 - ], - [ - 32812, - 7 - ], - [ - 32824, - 31 - ], - [ - 33111, - 8 - ], - [ - 33124, - 32 - ], - [ - 33411, - 8 - ], - [ - 33424, - 32 - ], - [ - 33710, - 9 - ], - [ - 33725, - 32 - ], - [ - 34010, - 10 - ], - [ - 34025, - 32 - ], - [ - 34309, - 11 - ], - [ - 34325, - 32 - ], - [ - 34609, - 11 - ], - [ - 34625, - 32 - ], - [ - 34909, - 11 - ], - [ - 34925, - 33 - ], - [ - 35209, - 11 - ], - [ - 35225, - 33 - ], - [ - 35509, - 11 - ], - [ - 35525, - 33 - ], - [ - 35809, - 12 - ], - [ - 35826, - 32 - ], - [ - 36109, - 12 - ], - [ - 36126, - 32 - ], - [ - 36409, - 12 - ], - [ - 36426, - 32 - ], - [ - 36709, - 12 - ], - [ - 36726, - 31 - ], - [ - 37009, - 12 - ], - [ - 37025, - 32 - ], - [ - 37309, - 12 - ], - [ - 37325, - 32 - ], - [ - 37610, - 12 - ], - [ - 37625, - 31 - ], - [ - 37910, - 12 - ], - [ - 37925, - 31 - ], - [ - 38211, - 11 - ], - [ - 38225, - 31 - ], - [ - 38511, - 11 - ], - [ - 38525, - 30 - ], - [ - 38812, - 10 - ], - [ - 38825, - 30 - ], - [ - 39112, - 10 - ], - [ - 39125, - 29 - ], - [ - 39413, - 10 - ], - [ - 39425, - 29 - ], - [ - 39714, - 9 - ], - [ - 39725, - 28 - ], - [ - 40014, - 9 - ], - [ - 40025, - 27 - ], - [ - 40315, - 8 - ], - [ - 40325, - 27 - ], - [ - 40616, - 35 - ], - [ - 40917, - 33 - ], - [ - 41218, - 31 - ], - [ - 41519, - 29 - ], - [ - 41821, - 25 - ], - [ - 42122, - 22 - ], - [ - 42424, - 18 - ], - [ - 42728, - 11 - ] - ], - "point": [ - 133, - 120 - ] - } - }, - "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": "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": "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": "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": "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": "Bowl|+01.08|+00.73|+01.56", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 162 - ], - [ - 26169, - 164 - ], - [ - 26469, - 165 - ], - [ - 26769, - 166 - ], - [ - 27068, - 168 - ], - [ - 27368, - 168 - ], - [ - 27668, - 166 - ], - [ - 27968, - 165 - ], - [ - 28268, - 165 - ], - [ - 28567, - 165 - ], - [ - 28867, - 164 - ], - [ - 29167, - 163 - ], - [ - 29467, - 162 - ], - [ - 29767, - 162 - ], - [ - 30066, - 162 - ], - [ - 30366, - 161 - ], - [ - 30666, - 160 - ], - [ - 30966, - 160 - ], - [ - 31266, - 159 - ], - [ - 31565, - 159 - ], - [ - 31775, - 2 - ], - [ - 31865, - 159 - ], - [ - 32072, - 6 - ], - [ - 32165, - 158 - ], - [ - 32372, - 6 - ], - [ - 32465, - 158 - ], - [ - 32672, - 6 - ], - [ - 32765, - 158 - ], - [ - 32972, - 7 - ], - [ - 33064, - 159 - ], - [ - 33272, - 7 - ], - [ - 33364, - 159 - ], - [ - 33572, - 7 - ], - [ - 33664, - 159 - ], - [ - 33871, - 8 - ], - [ - 33964, - 158 - ], - [ - 34171, - 9 - ], - [ - 34263, - 159 - ], - [ - 34471, - 9 - ], - [ - 34563, - 159 - ], - [ - 34771, - 9 - ], - [ - 34863, - 160 - ], - [ - 35070, - 11 - ], - [ - 35163, - 160 - ], - [ - 35370, - 11 - ], - [ - 35463, - 160 - ], - [ - 35670, - 11 - ], - [ - 35762, - 162 - ], - [ - 35969, - 13 - ], - [ - 36062, - 162 - ], - [ - 36269, - 13 - ], - [ - 36362, - 163 - ], - [ - 36569, - 13 - ], - [ - 36662, - 163 - ], - [ - 36868, - 15 - ], - [ - 36962, - 164 - ], - [ - 37168, - 15 - ], - [ - 37261, - 166 - ], - [ - 37467, - 16 - ], - [ - 37561, - 167 - ], - [ - 37767, - 17 - ], - [ - 37861, - 168 - ], - [ - 38066, - 18 - ], - [ - 38161, - 169 - ], - [ - 38366, - 18 - ], - [ - 38461, - 170 - ], - [ - 38664, - 21 - ], - [ - 38760, - 172 - ], - [ - 38964, - 21 - ], - [ - 39060, - 174 - ], - [ - 39262, - 23 - ], - [ - 39360, - 132 - ], - [ - 39512, - 24 - ], - [ - 39560, - 25 - ], - [ - 39660, - 132 - ], - [ - 39813, - 25 - ], - [ - 39859, - 27 - ], - [ - 39960, - 132 - ], - [ - 40113, - 28 - ], - [ - 40157, - 29 - ], - [ - 40259, - 133 - ], - [ - 40413, - 34 - ], - [ - 40451, - 35 - ], - [ - 40559, - 133 - ], - [ - 40713, - 74 - ], - [ - 40859, - 133 - ], - [ - 41013, - 74 - ], - [ - 41159, - 133 - ], - [ - 41313, - 74 - ], - [ - 41458, - 134 - ], - [ - 41613, - 75 - ], - [ - 41758, - 135 - ], - [ - 41914, - 74 - ], - [ - 42058, - 135 - ], - [ - 42214, - 74 - ], - [ - 42358, - 135 - ], - [ - 42514, - 75 - ], - [ - 42658, - 231 - ], - [ - 42957, - 232 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 10 - ], - [ - 58138, - 8 - ], - [ - 58287, - 9 - ], - [ - 58437, - 8 - ], - [ - 58588, - 9 - ], - [ - 58736, - 8 - ], - [ - 58888, - 9 - ], - [ - 59035, - 9 - ], - [ - 59189, - 9 - ], - [ - 59335, - 8 - ], - [ - 59489, - 9 - ], - [ - 59634, - 8 - ], - [ - 59790, - 9 - ], - [ - 59933, - 8 - ], - [ - 60091, - 8 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.5, - "y": 0.9009992, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.28819478, - "y": 0.727, - "z": 1.72741032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.15256226, - "y": 0.727, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.20506942, - "y": 0.7768329, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 0.704930544, - "y": 0.7802308, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 0.579895854, - "y": 0.7821378, - "z": 0.107696474 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.08474612, - "y": 0.729115367, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.08003473, - "y": 0.7768329, - "z": -0.166428566 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": -0.213294759, - "y": 0.690196, - "z": -1.57212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.447907031, - "y": 0.691035748, - "z": -1.83854759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.34200013, - "y": 1.13117754, - "z": 0.960999846 - }, - "rotation": { - "x": -0.000318411418, - "y": 270.000122, - "z": 0.000215481108 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": -0.266615927, - "y": 0.391632438, - "z": -1.66384864 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8728, - "y": 0.816, - "z": -1.513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.10214949, - "y": 0.07714022, - "z": 0.611385942 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.28819478, - "y": 0.7346528, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.31037676, - "y": 1.1368252, - "z": 1.40250564 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2661560632, - "scene_num": 305 - }, - "task_id": "trial_T20190909_014240_025318", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3F7G1FSFWQPLE_3BDCF01OG0L7YJZHHESWAP3ZNA6YL3", - "high_descs": [ - "Turn left and walk over to the bed.", - "Pick up the phone off of the bed.", - "Turn around and walk towards the wall, then turn right and walk over to the door, turn right and walk up to the wooden desk.", - "Put the phone in the glass bowl on the wooden desk.", - "Pick up the glass bowl with the phone in it off of the wooden desk.", - "Walk over to the nightstand to the right of the bed on your right.", - "Put the glass bowl with the phone in it on the wooden nightstand." - ], - "task_desc": "Put a glass bowl with a phone in it on a nightstand.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A31681CCEVDIH3_3Z3ZLGNNSLLH9DI6KY721H6GOFZ3QS", - "high_descs": [ - "Turn left to walk to the bed.", - "Pick up the smartphone from the bed.", - "Walk to the desk that is to the left of the bed.", - "Put the smartphone in a clear bowl on the desk.", - "Pick up the clear bowl with the smartphone in it from the desk.", - "Turn around, then hang a left to walk to the nightstand.", - "Set the clear bowl with the smartphone in it down on the nightstand." - ], - "task_desc": "Put a smartphone in a clear bowl to set down on the nightstand.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3HL8HNGX48S6XQHDNRXIGV5OH50F9R", - "high_descs": [ - "walk to face end of bed", - "pick up phone from bed", - "turn to face desk", - "put phone in bowl on desk", - "pick up bowl from desk", - "walk to night table next to bed", - "put bowl on table" - ], - "task_desc": "put bowl and phone on night table", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014348_157302/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014348_157302/traj_data.json deleted file mode 100644 index 0cae91f87..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-305/trial_T20190909_014348_157302/traj_data.json +++ /dev/null @@ -1,3665 +0,0 @@ -{ - "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": 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": 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": 11 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000096.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000097.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000098.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000099.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000100.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000101.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000102.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000125.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000126.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000127.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000128.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000129.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000130.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000131.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000132.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 16 - }, - { - "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": 17 - }, - { - "high_idx": 5, - "image_name": "000000139.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000140.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000141.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000157.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000158.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000189.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000190.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000191.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000192.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000193.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000194.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000195.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000196.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000197.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000198.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000199.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000200.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000201.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000202.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000203.png", - "low_idx": 30 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.06771944, - 4.06771944, - 4.265648, - 4.265648, - 2.929219724, - 2.929219724 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.02|+00.73|+01.07" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.06771944, - 4.06771944, - 4.265648, - 4.265648, - 2.929219724, - 2.929219724 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.02|+00.73|+01.07", - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+01.02|+00.73|+01.07" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 111, - 135, - 153, - 152 - ], - "mask": [ - [ - 40312, - 41 - ], - [ - 40612, - 42 - ], - [ - 40912, - 42 - ], - [ - 41212, - 42 - ], - [ - 41512, - 42 - ], - [ - 41812, - 42 - ], - [ - 42111, - 43 - ], - [ - 42411, - 43 - ], - [ - 42711, - 43 - ], - [ - 43011, - 43 - ], - [ - 43311, - 43 - ], - [ - 43611, - 43 - ], - [ - 43911, - 43 - ], - [ - 44211, - 43 - ], - [ - 44511, - 43 - ], - [ - 44811, - 43 - ], - [ - 45111, - 43 - ], - [ - 45411, - 42 - ] - ], - "point": [ - 132, - 142 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+01.02|+00.73|+01.07", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 154, - 127, - 194, - 160 - ], - "mask": [ - [ - 37966, - 14 - ], - [ - 38263, - 20 - ], - [ - 38561, - 24 - ], - [ - 38859, - 28 - ], - [ - 39158, - 31 - ], - [ - 39457, - 33 - ], - [ - 39756, - 35 - ], - [ - 40055, - 37 - ], - [ - 40355, - 38 - ], - [ - 40654, - 39 - ], - [ - 40954, - 40 - ], - [ - 41254, - 40 - ], - [ - 41554, - 41 - ], - [ - 41854, - 41 - ], - [ - 42154, - 41 - ], - [ - 42454, - 41 - ], - [ - 42754, - 41 - ], - [ - 43055, - 39 - ], - [ - 43355, - 39 - ], - [ - 43655, - 39 - ], - [ - 43955, - 38 - ], - [ - 44256, - 37 - ], - [ - 44556, - 36 - ], - [ - 44857, - 35 - ], - [ - 45157, - 34 - ], - [ - 45458, - 32 - ], - [ - 45759, - 31 - ], - [ - 46059, - 30 - ], - [ - 46361, - 27 - ], - [ - 46662, - 25 - ], - [ - 46963, - 23 - ], - [ - 47265, - 19 - ], - [ - 47568, - 13 - ], - [ - 47872, - 4 - ] - ], - "point": [ - 174, - 142 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 154, - 127, - 194, - 160 - ], - "mask": [ - [ - 37968, - 12 - ], - [ - 38263, - 2 - ], - [ - 38268, - 15 - ], - [ - 38561, - 4 - ], - [ - 38568, - 17 - ], - [ - 38859, - 6 - ], - [ - 38868, - 19 - ], - [ - 39158, - 7 - ], - [ - 39168, - 21 - ], - [ - 39457, - 8 - ], - [ - 39468, - 22 - ], - [ - 39756, - 9 - ], - [ - 39768, - 23 - ], - [ - 40055, - 10 - ], - [ - 40068, - 24 - ], - [ - 40355, - 10 - ], - [ - 40367, - 26 - ], - [ - 40654, - 11 - ], - [ - 40667, - 26 - ], - [ - 40954, - 11 - ], - [ - 40967, - 27 - ], - [ - 41254, - 11 - ], - [ - 41267, - 27 - ], - [ - 41554, - 11 - ], - [ - 41567, - 28 - ], - [ - 41854, - 10 - ], - [ - 41867, - 28 - ], - [ - 42154, - 10 - ], - [ - 42167, - 28 - ], - [ - 42454, - 10 - ], - [ - 42467, - 28 - ], - [ - 42754, - 10 - ], - [ - 42767, - 28 - ], - [ - 43055, - 9 - ], - [ - 43067, - 27 - ], - [ - 43355, - 9 - ], - [ - 43367, - 27 - ], - [ - 43655, - 9 - ], - [ - 43667, - 27 - ], - [ - 43955, - 9 - ], - [ - 43967, - 26 - ], - [ - 44256, - 9 - ], - [ - 44267, - 26 - ], - [ - 44556, - 9 - ], - [ - 44567, - 25 - ], - [ - 44857, - 8 - ], - [ - 44867, - 25 - ], - [ - 45157, - 8 - ], - [ - 45166, - 25 - ], - [ - 45458, - 32 - ], - [ - 45759, - 31 - ], - [ - 46059, - 30 - ], - [ - 46361, - 27 - ], - [ - 46662, - 25 - ], - [ - 46963, - 23 - ], - [ - 47265, - 19 - ], - [ - 47568, - 13 - ], - [ - 47872, - 4 - ] - ], - "point": [ - 174, - 142 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 162 - ], - [ - 26169, - 164 - ], - [ - 26469, - 120 - ], - [ - 26606, - 28 - ], - [ - 26769, - 120 - ], - [ - 26906, - 29 - ], - [ - 27068, - 73 - ], - [ - 27147, - 42 - ], - [ - 27206, - 30 - ], - [ - 27368, - 67 - ], - [ - 27454, - 35 - ], - [ - 27506, - 30 - ], - [ - 27668, - 63 - ], - [ - 27757, - 32 - ], - [ - 27806, - 28 - ], - [ - 27968, - 61 - ], - [ - 28060, - 29 - ], - [ - 28107, - 26 - ], - [ - 28268, - 59 - ], - [ - 28361, - 28 - ], - [ - 28407, - 26 - ], - [ - 28567, - 58 - ], - [ - 28663, - 26 - ], - [ - 28707, - 25 - ], - [ - 28867, - 57 - ], - [ - 28965, - 24 - ], - [ - 29007, - 24 - ], - [ - 29167, - 56 - ], - [ - 29266, - 23 - ], - [ - 29307, - 23 - ], - [ - 29467, - 55 - ], - [ - 29567, - 22 - ], - [ - 29607, - 22 - ], - [ - 29767, - 54 - ], - [ - 29868, - 22 - ], - [ - 29907, - 22 - ], - [ - 30066, - 54 - ], - [ - 30169, - 21 - ], - [ - 30208, - 20 - ], - [ - 30366, - 53 - ], - [ - 30469, - 21 - ], - [ - 30508, - 19 - ], - [ - 30666, - 53 - ], - [ - 30770, - 20 - ], - [ - 30808, - 18 - ], - [ - 30966, - 52 - ], - [ - 31071, - 19 - ], - [ - 31108, - 18 - ], - [ - 31266, - 52 - ], - [ - 31371, - 19 - ], - [ - 31408, - 17 - ], - [ - 31565, - 53 - ], - [ - 31671, - 19 - ], - [ - 31708, - 16 - ], - [ - 31775, - 2 - ], - [ - 31865, - 53 - ], - [ - 31971, - 19 - ], - [ - 32008, - 16 - ], - [ - 32072, - 6 - ], - [ - 32165, - 53 - ], - [ - 32271, - 19 - ], - [ - 32309, - 14 - ], - [ - 32372, - 6 - ], - [ - 32465, - 52 - ], - [ - 32572, - 18 - ], - [ - 32609, - 14 - ], - [ - 32672, - 6 - ], - [ - 32765, - 52 - ], - [ - 32872, - 19 - ], - [ - 32909, - 14 - ], - [ - 32972, - 7 - ], - [ - 33064, - 53 - ], - [ - 33172, - 19 - ], - [ - 33209, - 14 - ], - [ - 33272, - 7 - ], - [ - 33364, - 53 - ], - [ - 33472, - 19 - ], - [ - 33509, - 14 - ], - [ - 33572, - 7 - ], - [ - 33664, - 53 - ], - [ - 33772, - 19 - ], - [ - 33809, - 14 - ], - [ - 33871, - 8 - ], - [ - 33964, - 53 - ], - [ - 34072, - 19 - ], - [ - 34109, - 13 - ], - [ - 34171, - 9 - ], - [ - 34263, - 54 - ], - [ - 34372, - 19 - ], - [ - 34410, - 12 - ], - [ - 34471, - 9 - ], - [ - 34563, - 54 - ], - [ - 34672, - 19 - ], - [ - 34710, - 12 - ], - [ - 34771, - 9 - ], - [ - 34863, - 54 - ], - [ - 34972, - 19 - ], - [ - 35010, - 13 - ], - [ - 35070, - 11 - ], - [ - 35163, - 54 - ], - [ - 35272, - 51 - ], - [ - 35370, - 11 - ], - [ - 35463, - 54 - ], - [ - 35572, - 51 - ], - [ - 35670, - 11 - ], - [ - 35762, - 55 - ], - [ - 35872, - 52 - ], - [ - 35969, - 13 - ], - [ - 36062, - 55 - ], - [ - 36172, - 52 - ], - [ - 36269, - 13 - ], - [ - 36362, - 55 - ], - [ - 36472, - 53 - ], - [ - 36569, - 13 - ], - [ - 36662, - 54 - ], - [ - 36772, - 53 - ], - [ - 36868, - 15 - ], - [ - 36962, - 54 - ], - [ - 37072, - 54 - ], - [ - 37168, - 15 - ], - [ - 37261, - 56 - ], - [ - 37372, - 55 - ], - [ - 37467, - 16 - ], - [ - 37561, - 56 - ], - [ - 37672, - 56 - ], - [ - 37767, - 17 - ], - [ - 37861, - 57 - ], - [ - 37971, - 58 - ], - [ - 38066, - 18 - ], - [ - 38161, - 57 - ], - [ - 38271, - 59 - ], - [ - 38366, - 18 - ], - [ - 38461, - 58 - ], - [ - 38571, - 60 - ], - [ - 38664, - 21 - ], - [ - 38760, - 59 - ], - [ - 38870, - 62 - ], - [ - 38964, - 21 - ], - [ - 39060, - 60 - ], - [ - 39169, - 65 - ], - [ - 39262, - 23 - ], - [ - 39360, - 17 - ], - [ - 39397, - 24 - ], - [ - 39468, - 68 - ], - [ - 39560, - 25 - ], - [ - 39660, - 17 - ], - [ - 39698, - 25 - ], - [ - 39767, - 71 - ], - [ - 39859, - 27 - ], - [ - 39960, - 17 - ], - [ - 39998, - 26 - ], - [ - 40065, - 76 - ], - [ - 40157, - 29 - ], - [ - 40259, - 18 - ], - [ - 40297, - 29 - ], - [ - 40364, - 83 - ], - [ - 40451, - 35 - ], - [ - 40559, - 17 - ], - [ - 40597, - 31 - ], - [ - 40662, - 125 - ], - [ - 40859, - 17 - ], - [ - 40897, - 190 - ], - [ - 41159, - 17 - ], - [ - 41197, - 190 - ], - [ - 41458, - 18 - ], - [ - 41497, - 191 - ], - [ - 41758, - 18 - ], - [ - 41797, - 191 - ], - [ - 42058, - 18 - ], - [ - 42097, - 191 - ], - [ - 42358, - 17 - ], - [ - 42397, - 192 - ], - [ - 42658, - 231 - ], - [ - 42957, - 232 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 10 - ], - [ - 58138, - 8 - ], - [ - 58287, - 9 - ], - [ - 58437, - 8 - ], - [ - 58588, - 9 - ], - [ - 58736, - 8 - ], - [ - 58888, - 9 - ], - [ - 59035, - 9 - ], - [ - 59189, - 9 - ], - [ - 59335, - 8 - ], - [ - 59489, - 9 - ], - [ - 59634, - 8 - ], - [ - 59790, - 9 - ], - [ - 59933, - 8 - ], - [ - 60091, - 7 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.25, - "y": 0.9009992, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.22037852, - "y": 0.729115367, - "z": 1.23166156 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.15256226, - "y": 0.7286067, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.34199977, - "y": 1.13843191, - "z": 1.55879521 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.13579464, - "y": 0.3193348, - "z": 1.73745465 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.01692986, - "y": 0.732304931, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": -0.213294759, - "y": 0.6935049, - "z": -1.74973834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.28819478, - "y": 0.7346528, - "z": 1.8926599 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.08474612, - "y": 0.7346528, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.06036317, - "y": 0.316025853, - "z": 1.66630054 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.15256226, - "y": 0.728996, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.00769206136, - "y": 0.09902375, - "z": -1.61726642 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.42382717, - "y": 0.729835749, - "z": 1.23166156 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.704930544, - "y": 0.7768329, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.145, - "y": 0.721387863, - "z": 1.806 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 0.955000043, - "y": 0.7821378, - "z": 0.107696474 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.35345471, - "y": 0.721387863, - "z": 0.8918423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.704930544, - "y": 0.7768329, - "z": -0.166428566 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 0.255929768, - "y": 0.690196, - "z": -1.57212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.34200025, - "y": 1.139661, - "z": 1.24621618 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 0.0213174969, - "y": 0.6906924, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.06036317, - "y": 0.319321036, - "z": 1.87976277 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 1.08003473, - "y": 0.8492504, - "z": -0.4405536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.01692986, - "y": 0.7286067, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.35601091, - "y": 0.7346528, - "z": 1.72741032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.28819478, - "y": 0.727, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1225477649, - "scene_num": 305 - }, - "task_id": "trial_T20190909_014348_157302", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A12HZGOZQD5YK7_352YTHGROY4PEG271MPR286LBSSH4O", - "high_descs": [ - "Turn around and go towards the door, turn right and go to the desk.", - "Pick up the phone on the desk.", - "Look up to the bowl on the desk.", - "Put the phone in the bowl on the desk.", - "Pick up the bowl with the phone in it.", - "Turn right and go to the night stand.", - "Put the bowl on the night stand to the left of the clock." - ], - "task_desc": "Put a phone in a bowl on the desk.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AFPMG8TLP1TND_39PAAFCODPRED2CHLC73PH9MZ6LTVN", - "high_descs": [ - "turn right then turn right again and walk straight towards the door and turn right towards the desk", - "pick up the phone on the desk", - "look up from the desk", - "put the phone in the bowl on the desk", - "pick up the phone and the bowl together off of the desk", - "turn around then turn left and walk straight towards the night stand", - "put the bowl and the phone down on the night stand next to the bed" - ], - "task_desc": "put a phone into a bowl and put them on the night stand next to the bed", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A23HZ18KTCK2DA_3NG53N1RLYAIAYNXW2N9STOHZ4RP8Z", - "high_descs": [ - "Turn and go to the desk at the end of the bed.", - "Pick up the cell phone that is in front of the chair at the desk", - "With the cell phone in hand move forward more with the cell phone in hand.", - "Place the cell phone in the bowl in the right back corner of the desk.", - "Pick up the bowl in the right back corner of the desk with the cell phone in it.", - "With the bowl in hand turn and go to the night stand next to the bed with the lamp on it.", - "Place the bowl with the cell phone behind the red credit card on the night stand." - ], - "task_desc": "Place cell phone in bowl and place on night stand.", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165605_913043/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165605_913043/traj_data.json deleted file mode 100644 index 0e0e9078b..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165605_913043/traj_data.json +++ /dev/null @@ -1,4913 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 10 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 33 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 57 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|-3|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 10.1789446, - 10.1789446, - -2.72642374, - -2.72642374, - 1.5988968, - 1.5988968 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.7, - 9.7, - -2.26, - -2.26, - 0.00680953264, - 0.00680953264 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.54|+00.40|-00.68" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|13|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 10.1789446, - 10.1789446, - -2.72642374, - -2.72642374, - 1.5988968, - 1.5988968 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.2430376, - 3.2430376 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.54|+00.40|-00.68", - "receptacleObjectId": "Bowl|+02.37|+00.81|+03.49" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.2430376, - 3.2430376 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+03.49" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.2430376, - 3.2430376 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+03.49", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+02.54|+00.40|-00.68" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 129, - 125, - 145, - 147 - ], - "mask": [ - [ - 37330, - 16 - ], - [ - 37630, - 16 - ], - [ - 37930, - 16 - ], - [ - 38230, - 16 - ], - [ - 38529, - 17 - ], - [ - 38829, - 17 - ], - [ - 39129, - 17 - ], - [ - 39429, - 17 - ], - [ - 39729, - 17 - ], - [ - 40029, - 17 - ], - [ - 40329, - 17 - ], - [ - 40629, - 17 - ], - [ - 40929, - 17 - ], - [ - 41229, - 17 - ], - [ - 41529, - 17 - ], - [ - 41829, - 17 - ], - [ - 42129, - 17 - ], - [ - 42429, - 16 - ], - [ - 42729, - 16 - ], - [ - 43029, - 16 - ], - [ - 43329, - 16 - ], - [ - 43629, - 16 - ], - [ - 43930, - 14 - ] - ], - "point": [ - 137, - 135 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+02.54|+00.40|-00.68", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.37|+00.81|+03.49" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 53, - 79, - 108, - 124 - ], - "mask": [ - [ - 23481, - 7 - ], - [ - 23775, - 18 - ], - [ - 24072, - 24 - ], - [ - 24369, - 29 - ], - [ - 24667, - 33 - ], - [ - 24965, - 36 - ], - [ - 25264, - 39 - ], - [ - 25562, - 42 - ], - [ - 25861, - 44 - ], - [ - 26160, - 45 - ], - [ - 26459, - 47 - ], - [ - 26758, - 49 - ], - [ - 27057, - 50 - ], - [ - 27356, - 52 - ], - [ - 27656, - 52 - ], - [ - 27955, - 53 - ], - [ - 28255, - 53 - ], - [ - 28554, - 54 - ], - [ - 28854, - 55 - ], - [ - 29153, - 56 - ], - [ - 29453, - 56 - ], - [ - 29753, - 56 - ], - [ - 30053, - 56 - ], - [ - 30353, - 56 - ], - [ - 30653, - 55 - ], - [ - 30953, - 55 - ], - [ - 31253, - 55 - ], - [ - 31553, - 55 - ], - [ - 31853, - 54 - ], - [ - 32154, - 53 - ], - [ - 32454, - 53 - ], - [ - 32755, - 51 - ], - [ - 33055, - 51 - ], - [ - 33356, - 49 - ], - [ - 33656, - 48 - ], - [ - 33957, - 46 - ], - [ - 34258, - 45 - ], - [ - 34559, - 42 - ], - [ - 34860, - 40 - ], - [ - 35161, - 38 - ], - [ - 35462, - 36 - ], - [ - 35763, - 33 - ], - [ - 36065, - 30 - ], - [ - 36367, - 26 - ], - [ - 36669, - 21 - ], - [ - 36973, - 13 - ] - ], - "point": [ - 80, - 100 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.37|+00.81|+03.49" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 53, - 79, - 108, - 124 - ], - "mask": [ - [ - 23481, - 7 - ], - [ - 23775, - 18 - ], - [ - 24072, - 24 - ], - [ - 24369, - 29 - ], - [ - 24668, - 32 - ], - [ - 24968, - 33 - ], - [ - 25269, - 34 - ], - [ - 25569, - 35 - ], - [ - 25870, - 35 - ], - [ - 26170, - 35 - ], - [ - 26470, - 36 - ], - [ - 26771, - 36 - ], - [ - 27071, - 36 - ], - [ - 27356, - 1 - ], - [ - 27371, - 37 - ], - [ - 27656, - 1 - ], - [ - 27672, - 36 - ], - [ - 27955, - 3 - ], - [ - 27972, - 36 - ], - [ - 28255, - 3 - ], - [ - 28273, - 35 - ], - [ - 28554, - 5 - ], - [ - 28573, - 35 - ], - [ - 28854, - 5 - ], - [ - 28873, - 36 - ], - [ - 29153, - 7 - ], - [ - 29173, - 36 - ], - [ - 29453, - 7 - ], - [ - 29473, - 36 - ], - [ - 29753, - 8 - ], - [ - 29773, - 36 - ], - [ - 30053, - 8 - ], - [ - 30072, - 37 - ], - [ - 30353, - 8 - ], - [ - 30372, - 37 - ], - [ - 30653, - 9 - ], - [ - 30672, - 36 - ], - [ - 30953, - 9 - ], - [ - 30972, - 36 - ], - [ - 31253, - 10 - ], - [ - 31272, - 36 - ], - [ - 31553, - 10 - ], - [ - 31571, - 37 - ], - [ - 31853, - 11 - ], - [ - 31871, - 36 - ], - [ - 32154, - 10 - ], - [ - 32171, - 36 - ], - [ - 32454, - 11 - ], - [ - 32471, - 36 - ], - [ - 32755, - 10 - ], - [ - 32771, - 35 - ], - [ - 33055, - 10 - ], - [ - 33070, - 36 - ], - [ - 33356, - 10 - ], - [ - 33370, - 35 - ], - [ - 33656, - 10 - ], - [ - 33670, - 34 - ], - [ - 33957, - 10 - ], - [ - 33970, - 33 - ], - [ - 34258, - 45 - ], - [ - 34559, - 42 - ], - [ - 34860, - 40 - ], - [ - 35161, - 38 - ], - [ - 35462, - 36 - ], - [ - 35763, - 33 - ], - [ - 36065, - 30 - ], - [ - 36367, - 26 - ], - [ - 36669, - 21 - ], - [ - 36973, - 13 - ] - ], - "point": [ - 80, - 100 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "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": "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": "Bowl|+02.37|+00.81|+03.49", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 17 - ], - [ - 29075, - 25 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 16 - ], - [ - 29378, - 22 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 15 - ], - [ - 29680, - 20 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 15 - ], - [ - 29981, - 19 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 16 - ], - [ - 30283, - 17 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 17 - ], - [ - 30584, - 16 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 17 - ], - [ - 30885, - 15 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 19 - ], - [ - 31186, - 14 - ], - [ - 31242, - 90 - ], - [ - 31436, - 19 - ], - [ - 31487, - 13 - ], - [ - 31542, - 92 - ], - [ - 31734, - 21 - ], - [ - 31787, - 13 - ], - [ - 31841, - 95 - ], - [ - 32032, - 22 - ], - [ - 32088, - 12 - ], - [ - 32141, - 96 - ], - [ - 32331, - 23 - ], - [ - 32388, - 12 - ], - [ - 32441, - 98 - ], - [ - 32628, - 25 - ], - [ - 32688, - 12 - ], - [ - 32741, - 101 - ], - [ - 32926, - 27 - ], - [ - 32988, - 12 - ], - [ - 33040, - 104 - ], - [ - 33224, - 28 - ], - [ - 33289, - 11 - ], - [ - 33340, - 107 - ], - [ - 33522, - 30 - ], - [ - 33588, - 12 - ], - [ - 33640, - 109 - ], - [ - 33819, - 32 - ], - [ - 33888, - 12 - ], - [ - 33940, - 113 - ], - [ - 34116, - 34 - ], - [ - 34188, - 12 - ], - [ - 34239, - 117 - ], - [ - 34412, - 38 - ], - [ - 34488, - 12 - ], - [ - 34539, - 121 - ], - [ - 34708, - 41 - ], - [ - 34787, - 13 - ], - [ - 34839, - 127 - ], - [ - 35002, - 47 - ], - [ - 35086, - 14 - ], - [ - 35139, - 135 - ], - [ - 35294, - 54 - ], - [ - 35386, - 14 - ], - [ - 35438, - 210 - ], - [ - 35685, - 15 - ], - [ - 35738, - 209 - ], - [ - 35984, - 16 - ], - [ - 36038, - 209 - ], - [ - 36283, - 17 - ], - [ - 36337, - 210 - ], - [ - 36583, - 17 - ], - [ - 36637, - 209 - ], - [ - 36882, - 18 - ], - [ - 36937, - 209 - ], - [ - 37181, - 19 - ], - [ - 37237, - 209 - ], - [ - 37480, - 20 - ], - [ - 37536, - 210 - ], - [ - 37780, - 20 - ], - [ - 37836, - 211 - ], - [ - 38079, - 21 - ], - [ - 38136, - 211 - ], - [ - 38379, - 21 - ], - [ - 38436, - 211 - ], - [ - 38679, - 21 - ], - [ - 38735, - 213 - ], - [ - 38978, - 22 - ], - [ - 39035, - 214 - ], - [ - 39278, - 22 - ], - [ - 39335, - 215 - ], - [ - 39577, - 23 - ], - [ - 39635, - 216 - ], - [ - 39876, - 24 - ], - [ - 39934, - 218 - ], - [ - 40175, - 25 - ], - [ - 40234, - 219 - ], - [ - 40474, - 26 - ], - [ - 40534, - 221 - ], - [ - 40772, - 28 - ], - [ - 40833, - 224 - ], - [ - 41070, - 30 - ], - [ - 41133, - 228 - ], - [ - 41366, - 34 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 76 - ], - [ - 48497, - 103 - ], - [ - 48627, - 73 - ], - [ - 48800, - 100 - ], - [ - 48926, - 73 - ], - [ - 49101, - 99 - ], - [ - 49226, - 73 - ], - [ - 49401, - 99 - ], - [ - 49526, - 73 - ], - [ - 49701, - 99 - ], - [ - 49826, - 72 - ], - [ - 50002, - 98 - ], - [ - 50127, - 71 - ], - [ - 50302, - 98 - ], - [ - 50427, - 71 - ], - [ - 50602, - 98 - ], - [ - 50728, - 70 - ], - [ - 50902, - 98 - ], - [ - 51029, - 69 - ], - [ - 51202, - 98 - ], - [ - 51330, - 68 - ], - [ - 51502, - 98 - ], - [ - 51631, - 68 - ], - [ - 51801, - 99 - ], - [ - 51932, - 67 - ], - [ - 52101, - 99 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.0, - "y": 0.9101201, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.36734867, - "y": 0.8107594, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.57583427, - "y": 0.09803629, - "z": 0.8198403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -1.30783033, - "y": 0.399080217, - "z": -1.05339372 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.57583427, - "y": 0.4628538, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.364924, - "y": 0.401048839, - "z": -0.5944867 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.68043351, - "y": 0.8163972, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.26298714, - "y": 0.8154603, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.47171044, - "y": 0.806327343, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.0381124, - "y": 0.3978147, - "z": -1.05339289 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.53340769, - "y": 0.09396094, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.44725227, - "y": 0.752507448, - "z": -1.58802092 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.54473615, - "y": 0.3997242, - "z": -0.681605935 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.78479528, - "y": 0.8107594, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.815475941, - "y": 0.913494945, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.3991785, - "y": 0.745273352, - "z": -1.66925287 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -1.39773548, - "y": 0.401048839, - "z": -1.31475329 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.8811438, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.8811438, - "y": 0.916839838, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.355342746, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.36734867, - "y": 0.8069972, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.36734867, - "y": 0.8130433, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.52934146, - "y": 0.841, - "z": 0.3617196 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2401851038, - "scene_num": 311 - }, - "task_id": "trial_T20190906_165605_913043", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1ELPYAFO7MANS_3MMN5BL1W2LI39YGWXB4JM28HDB3MA", - "high_descs": [ - "Turn to the right and walk to the green chair.", - "Pick up the cell phone.", - "Turn left and walk forward until you get to the table on the right.", - "Place the phone into the bowl closest to you.", - "Pick up the bowl.", - "Turn right and walk to the TV stand.", - "Place the bowl on the left side of the TV." - ], - "task_desc": "Place a bowl with a cell phone in it on a counter.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A320QA9HJFUOZO_3R2PKQ87NZPXTCGZH0IRNS4X0VKMI5", - "high_descs": [ - "Turn and walk over to the green chair next to the round side table", - "Pick up the cell phone from the green chair", - "Turn left and walk over to the large table", - "Set the phone into the nearest bowl on the table", - "Pick up the bowl with the phone in it", - "Turn around and walk over to the TV cabinet", - "Place the bowl on top of the TV cabinet" - ], - "task_desc": "Place a bowl with phone in it on the TV cabinet", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_37ZHEEHM6Z3ZI6RTSR9F045JP0I37U", - "high_descs": [ - "move to the chair to the right of you", - "pick up a phone from the chair", - "move to the desk to the left of you", - "put the phone in a bowl on the desk", - "pick up the bowl with the phone", - "move to the TV stand", - "put the bowl on the TV stand" - ], - "task_desc": "Put bowl with a phone on the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_384PI804XVIPKCCOX7P7TX3892QS0Q", - "high_descs": [ - "Turn right and walk to the green chair.", - "Pick up the cell phone on the chair.", - "Turn left and walk to the table with the two red chairs.", - "Place the phone in the bowl closest to you on the table.", - "Pick up the bowl.", - "Take a few steps right and face the TV.", - "Place the bowl on the TV stand on the left side." - ], - "task_desc": "Place a bowl with a phone in it on a TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1OWHPMKE7YAGL_3EWIJTFFVROOAT76WC524GZT8B50EL", - "high_descs": [ - "Back up, turn around, go forward, take a left and go forward to the green chair. ", - "Pick up the cell phone that is on the chair. ", - "Turn around, go forward, then hang a right and go forward, go to the dining table on the right where the computer is. ", - "Put the cell phone in the bowl that is in front of the leftmost chair.", - "Pick up the bowl containing the cell phone from the table. ", - "Turn around, go forward then hang a left, go forward to the table where the TV is that will be on the left. ", - "Put the bowl on the far left side of the table in front of the TV." - ], - "task_desc": "Put a bowl containing a cell phone on a table. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AFU00NU09CFXE_3DR23U6WE8VPQ24XUETCOR1X294TEX", - "high_descs": [ - "Turn around and move to stand directly in front of the green chair. ", - "Pick the cell phone up from the chair that's to the right of the remote control. ", - "Turn and cross the room towards the door and stop when you're next to the table on the right and facing it. ", - "Set the phone in the bowl closest to you. ", - "Pick the bowl up, keeping the phone inside it. ", - "Turn around the cross the room until you get to the dresser with the TV on top, and then face it. ", - "Set the bowl with the phone in it on top of the dresser to the left of the TV." - ], - "task_desc": "The cell phone will be moved from the chair to a bowl to end up on top of the dresser. ", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165637_469378/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165637_469378/traj_data.json deleted file mode 100644 index 5381f9548..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165637_469378/traj_data.json +++ /dev/null @@ -1,5004 +0,0 @@ -{ - "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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 22 - }, - { - "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": 24 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 29 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 31 - }, - { - "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": 34 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "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": 38 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 58 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|15|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 9.46939468, - 9.46939468, - 14.86035348, - 14.86035348, - 3.2292, - 3.2292 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.37|+00.81|+03.72" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|13|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 9.46939468, - 9.46939468, - 14.86035348, - 14.86035348, - 3.2292, - 3.2292 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.37|+00.81|+03.72", - "receptacleObjectId": "Bowl|+02.37|+00.81|+03.49" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+03.49" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+03.49", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+02.37|+00.81|+03.72" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 135, - 102, - 183, - 121 - ], - "mask": [ - [ - 30436, - 46 - ], - [ - 30736, - 47 - ], - [ - 31036, - 47 - ], - [ - 31336, - 47 - ], - [ - 31635, - 48 - ], - [ - 31935, - 48 - ], - [ - 32235, - 48 - ], - [ - 32535, - 48 - ], - [ - 32835, - 48 - ], - [ - 33135, - 48 - ], - [ - 33435, - 48 - ], - [ - 33735, - 48 - ], - [ - 34035, - 49 - ], - [ - 34335, - 49 - ], - [ - 34635, - 49 - ], - [ - 34935, - 49 - ], - [ - 35235, - 49 - ], - [ - 35535, - 49 - ], - [ - 35835, - 49 - ], - [ - 36136, - 47 - ] - ], - "point": [ - 159, - 110 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+02.37|+00.81|+03.72", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.37|+00.81|+03.49" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 53, - 79, - 108, - 124 - ], - "mask": [ - [ - 23483, - 2 - ], - [ - 23776, - 16 - ], - [ - 24072, - 24 - ], - [ - 24370, - 28 - ], - [ - 24668, - 32 - ], - [ - 24966, - 35 - ], - [ - 25264, - 39 - ], - [ - 25563, - 41 - ], - [ - 25861, - 44 - ], - [ - 26160, - 45 - ], - [ - 26459, - 47 - ], - [ - 26758, - 49 - ], - [ - 27057, - 50 - ], - [ - 27357, - 51 - ], - [ - 27656, - 52 - ], - [ - 27955, - 53 - ], - [ - 28255, - 53 - ], - [ - 28554, - 54 - ], - [ - 28854, - 55 - ], - [ - 29154, - 55 - ], - [ - 29453, - 56 - ], - [ - 29753, - 56 - ], - [ - 30053, - 56 - ], - [ - 30353, - 56 - ], - [ - 30653, - 55 - ], - [ - 30953, - 55 - ], - [ - 31253, - 55 - ], - [ - 31553, - 55 - ], - [ - 31853, - 55 - ], - [ - 32154, - 53 - ], - [ - 32454, - 53 - ], - [ - 32755, - 51 - ], - [ - 33055, - 51 - ], - [ - 33356, - 49 - ], - [ - 33656, - 48 - ], - [ - 33957, - 47 - ], - [ - 34258, - 45 - ], - [ - 34559, - 43 - ], - [ - 34859, - 42 - ], - [ - 35161, - 38 - ], - [ - 35462, - 36 - ], - [ - 35763, - 34 - ], - [ - 36064, - 31 - ], - [ - 36366, - 27 - ], - [ - 36669, - 22 - ], - [ - 36972, - 15 - ] - ], - "point": [ - 80, - 100 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.37|+00.81|+03.49" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 53, - 79, - 108, - 124 - ], - "mask": [ - [ - 23483, - 2 - ], - [ - 23776, - 16 - ], - [ - 24072, - 24 - ], - [ - 24370, - 28 - ], - [ - 24668, - 32 - ], - [ - 24968, - 33 - ], - [ - 25269, - 34 - ], - [ - 25569, - 35 - ], - [ - 25870, - 35 - ], - [ - 26170, - 35 - ], - [ - 26470, - 36 - ], - [ - 26771, - 36 - ], - [ - 27071, - 36 - ], - [ - 27371, - 37 - ], - [ - 27656, - 1 - ], - [ - 27672, - 36 - ], - [ - 27955, - 3 - ], - [ - 27972, - 36 - ], - [ - 28255, - 3 - ], - [ - 28273, - 35 - ], - [ - 28554, - 5 - ], - [ - 28573, - 35 - ], - [ - 28854, - 5 - ], - [ - 28873, - 36 - ], - [ - 29154, - 6 - ], - [ - 29173, - 36 - ], - [ - 29453, - 7 - ], - [ - 29473, - 36 - ], - [ - 29753, - 8 - ], - [ - 29773, - 36 - ], - [ - 30053, - 8 - ], - [ - 30072, - 37 - ], - [ - 30353, - 8 - ], - [ - 30372, - 37 - ], - [ - 30653, - 9 - ], - [ - 30672, - 36 - ], - [ - 30953, - 9 - ], - [ - 30972, - 36 - ], - [ - 31253, - 10 - ], - [ - 31272, - 36 - ], - [ - 31553, - 10 - ], - [ - 31571, - 37 - ], - [ - 31853, - 11 - ], - [ - 31871, - 37 - ], - [ - 32154, - 10 - ], - [ - 32171, - 36 - ], - [ - 32454, - 11 - ], - [ - 32471, - 36 - ], - [ - 32755, - 10 - ], - [ - 32771, - 35 - ], - [ - 33055, - 10 - ], - [ - 33070, - 36 - ], - [ - 33356, - 10 - ], - [ - 33370, - 35 - ], - [ - 33656, - 10 - ], - [ - 33670, - 34 - ], - [ - 33957, - 10 - ], - [ - 33970, - 34 - ], - [ - 34258, - 45 - ], - [ - 34559, - 43 - ], - [ - 34859, - 42 - ], - [ - 35161, - 38 - ], - [ - 35462, - 36 - ], - [ - 35763, - 34 - ], - [ - 36064, - 31 - ], - [ - 36366, - 27 - ], - [ - 36669, - 22 - ], - [ - 36972, - 15 - ] - ], - "point": [ - 80, - 100 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "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": "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": "Bowl|+02.37|+00.81|+03.49", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 31 - ], - [ - 18986, - 12 - ], - [ - 19176, - 24 - ], - [ - 19253, - 31 - ], - [ - 19286, - 16 - ], - [ - 19316, - 4 - ], - [ - 19461, - 38 - ], - [ - 19552, - 31 - ], - [ - 19585, - 17 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 36 - ], - [ - 19852, - 31 - ], - [ - 19885, - 17 - ], - [ - 19917, - 30 - ], - [ - 19950, - 36 - ], - [ - 19988, - 55 - ], - [ - 20061, - 35 - ], - [ - 20152, - 31 - ], - [ - 20185, - 18 - ], - [ - 20217, - 30 - ], - [ - 20250, - 93 - ], - [ - 20361, - 34 - ], - [ - 20452, - 31 - ], - [ - 20485, - 18 - ], - [ - 20517, - 30 - ], - [ - 20550, - 93 - ], - [ - 20661, - 33 - ], - [ - 20751, - 32 - ], - [ - 20785, - 18 - ], - [ - 20818, - 29 - ], - [ - 20850, - 93 - ], - [ - 20961, - 32 - ], - [ - 21051, - 32 - ], - [ - 21084, - 19 - ], - [ - 21118, - 29 - ], - [ - 21150, - 92 - ], - [ - 21261, - 32 - ], - [ - 21351, - 31 - ], - [ - 21384, - 19 - ], - [ - 21419, - 28 - ], - [ - 21450, - 92 - ], - [ - 21561, - 31 - ], - [ - 21651, - 31 - ], - [ - 21684, - 19 - ], - [ - 21719, - 28 - ], - [ - 21750, - 92 - ], - [ - 21860, - 31 - ], - [ - 21950, - 32 - ], - [ - 21984, - 20 - ], - [ - 22020, - 27 - ], - [ - 22050, - 92 - ], - [ - 22160, - 30 - ], - [ - 22250, - 32 - ], - [ - 22284, - 20 - ], - [ - 22320, - 27 - ], - [ - 22350, - 91 - ], - [ - 22460, - 30 - ], - [ - 22550, - 32 - ], - [ - 22584, - 21 - ], - [ - 22620, - 27 - ], - [ - 22650, - 91 - ], - [ - 22760, - 29 - ], - [ - 22849, - 32 - ], - [ - 22883, - 22 - ], - [ - 22921, - 26 - ], - [ - 22950, - 91 - ], - [ - 23059, - 30 - ], - [ - 23149, - 32 - ], - [ - 23183, - 23 - ], - [ - 23222, - 26 - ], - [ - 23249, - 91 - ], - [ - 23359, - 29 - ], - [ - 23449, - 32 - ], - [ - 23483, - 23 - ], - [ - 23522, - 26 - ], - [ - 23549, - 91 - ], - [ - 23659, - 29 - ], - [ - 23749, - 32 - ], - [ - 23783, - 23 - ], - [ - 23823, - 25 - ], - [ - 23849, - 90 - ], - [ - 23959, - 29 - ], - [ - 24048, - 33 - ], - [ - 24083, - 24 - ], - [ - 24124, - 114 - ], - [ - 24258, - 29 - ], - [ - 24348, - 32 - ], - [ - 24383, - 24 - ], - [ - 24425, - 113 - ], - [ - 24558, - 29 - ], - [ - 24648, - 32 - ], - [ - 24682, - 26 - ], - [ - 24726, - 111 - ], - [ - 24857, - 30 - ], - [ - 24948, - 32 - ], - [ - 24982, - 27 - ], - [ - 25027, - 109 - ], - [ - 25156, - 30 - ], - [ - 25247, - 33 - ], - [ - 25282, - 27 - ], - [ - 25328, - 107 - ], - [ - 25456, - 30 - ], - [ - 25547, - 33 - ], - [ - 25582, - 28 - ], - [ - 25629, - 105 - ], - [ - 25755, - 31 - ], - [ - 25847, - 33 - ], - [ - 25882, - 29 - ], - [ - 25930, - 103 - ], - [ - 26055, - 31 - ], - [ - 26147, - 32 - ], - [ - 26181, - 30 - ], - [ - 26231, - 101 - ], - [ - 26354, - 32 - ], - [ - 26446, - 33 - ], - [ - 26481, - 31 - ], - [ - 26532, - 99 - ], - [ - 26653, - 32 - ], - [ - 26746, - 33 - ], - [ - 26781, - 32 - ], - [ - 26834, - 96 - ], - [ - 26953, - 32 - ], - [ - 27046, - 33 - ], - [ - 27081, - 33 - ], - [ - 27135, - 94 - ], - [ - 27252, - 31 - ], - [ - 27345, - 34 - ], - [ - 27381, - 34 - ], - [ - 27437, - 91 - ], - [ - 27551, - 30 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 29 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 29 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 28 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 28 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 30 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 32 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 33 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 34 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 36 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 38 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 39 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 41 - ], - [ - 31242, - 90 - ], - [ - 31436, - 43 - ], - [ - 31542, - 92 - ], - [ - 31734, - 45 - ], - [ - 31841, - 95 - ], - [ - 32032, - 47 - ], - [ - 32141, - 96 - ], - [ - 32331, - 49 - ], - [ - 32441, - 98 - ], - [ - 32628, - 52 - ], - [ - 32741, - 101 - ], - [ - 32926, - 54 - ], - [ - 33040, - 104 - ], - [ - 33224, - 57 - ], - [ - 33340, - 107 - ], - [ - 33522, - 59 - ], - [ - 33640, - 109 - ], - [ - 33819, - 62 - ], - [ - 33940, - 113 - ], - [ - 34116, - 66 - ], - [ - 34239, - 117 - ], - [ - 34412, - 70 - ], - [ - 34539, - 121 - ], - [ - 34708, - 74 - ], - [ - 34839, - 127 - ], - [ - 35002, - 81 - ], - [ - 35139, - 135 - ], - [ - 35294, - 89 - ], - [ - 35438, - 245 - ], - [ - 35738, - 246 - ], - [ - 36038, - 246 - ], - [ - 36337, - 247 - ], - [ - 36637, - 248 - ], - [ - 36937, - 249 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 76 - ], - [ - 48497, - 103 - ], - [ - 48627, - 73 - ], - [ - 48800, - 100 - ], - [ - 48926, - 73 - ], - [ - 49101, - 99 - ], - [ - 49226, - 73 - ], - [ - 49401, - 99 - ], - [ - 49526, - 73 - ], - [ - 49701, - 99 - ], - [ - 49826, - 72 - ], - [ - 50002, - 98 - ], - [ - 50127, - 71 - ], - [ - 50302, - 98 - ], - [ - 50427, - 71 - ], - [ - 50602, - 98 - ], - [ - 50728, - 70 - ], - [ - 50902, - 98 - ], - [ - 51029, - 69 - ], - [ - 51202, - 98 - ], - [ - 51330, - 68 - ], - [ - 51502, - 98 - ], - [ - 51631, - 68 - ], - [ - 51801, - 99 - ], - [ - 51932, - 67 - ], - [ - 52101, - 99 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.5, - "y": 0.9101201, - "z": 0.75 - }, - "object_poses": [ - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.749808, - "y": 0.915931046, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.36734867, - "y": 0.809822559, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.36734867, - "y": 0.8073, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -0.833904862, - "y": 0.7142456, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.59503245, - "y": 0.7500904, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.85065842, - "y": 0.84865284, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.53340769, - "y": 0.4623289, - "z": 0.721920133 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.68678069, - "y": 0.745867968, - "z": -1.37369192 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.54577255, - "y": 0.7467077, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.576072, - "y": 0.8091631, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.57583427, - "y": 0.458253562, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -1.3078301, - "y": 0.399080217, - "z": -1.14051354 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.45482945, - "y": 0.401048839, - "z": -0.420247 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.60967064, - "y": 0.851069868, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.47171044, - "y": 0.806327343, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.68043351, - "y": 0.807592869, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -1.01247966, - "y": 0.9215688, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.3991785, - "y": 0.7443471, - "z": -1.57073247 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.68043351, - "y": 0.809822559, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.758681, - "y": 0.7444336, - "z": -1.37369192 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.946811736, - "y": 0.9143347, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.88915682, - "y": 0.8095615, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.355342746, - "y": 0.7123361, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.77032924, - "y": 0.8463409, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": 2.27501822, - "y": 0.4706937, - "z": -0.6816067 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.312467, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.66068769, - "y": 0.458594739, - "z": 0.917760432 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -0.749808, - "y": 0.9191518, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.749808, - "y": 0.911498964, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2237412745, - "scene_num": 311 - }, - "task_id": "trial_T20190906_165637_469378", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AFU00NU09CFXE_3YMTUJH0DVX7Y07458HZF5P7SWAT4K", - "high_descs": [ - "Turn and walk straight to the television, then turn left until you get to the table on your right. ", - "Pick up the cell phone from the front left corner of the table.", - "Move a step to the right so you're a bit closer to the laptop while still holding the cell phone.", - "Place the phone in the clear bowl on the table.", - "Pick up the bowl with the phone in it from the table. ", - "Turn and move to the television while carrying the bowl.", - "Place the bowl with the phone in it on the left edge of the television stand." - ], - "task_desc": "Move a bowl with a phone in it to the television stand.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3H7Z272LXAO54GLIUJ7WWCQKM4GPL9", - "high_descs": [ - "Turn left, walk around the bed, and turn to face the desk.", - "Pick up the cell phone.", - "Take a step to the right.", - "Put the phone in the bowl on the desk.", - "Pick up the bowl.", - "Turn right and walk to the TV stand.", - "Place the bowl in front of the TV on the left side." - ], - "task_desc": "Place a bowl with a cell phone in it on a TV stand.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A320QA9HJFUOZO_3NG53N1RLY0AP91Z0UYSR74E28JP8X", - "high_descs": [ - "Turn and walk around the bed over to the left side of the table", - "Pick up the cell phone from the table", - "Approach the bowl to the right on the same table", - "Set the cell phone down in the bowl on the table", - "Pick up the bowl from the table", - "Turn right and walk over to the TV stand", - "Put the bowl on the TV stand to the left of the TV" - ], - "task_desc": "Put the bowl with phone on the TV stand", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1AKL5YH9NLD2V_3HQUKB7LNIVB5344KLKTVBVNM7FHHY", - "high_descs": [ - "Turn left and walk to the black table to the left of the TV.", - "Pick up the phone next to the bowl on the black table.", - "Walk to the bowl on the black table.", - "Place the phone in the bowl on the table.", - "Pick up the bowl from the table.", - "Turn right and walk to the TV.", - "Place the bowl on the left side of the white dresser with the TV on it." - ], - "task_desc": "Place a bowl with a phone in it on the white dresser with a TV on it.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AFU00NU09CFXE_36V4Q8R5ZNHAAA4IU8N0WUVJR4WMQ1", - "high_descs": [ - "Move through the room towards the door and when you get to the left of the table, turn and face it. ", - "Pick the phone up from the table. ", - "Make a full turn until you are facing the table again while still holding the phone. ", - "Place the phone in the bowl closest to you. ", - "Pick the bowl with the phone in it up off the table. ", - "Turn and move to stand in front of the dresser with the TV on it. ", - "Place the bowl with the phone on the left edge of the dresser." - ], - "task_desc": "Move the phone to a bowl and place it on the dresser. ", - "votes": [ - 1, - 1, - 0, - 1 - ] - }, - { - "assignment_id": "AKW57KYG90X61_3KMS4QQVK57ITXE6VGZQ5IZ2Y99FK5", - "high_descs": [ - "move around towards the table ", - "pick up the phone on the table", - "move right on the table", - "drop the phone in the glass plate", - "pick up the glass plate", - "head right to the television stand", - "drop the plate on the television stand" - ], - "task_desc": "drop a plate with a phone inside on the television stand", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165700_160617/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165700_160617/traj_data.json deleted file mode 100644 index 0c3a62a4e..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Bowl-Dresser-311/trial_T20190906_165700_160617/traj_data.json +++ /dev/null @@ -1,5313 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 25 - }, - { - "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": 2, - "image_name": "000000116.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 47 - }, - { - "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": 47 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 76 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|2|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 9.796048, - 9.796048, - 1.97143936, - 1.97143936, - 3.371638, - 3.371638 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.45|+00.84|+00.49" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|17|3|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 9.796048, - 9.796048, - 1.97143936, - 1.97143936, - 3.371638, - 3.371638 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - -3.5245752, - -3.5245752, - 16.665344, - 16.665344, - 3.663724184, - 3.663724184 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.45|+00.84|+00.49", - "receptacleObjectId": "Bowl|-00.88|+00.92|+04.17" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - -3.5245752, - -3.5245752, - 16.665344, - 16.665344, - 3.663724184, - 3.663724184 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -3.5624, - -3.5624, - 17.4, - 17.4, - 3.807995796, - 3.807995796 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-00.88|+00.92|+04.17" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - -3.5245752, - -3.5245752, - 16.665344, - 16.665344, - 3.663724184, - 3.663724184 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-00.88|+00.92|+04.17", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "CellPhone|+02.45|+00.84|+00.49" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 124, - 133, - 179, - 156 - ], - "mask": [ - [ - 39726, - 52 - ], - [ - 40026, - 53 - ], - [ - 40325, - 54 - ], - [ - 40625, - 54 - ], - [ - 40925, - 54 - ], - [ - 41225, - 54 - ], - [ - 41525, - 54 - ], - [ - 41825, - 54 - ], - [ - 42125, - 54 - ], - [ - 42425, - 54 - ], - [ - 42725, - 54 - ], - [ - 43025, - 54 - ], - [ - 43325, - 54 - ], - [ - 43625, - 54 - ], - [ - 43925, - 55 - ], - [ - 44225, - 55 - ], - [ - 44525, - 55 - ], - [ - 44825, - 55 - ], - [ - 45125, - 55 - ], - [ - 45425, - 55 - ], - [ - 45724, - 56 - ], - [ - 46025, - 55 - ], - [ - 46325, - 55 - ], - [ - 46625, - 54 - ] - ], - "point": [ - 151, - 143 - ] - } - }, - "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+02.45|+00.84|+00.49", - "placeStationary": true, - "receptacleObjectId": "Bowl|-00.88|+00.92|+04.17" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 96, - 126, - 153, - 170 - ], - "mask": [ - [ - 37618, - 17 - ], - [ - 37914, - 25 - ], - [ - 38211, - 31 - ], - [ - 38509, - 34 - ], - [ - 38807, - 38 - ], - [ - 39106, - 41 - ], - [ - 39404, - 44 - ], - [ - 39703, - 46 - ], - [ - 40002, - 48 - ], - [ - 40301, - 50 - ], - [ - 40600, - 52 - ], - [ - 40899, - 53 - ], - [ - 41198, - 55 - ], - [ - 41498, - 55 - ], - [ - 41797, - 57 - ], - [ - 42097, - 57 - ], - [ - 42396, - 58 - ], - [ - 42696, - 58 - ], - [ - 42996, - 58 - ], - [ - 43296, - 58 - ], - [ - 43596, - 58 - ], - [ - 43896, - 58 - ], - [ - 44196, - 58 - ], - [ - 44496, - 58 - ], - [ - 44796, - 57 - ], - [ - 45096, - 57 - ], - [ - 45397, - 56 - ], - [ - 45697, - 55 - ], - [ - 45997, - 55 - ], - [ - 46298, - 54 - ], - [ - 46598, - 53 - ], - [ - 46899, - 52 - ], - [ - 47199, - 51 - ], - [ - 47500, - 49 - ], - [ - 47801, - 47 - ], - [ - 48101, - 46 - ], - [ - 48402, - 44 - ], - [ - 48703, - 42 - ], - [ - 49005, - 39 - ], - [ - 49306, - 36 - ], - [ - 49607, - 34 - ], - [ - 49910, - 29 - ], - [ - 50212, - 24 - ], - [ - 50515, - 19 - ], - [ - 50819, - 11 - ] - ], - "point": [ - 124, - 147 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|-00.88|+00.92|+04.17" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 96, - 126, - 153, - 170 - ], - "mask": [ - [ - 37618, - 17 - ], - [ - 37914, - 22 - ], - [ - 38211, - 25 - ], - [ - 38240, - 2 - ], - [ - 38509, - 27 - ], - [ - 38540, - 3 - ], - [ - 38807, - 29 - ], - [ - 38840, - 5 - ], - [ - 39106, - 30 - ], - [ - 39140, - 7 - ], - [ - 39404, - 32 - ], - [ - 39440, - 8 - ], - [ - 39703, - 33 - ], - [ - 39740, - 9 - ], - [ - 40002, - 34 - ], - [ - 40041, - 9 - ], - [ - 40301, - 35 - ], - [ - 40341, - 10 - ], - [ - 40600, - 36 - ], - [ - 40641, - 11 - ], - [ - 40899, - 37 - ], - [ - 40941, - 11 - ], - [ - 41198, - 38 - ], - [ - 41241, - 12 - ], - [ - 41498, - 38 - ], - [ - 41541, - 12 - ], - [ - 41797, - 39 - ], - [ - 41841, - 13 - ], - [ - 42097, - 40 - ], - [ - 42141, - 13 - ], - [ - 42396, - 41 - ], - [ - 42441, - 13 - ], - [ - 42696, - 41 - ], - [ - 42741, - 13 - ], - [ - 42996, - 41 - ], - [ - 43041, - 13 - ], - [ - 43296, - 41 - ], - [ - 43341, - 13 - ], - [ - 43596, - 41 - ], - [ - 43641, - 13 - ], - [ - 43896, - 41 - ], - [ - 43941, - 13 - ], - [ - 44196, - 41 - ], - [ - 44241, - 13 - ], - [ - 44496, - 41 - ], - [ - 44541, - 13 - ], - [ - 44796, - 41 - ], - [ - 44841, - 12 - ], - [ - 45096, - 41 - ], - [ - 45140, - 13 - ], - [ - 45397, - 40 - ], - [ - 45440, - 13 - ], - [ - 45697, - 40 - ], - [ - 45740, - 12 - ], - [ - 45997, - 40 - ], - [ - 46040, - 12 - ], - [ - 46298, - 39 - ], - [ - 46340, - 12 - ], - [ - 46598, - 39 - ], - [ - 46640, - 11 - ], - [ - 46899, - 38 - ], - [ - 46940, - 11 - ], - [ - 47199, - 38 - ], - [ - 47240, - 10 - ], - [ - 47500, - 37 - ], - [ - 47540, - 9 - ], - [ - 47801, - 47 - ], - [ - 48101, - 46 - ], - [ - 48402, - 44 - ], - [ - 48703, - 42 - ], - [ - 49005, - 39 - ], - [ - 49306, - 36 - ], - [ - 49607, - 34 - ], - [ - 49910, - 29 - ], - [ - 50212, - 24 - ], - [ - 50515, - 19 - ], - [ - 50819, - 11 - ] - ], - "point": [ - 124, - 147 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|-00.88|+00.92|+04.17", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 11 - ], - [ - 18653, - 11 - ], - [ - 18953, - 12 - ], - [ - 18993, - 5 - ], - [ - 19176, - 11 - ], - [ - 19253, - 12 - ], - [ - 19293, - 9 - ], - [ - 19316, - 4 - ], - [ - 19461, - 25 - ], - [ - 19552, - 13 - ], - [ - 19593, - 9 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 24 - ], - [ - 19852, - 14 - ], - [ - 19893, - 9 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 24 - ], - [ - 20152, - 14 - ], - [ - 20194, - 9 - ], - [ - 20217, - 126 - ], - [ - 20361, - 23 - ], - [ - 20452, - 14 - ], - [ - 20494, - 9 - ], - [ - 20517, - 126 - ], - [ - 20661, - 22 - ], - [ - 20751, - 16 - ], - [ - 20794, - 9 - ], - [ - 20818, - 125 - ], - [ - 20961, - 22 - ], - [ - 21051, - 16 - ], - [ - 21094, - 9 - ], - [ - 21118, - 124 - ], - [ - 21261, - 21 - ], - [ - 21351, - 16 - ], - [ - 21395, - 8 - ], - [ - 21419, - 123 - ], - [ - 21561, - 21 - ], - [ - 21651, - 17 - ], - [ - 21695, - 8 - ], - [ - 21719, - 123 - ], - [ - 21860, - 21 - ], - [ - 21950, - 18 - ], - [ - 21995, - 9 - ], - [ - 22020, - 122 - ], - [ - 22160, - 21 - ], - [ - 22250, - 19 - ], - [ - 22295, - 9 - ], - [ - 22320, - 121 - ], - [ - 22460, - 20 - ], - [ - 22550, - 19 - ], - [ - 22595, - 10 - ], - [ - 22620, - 121 - ], - [ - 22760, - 19 - ], - [ - 22849, - 20 - ], - [ - 22895, - 10 - ], - [ - 22921, - 120 - ], - [ - 23059, - 20 - ], - [ - 23149, - 21 - ], - [ - 23195, - 11 - ], - [ - 23222, - 118 - ], - [ - 23359, - 19 - ], - [ - 23449, - 21 - ], - [ - 23494, - 12 - ], - [ - 23522, - 118 - ], - [ - 23659, - 19 - ], - [ - 23749, - 21 - ], - [ - 23794, - 12 - ], - [ - 23823, - 116 - ], - [ - 23959, - 18 - ], - [ - 24048, - 23 - ], - [ - 24093, - 14 - ], - [ - 24124, - 114 - ], - [ - 24258, - 19 - ], - [ - 24348, - 24 - ], - [ - 24392, - 15 - ], - [ - 24425, - 113 - ], - [ - 24558, - 18 - ], - [ - 24648, - 24 - ], - [ - 24691, - 17 - ], - [ - 24726, - 111 - ], - [ - 24857, - 18 - ], - [ - 24948, - 26 - ], - [ - 24989, - 20 - ], - [ - 25027, - 109 - ], - [ - 25156, - 19 - ], - [ - 25247, - 29 - ], - [ - 25287, - 22 - ], - [ - 25328, - 107 - ], - [ - 25456, - 18 - ], - [ - 25547, - 34 - ], - [ - 25582, - 28 - ], - [ - 25629, - 105 - ], - [ - 25755, - 19 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 18 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 19 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 20 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 20 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 21 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 22 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 23 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 25 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 27 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 27 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 30 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 33 - ], - [ - 29399, - 1 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 35 - ], - [ - 29698, - 2 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 38 - ], - [ - 29996, - 4 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 41 - ], - [ - 30294, - 6 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 15 - ], - [ - 31085, - 13 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 146 - ], - [ - 35587, - 113 - ], - [ - 35738, - 146 - ], - [ - 35887, - 113 - ], - [ - 36038, - 146 - ], - [ - 36187, - 113 - ], - [ - 36337, - 147 - ], - [ - 36487, - 113 - ], - [ - 36637, - 148 - ], - [ - 36787, - 113 - ], - [ - 36937, - 148 - ], - [ - 37087, - 113 - ], - [ - 37237, - 72 - ], - [ - 37391, - 109 - ], - [ - 37536, - 72 - ], - [ - 37692, - 108 - ], - [ - 37836, - 71 - ], - [ - 37993, - 107 - ], - [ - 38136, - 71 - ], - [ - 38293, - 107 - ], - [ - 38436, - 71 - ], - [ - 38593, - 107 - ], - [ - 38735, - 72 - ], - [ - 38893, - 107 - ], - [ - 39035, - 71 - ], - [ - 39194, - 106 - ], - [ - 39335, - 71 - ], - [ - 39494, - 106 - ], - [ - 39635, - 72 - ], - [ - 39793, - 107 - ], - [ - 39934, - 73 - ], - [ - 40093, - 107 - ], - [ - 40234, - 73 - ], - [ - 40393, - 107 - ], - [ - 40534, - 73 - ], - [ - 40693, - 107 - ], - [ - 40833, - 74 - ], - [ - 40993, - 107 - ], - [ - 41133, - 74 - ], - [ - 41293, - 107 - ], - [ - 41433, - 75 - ], - [ - 41592, - 108 - ], - [ - 41733, - 75 - ], - [ - 41892, - 108 - ], - [ - 42032, - 76 - ], - [ - 42192, - 108 - ], - [ - 42332, - 76 - ], - [ - 42492, - 108 - ], - [ - 42632, - 76 - ], - [ - 42792, - 108 - ], - [ - 42932, - 76 - ], - [ - 43092, - 108 - ], - [ - 43231, - 78 - ], - [ - 43391, - 109 - ], - [ - 43531, - 78 - ], - [ - 43691, - 109 - ], - [ - 43831, - 78 - ], - [ - 43991, - 109 - ], - [ - 44131, - 78 - ], - [ - 44291, - 109 - ], - [ - 44430, - 79 - ], - [ - 44591, - 109 - ], - [ - 44730, - 79 - ], - [ - 44891, - 109 - ], - [ - 45030, - 80 - ], - [ - 45190, - 110 - ], - [ - 45329, - 81 - ], - [ - 45490, - 110 - ], - [ - 45629, - 81 - ], - [ - 45790, - 110 - ], - [ - 45929, - 81 - ], - [ - 46090, - 110 - ], - [ - 46229, - 81 - ], - [ - 46390, - 110 - ], - [ - 46528, - 82 - ], - [ - 46690, - 110 - ], - [ - 46828, - 82 - ], - [ - 46990, - 110 - ], - [ - 47128, - 83 - ], - [ - 47289, - 111 - ], - [ - 47428, - 83 - ], - [ - 47589, - 111 - ], - [ - 47727, - 84 - ], - [ - 47889, - 111 - ], - [ - 48027, - 84 - ], - [ - 48189, - 111 - ], - [ - 48327, - 84 - ], - [ - 48489, - 111 - ], - [ - 48627, - 84 - ], - [ - 48789, - 111 - ], - [ - 48926, - 86 - ], - [ - 49088, - 112 - ], - [ - 49226, - 86 - ], - [ - 49388, - 112 - ], - [ - 49526, - 86 - ], - [ - 49688, - 112 - ], - [ - 49826, - 86 - ], - [ - 49988, - 112 - ], - [ - 50127, - 85 - ], - [ - 50288, - 112 - ], - [ - 50427, - 85 - ], - [ - 50588, - 112 - ], - [ - 50728, - 84 - ], - [ - 50888, - 112 - ], - [ - 51029, - 84 - ], - [ - 51187, - 113 - ], - [ - 51330, - 83 - ], - [ - 51487, - 113 - ], - [ - 51631, - 82 - ], - [ - 51787, - 113 - ], - [ - 51932, - 81 - ], - [ - 52087, - 113 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 7 - ], - [ - 65073, - 1 - ], - [ - 65175, - 6 - ], - [ - 65371, - 2 - ], - [ - 65476, - 4 - ], - [ - 65670, - 1 - ], - [ - 65777, - 3 - ], - [ - 65968, - 2 - ], - [ - 66078, - 1 - ], - [ - 66267, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 123 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -1.5, - "y": 0.9101201, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.69, - "y": 0.841, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.77032924, - "y": 0.841, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.749808, - "y": 0.913105667, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.45483041, - "y": 0.3994214, - "z": -0.768725932 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.449012, - "y": 0.8429095, - "z": 0.49285984 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -1.01247966, - "y": 0.9191518, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.52934146, - "y": 0.84865284, - "z": 0.6240001 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.47171044, - "y": 0.807592869, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.749808, - "y": 0.9127645, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -0.6841401, - "y": 0.9147331, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.53340769, - "y": 0.09856117, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -1.01247966, - "y": 0.9215688, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.312467, - "y": 0.7123361, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.576072, - "y": 0.8053905, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.618261, - "y": 0.458253562, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.68043351, - "y": 0.8163972, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.69355273, - "y": 0.7443471, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.8811438, - "y": 0.915931046, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.93098783, - "y": 0.842996, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.18511152, - "y": 0.400650442, - "z": -0.420247763 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.88915682, - "y": 0.8086246, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.833904862, - "y": 0.7123361, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.44725227, - "y": 0.7477785, - "z": -1.58802092 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.247310251, - "y": 0.752, - "z": 2.96067333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -1.21792412, - "y": 0.3994214, - "z": -1.1405133 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.66068769, - "y": 0.464640856, - "z": 0.917760432 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.8811438, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 794931989, - "scene_num": 311 - }, - "task_id": "trial_T20190906_165700_160617", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1GVTH5YS3WOK0_32VNZTT0AALUILUC1JC4FQOP4CB4RI", - "high_descs": [ - "Walk straight to the small white tv stand.", - "Pick up the cell phone on the stand.", - "Turn left, walk past the desk on your right, and turn left to the counter with the mirror.", - "Place the cellphone in a bowl on the counter.", - "Pick up the bowl with the cellphone.", - "Turn around, walk to the desk, turn right and walk towards the white tv stand to your left.", - "Place the bowl to the left of the tv." - ], - "task_desc": "Place the cellphone in a bowl to place it on the tv stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A10AVWALIHR4UQ_333U7HK6ICWQKTUSMP4OG3W478ZDJ1", - "high_descs": [ - "Move forward and face the television on the white chest of drawers.", - "Pick up the black smartphone in front of the television from the chest of drawers.", - "Turn left and move towards the white door then turn left and move to the counter in front of the mirror.", - "Place the smartphone in the bowl located between the remote control and the CD on the counter.", - "Pick up the bowl containing the smartphone from the counter.", - "Turn around, move towards the table to the right of the garbage bin, then turn right and move to the television on the white chest of drawers. ", - "Place the bowl with the smartphone in it on the chest of drawers to the left of the television and in front of the white mug." - ], - "task_desc": "Place a bowl containing a smartphone on a chest of drawers.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3X1FV8S5J082N84D54JFPCAVFNWGV9", - "high_descs": [ - "move to the TV stand to the left of the arm chair", - "pick up a phone from the stand", - "move to the shelf behind the bed", - "put the phone in a bowl on the shelf", - "pick up the bowl from the shelf", - "move to the TV stand to the left of the arm chair", - "put the bowl on the TV stand" - ], - "task_desc": "Put a bowl with a phone on a TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1GVTH5YS3WOK0_382M9COHEKW4QFJMUJJMTNNZLOJUEZ", - "high_descs": [ - "Walk towards the tv stand.", - "Pick up the phone on the tv stand.", - "Turn left towards the the door, hang to the left to enter the bathroom.", - "Place the phone standing in the white bowl.", - "Pick up the bowl with the phone.", - "Turn around towards the table, hang to the right towards back to the tv stand.", - "Place the bowl with the phone on the left edge of the tv stand." - ], - "task_desc": "Put the phone into the bowl.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3YMU66OBIQPX579T0F2BABJL4VOHGS", - "high_descs": [ - "Walk to the TV stand.", - "Pick up the cell phone.", - "Turn around, walk past the bed, and turn left to find the desk.", - "Put the cell phone in the clear bowl on the desk.", - "Pick up the bowl with the cell phone in it.", - "Walk back to the TV stand.", - "Put the bowl on the TV stand." - ], - "task_desc": "Put a cell phone in a bowl on the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A320QA9HJFUOZO_3ZPPDN2SLYD66NVJW8OVXR0L84P9E5", - "high_descs": [ - "Walk over to the TV stand", - "Pick up the cell phone from the TV stand", - "Turn left and walk over to the bathroom counter", - "Place the cell phone into the bowl on the counter", - "Pick up the bowl with phone in it", - "Turn around and walk back over to the TV stand", - "Put the bowl down on the TV stand" - ], - "task_desc": "Put a bowl with phone on the TV stand", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200453_215248/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200453_215248/traj_data.json deleted file mode 100644 index e69632af3..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200453_215248/traj_data.json +++ /dev/null @@ -1,5833 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 14 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 37 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 37 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000119.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000120.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000121.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000122.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000123.png", - "low_idx": 39 - }, - { - "high_idx": 0, - "image_name": "000000124.png", - "low_idx": 39 - }, - { - "high_idx": 0, - "image_name": "000000125.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000126.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000127.png", - "low_idx": 41 - }, - { - "high_idx": 0, - "image_name": "000000128.png", - "low_idx": 41 - }, - { - "high_idx": 0, - "image_name": "000000129.png", - "low_idx": 42 - }, - { - "high_idx": 0, - "image_name": "000000130.png", - "low_idx": 42 - }, - { - "high_idx": 0, - "image_name": "000000131.png", - "low_idx": 43 - }, - { - "high_idx": 0, - "image_name": "000000132.png", - "low_idx": 43 - }, - { - "high_idx": 0, - "image_name": "000000133.png", - "low_idx": 44 - }, - { - "high_idx": 0, - "image_name": "000000134.png", - "low_idx": 44 - }, - { - "high_idx": 0, - "image_name": "000000135.png", - "low_idx": 45 - }, - { - "high_idx": 0, - "image_name": "000000136.png", - "low_idx": 45 - }, - { - "high_idx": 0, - "image_name": "000000137.png", - "low_idx": 46 - }, - { - "high_idx": 0, - "image_name": "000000138.png", - "low_idx": 46 - }, - { - "high_idx": 0, - "image_name": "000000139.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000140.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000141.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000142.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000143.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000144.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000145.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000146.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000147.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000148.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000149.png", - "low_idx": 47 - }, - { - "high_idx": 0, - "image_name": "000000150.png", - "low_idx": 48 - }, - { - "high_idx": 0, - "image_name": "000000151.png", - "low_idx": 48 - }, - { - "high_idx": 0, - "image_name": "000000152.png", - "low_idx": 49 - }, - { - "high_idx": 0, - "image_name": "000000153.png", - "low_idx": 49 - }, - { - "high_idx": 0, - "image_name": "000000154.png", - "low_idx": 50 - }, - { - "high_idx": 0, - "image_name": "000000155.png", - "low_idx": 50 - }, - { - "high_idx": 0, - "image_name": "000000156.png", - "low_idx": 51 - }, - { - "high_idx": 0, - "image_name": "000000157.png", - "low_idx": 51 - }, - { - "high_idx": 0, - "image_name": "000000158.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000159.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000160.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000161.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000162.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000163.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000164.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000165.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000166.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000167.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000168.png", - "low_idx": 52 - }, - { - "high_idx": 0, - "image_name": "000000169.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000170.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000171.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000172.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000173.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000174.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000175.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000176.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000177.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000178.png", - "low_idx": 53 - }, - { - "high_idx": 0, - "image_name": "000000179.png", - "low_idx": 53 - }, - { - "high_idx": 1, - "image_name": "000000180.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000181.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000182.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000183.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000184.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000185.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000186.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000187.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000188.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000189.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000190.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000191.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000192.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000193.png", - "low_idx": 54 - }, - { - "high_idx": 1, - "image_name": "000000194.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 61 - }, - { - "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": 2, - "image_name": "000000246.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000249.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000250.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000251.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000252.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000253.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000254.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000255.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000256.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000257.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000258.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000259.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000260.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000261.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000262.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000263.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000264.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000265.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000266.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000267.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000268.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000269.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000270.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000271.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000272.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000273.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000274.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000275.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000276.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000277.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000278.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000279.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000280.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000281.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000282.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000283.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000284.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000285.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000286.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000287.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000288.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000289.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000290.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000291.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000292.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000293.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000294.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000346.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000347.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000348.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000349.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000350.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000351.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000352.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000353.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000354.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000355.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000356.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000357.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000358.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000359.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000360.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000361.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000362.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000363.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000364.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000365.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000366.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000367.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000368.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000369.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000370.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000371.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000372.png", - "low_idx": 90 - }, - { - "high_idx": 5, - "image_name": "000000373.png", - "low_idx": 90 - }, - { - "high_idx": 5, - "image_name": "000000374.png", - "low_idx": 91 - }, - { - "high_idx": 5, - "image_name": "000000375.png", - "low_idx": 91 - }, - { - "high_idx": 5, - "image_name": "000000376.png", - "low_idx": 92 - }, - { - "high_idx": 5, - "image_name": "000000377.png", - "low_idx": 92 - }, - { - "high_idx": 5, - "image_name": "000000378.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000379.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000380.png", - "low_idx": 94 - }, - { - "high_idx": 5, - "image_name": "000000381.png", - "low_idx": 94 - }, - { - "high_idx": 5, - "image_name": "000000382.png", - "low_idx": 95 - }, - { - "high_idx": 5, - "image_name": "000000383.png", - "low_idx": 95 - }, - { - "high_idx": 5, - "image_name": "000000384.png", - "low_idx": 96 - }, - { - "high_idx": 5, - "image_name": "000000385.png", - "low_idx": 96 - }, - { - "high_idx": 5, - "image_name": "000000386.png", - "low_idx": 97 - }, - { - "high_idx": 5, - "image_name": "000000387.png", - "low_idx": 97 - }, - { - "high_idx": 5, - "image_name": "000000388.png", - "low_idx": 98 - }, - { - "high_idx": 5, - "image_name": "000000389.png", - "low_idx": 98 - }, - { - "high_idx": 5, - "image_name": "000000390.png", - "low_idx": 99 - }, - { - "high_idx": 5, - "image_name": "000000391.png", - "low_idx": 99 - }, - { - "high_idx": 5, - "image_name": "000000392.png", - "low_idx": 100 - }, - { - "high_idx": 5, - "image_name": "000000393.png", - "low_idx": 100 - }, - { - "high_idx": 5, - "image_name": "000000394.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000395.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000396.png", - "low_idx": 102 - }, - { - "high_idx": 5, - "image_name": "000000397.png", - "low_idx": 102 - }, - { - "high_idx": 5, - "image_name": "000000398.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000399.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000400.png", - "low_idx": 104 - }, - { - "high_idx": 5, - "image_name": "000000401.png", - "low_idx": 104 - }, - { - "high_idx": 5, - "image_name": "000000402.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000403.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000404.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000405.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000406.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000407.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000408.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000409.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000410.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000411.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000412.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 106 - } - ], - "pddl_params": { - "mrecep_target": "Plate", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-26|18|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -24.036352, - -24.036352, - 17.87187004, - 17.87187004, - 3.160096, - 3.160096 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -22.55729104, - -22.55729104, - 19.643744, - 19.643744, - -0.01804161072, - -0.01804161072 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-06.01|+00.79|+04.47" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "plate" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-19|18|3|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "plate" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -24.036352, - -24.036352, - 17.87187004, - 17.87187004, - 3.160096, - 3.160096 - ] - ], - "coordinateReceptacleObjectId": [ - "Plate", - [ - -22.06427, - -22.06427, - 18.75780676, - 18.75780676, - 3.144334556, - 3.144334556 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-06.01|+00.79|+04.47", - "receptacleObjectId": "Plate|-05.52|+00.79|+04.69" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "plate" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Plate", - [ - -22.06427, - -22.06427, - 18.75780676, - 18.75780676, - 3.144334556, - 3.144334556 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -22.55729104, - -22.55729104, - 19.643744, - 19.643744, - -0.01804161072, - -0.01804161072 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.52|+00.79|+04.69" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|20|2|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "plate", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Plate", - [ - -22.06427, - -22.06427, - 18.75780676, - 18.75780676, - 3.144334556, - 3.144334556 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 3.388, - 3.388, - 14.856, - 14.856, - 0.017264604, - 0.017264604 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.52|+00.79|+04.69", - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - } - } - ], - "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": "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": "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": "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": "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": "CellPhone|-06.01|+00.79|+04.47" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 136, - 132, - 181, - 150 - ], - "mask": [ - [ - 39437, - 44 - ], - [ - 39737, - 44 - ], - [ - 40037, - 44 - ], - [ - 40337, - 44 - ], - [ - 40637, - 44 - ], - [ - 40936, - 45 - ], - [ - 41236, - 46 - ], - [ - 41536, - 46 - ], - [ - 41836, - 46 - ], - [ - 42136, - 46 - ], - [ - 42436, - 46 - ], - [ - 42736, - 46 - ], - [ - 43036, - 46 - ], - [ - 43336, - 46 - ], - [ - 43636, - 46 - ], - [ - 43936, - 46 - ], - [ - 44236, - 46 - ], - [ - 44536, - 46 - ], - [ - 44836, - 46 - ] - ], - "point": [ - 158, - 140 - ] - } - }, - "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-06.01|+00.79|+04.47", - "placeStationary": true, - "receptacleObjectId": "Plate|-05.52|+00.79|+04.69" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 163, - 131, - 227, - 176 - ], - "mask": [ - [ - 39185, - 13 - ], - [ - 39478, - 28 - ], - [ - 39773, - 38 - ], - [ - 40069, - 47 - ], - [ - 40367, - 50 - ], - [ - 40667, - 51 - ], - [ - 40967, - 52 - ], - [ - 41266, - 54 - ], - [ - 41566, - 54 - ], - [ - 41865, - 56 - ], - [ - 42165, - 57 - ], - [ - 42465, - 58 - ], - [ - 42764, - 59 - ], - [ - 43064, - 60 - ], - [ - 43364, - 60 - ], - [ - 43664, - 61 - ], - [ - 43963, - 63 - ], - [ - 44263, - 63 - ], - [ - 44563, - 64 - ], - [ - 44863, - 64 - ], - [ - 45163, - 64 - ], - [ - 45463, - 65 - ], - [ - 45763, - 65 - ], - [ - 46063, - 65 - ], - [ - 46364, - 64 - ], - [ - 46664, - 64 - ], - [ - 46964, - 64 - ], - [ - 47264, - 64 - ], - [ - 47565, - 63 - ], - [ - 47865, - 63 - ], - [ - 48165, - 63 - ], - [ - 48466, - 62 - ], - [ - 48766, - 62 - ], - [ - 49067, - 61 - ], - [ - 49367, - 61 - ], - [ - 49668, - 60 - ], - [ - 49968, - 60 - ], - [ - 50269, - 58 - ], - [ - 50569, - 58 - ], - [ - 50870, - 57 - ], - [ - 51170, - 57 - ], - [ - 51472, - 54 - ], - [ - 51776, - 46 - ], - [ - 52080, - 38 - ], - [ - 52385, - 28 - ], - [ - 52692, - 15 - ] - ], - "point": [ - 195, - 152 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Plate|-05.52|+00.79|+04.69" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 163, - 131, - 227, - 176 - ], - "mask": [ - [ - 39185, - 13 - ], - [ - 39478, - 28 - ], - [ - 39773, - 38 - ], - [ - 40069, - 47 - ], - [ - 40367, - 50 - ], - [ - 40667, - 51 - ], - [ - 40967, - 52 - ], - [ - 41266, - 54 - ], - [ - 41566, - 54 - ], - [ - 41865, - 56 - ], - [ - 42165, - 57 - ], - [ - 42465, - 56 - ], - [ - 42764, - 57 - ], - [ - 43064, - 57 - ], - [ - 43364, - 56 - ], - [ - 43664, - 56 - ], - [ - 43963, - 57 - ], - [ - 44263, - 57 - ], - [ - 44563, - 56 - ], - [ - 44863, - 56 - ], - [ - 45163, - 56 - ], - [ - 45463, - 56 - ], - [ - 45763, - 55 - ], - [ - 46063, - 55 - ], - [ - 46127, - 1 - ], - [ - 46364, - 54 - ], - [ - 46427, - 1 - ], - [ - 46664, - 54 - ], - [ - 46727, - 1 - ], - [ - 46964, - 54 - ], - [ - 47026, - 2 - ], - [ - 47264, - 54 - ], - [ - 47326, - 2 - ], - [ - 47565, - 54 - ], - [ - 47626, - 2 - ], - [ - 47865, - 54 - ], - [ - 47926, - 2 - ], - [ - 48165, - 54 - ], - [ - 48225, - 3 - ], - [ - 48466, - 53 - ], - [ - 48525, - 3 - ], - [ - 48766, - 54 - ], - [ - 48825, - 3 - ], - [ - 49067, - 53 - ], - [ - 49124, - 4 - ], - [ - 49367, - 53 - ], - [ - 49424, - 4 - ], - [ - 49668, - 53 - ], - [ - 49724, - 4 - ], - [ - 49968, - 53 - ], - [ - 50023, - 5 - ], - [ - 50269, - 52 - ], - [ - 50323, - 4 - ], - [ - 50569, - 53 - ], - [ - 50623, - 4 - ], - [ - 50870, - 57 - ], - [ - 51170, - 57 - ], - [ - 51472, - 54 - ], - [ - 51776, - 46 - ], - [ - 52080, - 38 - ], - [ - 52385, - 28 - ], - [ - 52692, - 15 - ] - ], - "point": [ - 195, - 152 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "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": "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": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Plate|-05.52|+00.79|+04.69", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 6, - 193, - 241 - ], - "mask": [ - [ - 1610, - 5 - ], - [ - 1910, - 5 - ], - [ - 2210, - 5 - ], - [ - 2510, - 5 - ], - [ - 2811, - 5 - ], - [ - 3111, - 5 - ], - [ - 3124, - 1 - ], - [ - 4597, - 1 - ], - [ - 4897, - 1 - ], - [ - 5197, - 1 - ], - [ - 5496, - 1 - ], - [ - 6112, - 13 - ], - [ - 6412, - 13 - ], - [ - 6712, - 13 - ], - [ - 7012, - 13 - ], - [ - 7312, - 13 - ], - [ - 7612, - 13 - ], - [ - 7898, - 1 - ], - [ - 7912, - 14 - ], - [ - 7975, - 1 - ], - [ - 8196, - 3 - ], - [ - 8212, - 15 - ], - [ - 8275, - 1 - ], - [ - 8495, - 4 - ], - [ - 8512, - 15 - ], - [ - 8575, - 1 - ], - [ - 8794, - 5 - ], - [ - 8813, - 15 - ], - [ - 8875, - 1 - ], - [ - 9092, - 8 - ], - [ - 9113, - 15 - ], - [ - 9175, - 1 - ], - [ - 9391, - 9 - ], - [ - 9413, - 16 - ], - [ - 9476, - 1 - ], - [ - 9690, - 10 - ], - [ - 9713, - 17 - ], - [ - 9990, - 10 - ], - [ - 10013, - 17 - ], - [ - 10289, - 11 - ], - [ - 10313, - 18 - ], - [ - 10589, - 11 - ], - [ - 10613, - 19 - ], - [ - 10889, - 11 - ], - [ - 10913, - 19 - ], - [ - 10977, - 1 - ], - [ - 11188, - 12 - ], - [ - 11213, - 20 - ], - [ - 11274, - 4 - ], - [ - 11488, - 13 - ], - [ - 11513, - 20 - ], - [ - 11574, - 4 - ], - [ - 11787, - 14 - ], - [ - 11814, - 20 - ], - [ - 11874, - 4 - ], - [ - 12087, - 14 - ], - [ - 12114, - 21 - ], - [ - 12174, - 4 - ], - [ - 12386, - 15 - ], - [ - 12414, - 21 - ], - [ - 12474, - 4 - ], - [ - 12686, - 15 - ], - [ - 12714, - 22 - ], - [ - 12774, - 5 - ], - [ - 12986, - 15 - ], - [ - 13014, - 22 - ], - [ - 13074, - 5 - ], - [ - 13285, - 16 - ], - [ - 13314, - 23 - ], - [ - 13374, - 5 - ], - [ - 13585, - 17 - ], - [ - 13614, - 24 - ], - [ - 13674, - 5 - ], - [ - 13884, - 18 - ], - [ - 13914, - 24 - ], - [ - 13974, - 5 - ], - [ - 14184, - 18 - ], - [ - 14214, - 25 - ], - [ - 14274, - 6 - ], - [ - 14484, - 18 - ], - [ - 14514, - 26 - ], - [ - 14574, - 6 - ], - [ - 14783, - 19 - ], - [ - 14815, - 25 - ], - [ - 14874, - 6 - ], - [ - 15083, - 19 - ], - [ - 15115, - 26 - ], - [ - 15173, - 7 - ], - [ - 15382, - 20 - ], - [ - 15415, - 26 - ], - [ - 15473, - 7 - ], - [ - 15682, - 20 - ], - [ - 15715, - 27 - ], - [ - 15773, - 8 - ], - [ - 15981, - 10 - ], - [ - 16073, - 8 - ], - [ - 16281, - 7 - ], - [ - 16373, - 8 - ], - [ - 16581, - 6 - ], - [ - 16673, - 8 - ], - [ - 16880, - 6 - ], - [ - 16973, - 8 - ], - [ - 17180, - 5 - ], - [ - 17273, - 8 - ], - [ - 17479, - 4 - ], - [ - 17573, - 9 - ], - [ - 17779, - 3 - ], - [ - 17873, - 9 - ], - [ - 18078, - 3 - ], - [ - 18173, - 9 - ], - [ - 18378, - 2 - ], - [ - 18473, - 9 - ], - [ - 18678, - 1 - ], - [ - 18773, - 9 - ], - [ - 18977, - 1 - ], - [ - 19073, - 10 - ], - [ - 19373, - 10 - ], - [ - 19672, - 11 - ], - [ - 19892, - 56 - ], - [ - 19972, - 11 - ], - [ - 20189, - 61 - ], - [ - 20272, - 11 - ], - [ - 20488, - 62 - ], - [ - 20572, - 12 - ], - [ - 20786, - 64 - ], - [ - 20873, - 11 - ], - [ - 21085, - 65 - ], - [ - 21174, - 10 - ], - [ - 21383, - 23 - ], - [ - 21425, - 22 - ], - [ - 21476, - 8 - ], - [ - 21682, - 24 - ], - [ - 21724, - 23 - ], - [ - 21777, - 7 - ], - [ - 21980, - 26 - ], - [ - 22024, - 23 - ], - [ - 22078, - 6 - ], - [ - 22279, - 26 - ], - [ - 22324, - 23 - ], - [ - 22380, - 5 - ], - [ - 22577, - 28 - ], - [ - 22624, - 23 - ], - [ - 22681, - 4 - ], - [ - 22876, - 29 - ], - [ - 22924, - 23 - ], - [ - 22982, - 3 - ], - [ - 23174, - 76 - ], - [ - 23284, - 1 - ], - [ - 23473, - 77 - ], - [ - 23771, - 79 - ], - [ - 23885, - 1 - ], - [ - 24070, - 80 - ], - [ - 24172, - 1 - ], - [ - 24370, - 80 - ], - [ - 24471, - 3 - ], - [ - 24669, - 81 - ], - [ - 24771, - 5 - ], - [ - 24969, - 81 - ], - [ - 25071, - 7 - ], - [ - 25268, - 82 - ], - [ - 25371, - 8 - ], - [ - 25386, - 1 - ], - [ - 25568, - 82 - ], - [ - 25671, - 10 - ], - [ - 25686, - 1 - ], - [ - 25868, - 82 - ], - [ - 25971, - 16 - ], - [ - 26167, - 83 - ], - [ - 26271, - 16 - ], - [ - 26467, - 83 - ], - [ - 26571, - 16 - ], - [ - 26766, - 84 - ], - [ - 26870, - 17 - ], - [ - 27066, - 84 - ], - [ - 27170, - 18 - ], - [ - 27365, - 85 - ], - [ - 27470, - 18 - ], - [ - 27665, - 85 - ], - [ - 27769, - 19 - ], - [ - 27965, - 85 - ], - [ - 28069, - 19 - ], - [ - 28264, - 87 - ], - [ - 28369, - 19 - ], - [ - 28564, - 87 - ], - [ - 28669, - 20 - ], - [ - 28863, - 88 - ], - [ - 28968, - 21 - ], - [ - 29163, - 88 - ], - [ - 29268, - 21 - ], - [ - 29463, - 88 - ], - [ - 29567, - 22 - ], - [ - 29762, - 90 - ], - [ - 29866, - 23 - ], - [ - 30062, - 90 - ], - [ - 30165, - 25 - ], - [ - 30361, - 91 - ], - [ - 30463, - 27 - ], - [ - 30661, - 92 - ], - [ - 30761, - 29 - ], - [ - 30960, - 94 - ], - [ - 31059, - 31 - ], - [ - 31260, - 130 - ], - [ - 31560, - 131 - ], - [ - 31859, - 132 - ], - [ - 32159, - 132 - ], - [ - 32458, - 133 - ], - [ - 32758, - 133 - ], - [ - 33057, - 134 - ], - [ - 33357, - 135 - ], - [ - 33657, - 135 - ], - [ - 33956, - 136 - ], - [ - 34256, - 136 - ], - [ - 34555, - 137 - ], - [ - 34855, - 138 - ], - [ - 35155, - 138 - ], - [ - 35454, - 139 - ], - [ - 35754, - 139 - ], - [ - 36053, - 140 - ], - [ - 36353, - 141 - ], - [ - 36652, - 116 - ], - [ - 36952, - 115 - ], - [ - 37252, - 114 - ], - [ - 37551, - 115 - ], - [ - 37851, - 115 - ], - [ - 38150, - 116 - ], - [ - 38450, - 116 - ], - [ - 38749, - 117 - ], - [ - 39049, - 117 - ], - [ - 39349, - 117 - ], - [ - 39648, - 118 - ], - [ - 39948, - 118 - ], - [ - 40247, - 119 - ], - [ - 40547, - 119 - ], - [ - 40847, - 119 - ], - [ - 41146, - 120 - ], - [ - 41446, - 119 - ], - [ - 41745, - 120 - ], - [ - 42045, - 120 - ], - [ - 42344, - 121 - ], - [ - 42644, - 121 - ], - [ - 42944, - 121 - ], - [ - 43243, - 122 - ], - [ - 43543, - 122 - ], - [ - 43842, - 123 - ], - [ - 44142, - 123 - ], - [ - 44442, - 123 - ], - [ - 44741, - 124 - ], - [ - 45041, - 124 - ], - [ - 45340, - 125 - ], - [ - 45640, - 125 - ], - [ - 45939, - 126 - ], - [ - 46239, - 126 - ], - [ - 46539, - 126 - ], - [ - 46838, - 126 - ], - [ - 47138, - 126 - ], - [ - 47437, - 127 - ], - [ - 47737, - 127 - ], - [ - 48036, - 128 - ], - [ - 48336, - 128 - ], - [ - 48636, - 128 - ], - [ - 48935, - 129 - ], - [ - 49235, - 129 - ], - [ - 49534, - 130 - ], - [ - 49834, - 130 - ], - [ - 50134, - 130 - ], - [ - 50433, - 131 - ], - [ - 50733, - 131 - ], - [ - 51032, - 132 - ], - [ - 51332, - 132 - ], - [ - 51631, - 133 - ], - [ - 51931, - 132 - ], - [ - 52231, - 132 - ], - [ - 52530, - 133 - ], - [ - 52830, - 133 - ], - [ - 53129, - 134 - ], - [ - 53429, - 106 - ], - [ - 53728, - 101 - ], - [ - 54028, - 95 - ], - [ - 54328, - 90 - ], - [ - 54627, - 86 - ], - [ - 54927, - 82 - ], - [ - 55226, - 79 - ], - [ - 55526, - 75 - ], - [ - 55826, - 71 - ], - [ - 56126, - 67 - ], - [ - 56427, - 62 - ], - [ - 56727, - 59 - ], - [ - 57028, - 57 - ], - [ - 57328, - 56 - ], - [ - 57629, - 55 - ], - [ - 57929, - 54 - ], - [ - 58230, - 52 - ], - [ - 58530, - 52 - ], - [ - 58831, - 50 - ], - [ - 59132, - 49 - ], - [ - 59435, - 45 - ], - [ - 59736, - 43 - ], - [ - 60036, - 43 - ], - [ - 60337, - 41 - ], - [ - 60637, - 40 - ], - [ - 60938, - 39 - ], - [ - 61238, - 38 - ], - [ - 61539, - 37 - ], - [ - 61839, - 36 - ], - [ - 62140, - 35 - ], - [ - 62440, - 34 - ], - [ - 62741, - 33 - ], - [ - 63042, - 31 - ], - [ - 63342, - 30 - ], - [ - 63643, - 29 - ], - [ - 63943, - 28 - ], - [ - 64244, - 27 - ], - [ - 64544, - 26 - ], - [ - 64845, - 25 - ], - [ - 65145, - 24 - ], - [ - 65446, - 22 - ], - [ - 65746, - 22 - ], - [ - 66047, - 20 - ], - [ - 66348, - 19 - ], - [ - 66648, - 19 - ], - [ - 66949, - 17 - ], - [ - 67249, - 17 - ], - [ - 67550, - 15 - ], - [ - 67850, - 15 - ], - [ - 68151, - 13 - ], - [ - 68451, - 13 - ], - [ - 68752, - 11 - ], - [ - 69052, - 11 - ], - [ - 69353, - 9 - ], - [ - 69654, - 8 - ], - [ - 69954, - 7 - ], - [ - 70255, - 6 - ], - [ - 70555, - 5 - ], - [ - 70856, - 4 - ], - [ - 71156, - 4 - ], - [ - 71457, - 2 - ], - [ - 71757, - 2 - ], - [ - 72058, - 1 - ] - ], - "point": [ - 109, - 122 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan218", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -0.5, - "y": 0.9008399, - "z": 2.0 - }, - "object_poses": [ - { - "objectName": "Newspaper_199ec092", - "position": { - "x": 0.6367744, - "y": 0.5440739, - "z": 6.81813526 - }, - "rotation": { - "x": 8.663856e-05, - "y": -3.073045e-05, - "z": -4.351129e-05 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -6.009088, - "y": 0.7875548, - "z": 5.35390425 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": 0.7532782, - "y": 0.100342512, - "z": 4.262885 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": -5.762578, - "y": 0.786715031, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 0.722, - "y": 0.982312143, - "z": 3.921772 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": 0.7845, - "y": 0.983679652, - "z": 3.0906837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": -1.36987007, - "y": 0.314974, - "z": 2.386257 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -5.885833, - "y": 0.977974534, - "z": 4.910936 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": -6.009088, - "y": 0.790024, - "z": 4.46796751 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_c192383b", - "position": { - "x": 0.8299264, - "y": -0.00101917982, - "z": 2.339594 - }, - "rotation": { - "x": 0.0007589513, - "y": 45.1253052, - "z": 0.0009456006 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -1.62251091, - "y": 0.308666766, - "z": 2.26043868 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -1.986275, - "y": 0.310152, - "z": 2.55524826 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Plate_0d99fab1", - "position": { - "x": -5.5160675, - "y": 0.786083639, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_76f16fe2", - "position": { - "x": -2.719, - "y": 0.6093162, - "z": 2.768 - }, - "rotation": { - "x": 0.0, - "y": 320.6474, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": -1.30920219, - "y": 0.314974, - "z": 2.83294272 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 0.9095, - "y": 0.9827533, - "z": 3.921772 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4dbc7255", - "position": { - "x": -5.464, - "y": 0.7793162, - "z": 5.252 - }, - "rotation": { - "x": 0.0, - "y": 306.8717, - "z": 0.0 - } - }, - { - "objectName": "Statue_4a123fac", - "position": { - "x": -1.81448388, - "y": 0.3236745, - "z": 2.58130622 - }, - "rotation": { - "x": 0.0, - "y": 129.022751, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1456451666, - "scene_num": 218 - }, - "task_id": "trial_T20190906_200453_215248", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1RLO9LNUJIW5S_39KFRKBFIQC7JFGGYYJ71KNRNDIYOP", - "high_descs": [ - "Turn left and walk to the white chair then turn left and walk to the table then position yourself so you are between the wall and the table looking towards where you came from.", - "Pick up the white phone near the edge of the table.", - "Position yourself so you are on the side of the table with the laptop but slightly to the left of it so there is a plate in front of you.", - "Put the phone on the plate.", - "Pick up the plate with the phone on top of it.", - "Turn around and walk over to the tv but stand so you are looking down the length of the table the tv is on so the tv is hanging on the wall to the left of you.", - "Put the plate on the tv stand to the left of the tv." - ], - "task_desc": "Put a plate with a phone on it on the tv stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3E337GFOLCPPF3V43DXOFVGISCPNGD", - "high_descs": [ - "Turn left and veer left to the far side of the kitchen table.", - "Pick up the cell phone on the table.", - "Walk around to the other side of the table.", - "Put the cell phone on the plate.", - "Pick up the plate.", - "Turn around and walk to the TV stand.", - "Put the plate on the stand to the left side of the TV." - ], - "task_desc": "Place a plate with a cell phone on it on a TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1DMXEJGJY02E1_3KV0LJBBH52AMBJI7NC01K5PPPZMR5", - "high_descs": [ - "Turn to your left, walk past the couch, turn left again, and walk to the far side of the dining table.", - "Pick up the phone on the table next to the box.", - "Walk around the table and face the table from the opposite side.", - "Put the phone on the plate on the table.", - "Pick up the plate with the phone.", - "Turn around and walk to the TV stand.", - "Put the plate with the phone on the TV stand behind and to the left of the TV." - ], - "task_desc": "Put the phone on a plate on the TV stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200527_066733/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200527_066733/traj_data.json deleted file mode 100644 index a5dfd9124..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200527_066733/traj_data.json +++ /dev/null @@ -1,5615 +0,0 @@ -{ - "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": 15 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 37 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 37 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 39 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 39 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000119.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000120.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000121.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000122.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000123.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000124.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000125.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000126.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000127.png", - "low_idx": 41 - }, - { - "high_idx": 0, - "image_name": "000000128.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000132.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000133.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000134.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000135.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000136.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000137.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000138.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000139.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000140.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000141.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000142.png", - "low_idx": 42 - }, - { - "high_idx": 1, - "image_name": "000000143.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000235.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000236.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000237.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000238.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000239.png", - "low_idx": 64 - }, - { - "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": 2, - "image_name": "000000246.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000249.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000250.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000251.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000252.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000253.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000254.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000255.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000256.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000257.png", - "low_idx": 72 - }, - { - "high_idx": 3, - "image_name": "000000258.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000259.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000260.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000261.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000262.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000263.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000264.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000265.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000266.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000267.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000268.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000269.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000270.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000271.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000272.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000346.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000347.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000348.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000349.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000350.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000351.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000352.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000353.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000354.png", - "low_idx": 90 - }, - { - "high_idx": 5, - "image_name": "000000355.png", - "low_idx": 90 - }, - { - "high_idx": 5, - "image_name": "000000356.png", - "low_idx": 91 - }, - { - "high_idx": 5, - "image_name": "000000357.png", - "low_idx": 91 - }, - { - "high_idx": 5, - "image_name": "000000358.png", - "low_idx": 92 - }, - { - "high_idx": 5, - "image_name": "000000359.png", - "low_idx": 92 - }, - { - "high_idx": 5, - "image_name": "000000360.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000361.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000362.png", - "low_idx": 94 - }, - { - "high_idx": 5, - "image_name": "000000363.png", - "low_idx": 94 - }, - { - "high_idx": 5, - "image_name": "000000364.png", - "low_idx": 95 - }, - { - "high_idx": 5, - "image_name": "000000365.png", - "low_idx": 95 - }, - { - "high_idx": 5, - "image_name": "000000366.png", - "low_idx": 96 - }, - { - "high_idx": 5, - "image_name": "000000367.png", - "low_idx": 96 - }, - { - "high_idx": 5, - "image_name": "000000368.png", - "low_idx": 97 - }, - { - "high_idx": 5, - "image_name": "000000369.png", - "low_idx": 97 - }, - { - "high_idx": 5, - "image_name": "000000370.png", - "low_idx": 98 - }, - { - "high_idx": 5, - "image_name": "000000371.png", - "low_idx": 98 - }, - { - "high_idx": 5, - "image_name": "000000372.png", - "low_idx": 99 - }, - { - "high_idx": 5, - "image_name": "000000373.png", - "low_idx": 99 - }, - { - "high_idx": 5, - "image_name": "000000374.png", - "low_idx": 100 - }, - { - "high_idx": 5, - "image_name": "000000375.png", - "low_idx": 100 - }, - { - "high_idx": 5, - "image_name": "000000376.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000377.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000378.png", - "low_idx": 102 - }, - { - "high_idx": 5, - "image_name": "000000379.png", - "low_idx": 102 - }, - { - "high_idx": 5, - "image_name": "000000380.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000381.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000382.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000383.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000384.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000385.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000386.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000387.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000388.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000389.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000390.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 104 - } - ], - "pddl_params": { - "mrecep_target": "Plate", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sofa" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|14|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -9.02091028, - -9.02091028, - 13.71868, - 13.71868, - 2.1074596, - 2.1074596 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - -9.864, - -9.864, - 13.124, - 13.124, - -0.0027353764, - -0.0027353764 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-02.26|+00.53|+03.43" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "plate" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-19|18|3|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "plate" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -9.02091028, - -9.02091028, - 13.71868, - 13.71868, - 2.1074596, - 2.1074596 - ] - ], - "coordinateReceptacleObjectId": [ - "Plate", - [ - -22.06427, - -22.06427, - 18.75780676, - 18.75780676, - 3.144334556, - 3.144334556 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-02.26|+00.53|+03.43", - "receptacleObjectId": "Plate|-05.52|+00.79|+04.69" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "plate" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Plate", - [ - -22.06427, - -22.06427, - 18.75780676, - 18.75780676, - 3.144334556, - 3.144334556 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -22.55729104, - -22.55729104, - 19.643744, - 19.643744, - -0.01804161072, - -0.01804161072 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.52|+00.79|+04.69" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|20|2|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "plate", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Plate", - [ - -22.06427, - -22.06427, - 18.75780676, - 18.75780676, - 3.144334556, - 3.144334556 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 3.388, - 3.388, - 14.856, - 14.856, - 0.017264604, - 0.017264604 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.52|+00.79|+04.69", - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - } - } - ], - "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": "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": "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": "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": "PickupObject", - "objectId": "CellPhone|-02.26|+00.53|+03.43" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 122, - 146, - 152, - 166 - ], - "mask": [ - [ - 43630, - 2 - ], - [ - 43929, - 5 - ], - [ - 44228, - 8 - ], - [ - 44527, - 11 - ], - [ - 44826, - 13 - ], - [ - 45124, - 17 - ], - [ - 45423, - 20 - ], - [ - 45722, - 23 - ], - [ - 46023, - 23 - ], - [ - 46325, - 23 - ], - [ - 46626, - 24 - ], - [ - 46928, - 24 - ], - [ - 47230, - 23 - ], - [ - 47531, - 21 - ], - [ - 47833, - 18 - ], - [ - 48135, - 15 - ], - [ - 48436, - 13 - ], - [ - 48738, - 10 - ], - [ - 49040, - 7 - ], - [ - 49342, - 4 - ], - [ - 49643, - 2 - ] - ], - "point": [ - 137, - 155 - ] - } - }, - "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": "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-02.26|+00.53|+03.43", - "placeStationary": true, - "receptacleObjectId": "Plate|-05.52|+00.79|+04.69" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 163, - 131, - 227, - 176 - ], - "mask": [ - [ - 39185, - 13 - ], - [ - 39478, - 28 - ], - [ - 39773, - 38 - ], - [ - 40069, - 47 - ], - [ - 40367, - 50 - ], - [ - 40667, - 51 - ], - [ - 40967, - 52 - ], - [ - 41266, - 54 - ], - [ - 41566, - 54 - ], - [ - 41865, - 56 - ], - [ - 42165, - 57 - ], - [ - 42465, - 58 - ], - [ - 42764, - 59 - ], - [ - 43064, - 60 - ], - [ - 43364, - 60 - ], - [ - 43664, - 61 - ], - [ - 43963, - 63 - ], - [ - 44263, - 63 - ], - [ - 44563, - 64 - ], - [ - 44863, - 64 - ], - [ - 45163, - 64 - ], - [ - 45463, - 65 - ], - [ - 45763, - 65 - ], - [ - 46063, - 65 - ], - [ - 46364, - 64 - ], - [ - 46664, - 64 - ], - [ - 46964, - 64 - ], - [ - 47264, - 64 - ], - [ - 47565, - 63 - ], - [ - 47865, - 63 - ], - [ - 48165, - 63 - ], - [ - 48466, - 62 - ], - [ - 48766, - 62 - ], - [ - 49067, - 61 - ], - [ - 49367, - 61 - ], - [ - 49668, - 60 - ], - [ - 49968, - 60 - ], - [ - 50269, - 58 - ], - [ - 50569, - 58 - ], - [ - 50870, - 57 - ], - [ - 51170, - 57 - ], - [ - 51472, - 54 - ], - [ - 51776, - 46 - ], - [ - 52080, - 38 - ], - [ - 52385, - 28 - ], - [ - 52692, - 15 - ] - ], - "point": [ - 195, - 152 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Plate|-05.52|+00.79|+04.69" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 163, - 131, - 227, - 176 - ], - "mask": [ - [ - 39185, - 13 - ], - [ - 39478, - 28 - ], - [ - 39773, - 38 - ], - [ - 40069, - 47 - ], - [ - 40367, - 50 - ], - [ - 40667, - 51 - ], - [ - 40967, - 52 - ], - [ - 41266, - 54 - ], - [ - 41566, - 54 - ], - [ - 41865, - 56 - ], - [ - 42165, - 57 - ], - [ - 42465, - 56 - ], - [ - 42764, - 57 - ], - [ - 43064, - 57 - ], - [ - 43364, - 56 - ], - [ - 43664, - 56 - ], - [ - 43963, - 57 - ], - [ - 44263, - 57 - ], - [ - 44563, - 56 - ], - [ - 44863, - 56 - ], - [ - 45163, - 56 - ], - [ - 45463, - 56 - ], - [ - 45763, - 55 - ], - [ - 46063, - 55 - ], - [ - 46127, - 1 - ], - [ - 46364, - 54 - ], - [ - 46427, - 1 - ], - [ - 46664, - 54 - ], - [ - 46727, - 1 - ], - [ - 46964, - 54 - ], - [ - 47026, - 2 - ], - [ - 47264, - 54 - ], - [ - 47326, - 2 - ], - [ - 47565, - 54 - ], - [ - 47626, - 2 - ], - [ - 47865, - 54 - ], - [ - 47926, - 2 - ], - [ - 48165, - 54 - ], - [ - 48225, - 3 - ], - [ - 48466, - 53 - ], - [ - 48525, - 3 - ], - [ - 48766, - 54 - ], - [ - 48825, - 3 - ], - [ - 49067, - 53 - ], - [ - 49124, - 4 - ], - [ - 49367, - 53 - ], - [ - 49424, - 4 - ], - [ - 49668, - 53 - ], - [ - 49724, - 4 - ], - [ - 49968, - 53 - ], - [ - 50023, - 5 - ], - [ - 50269, - 52 - ], - [ - 50323, - 4 - ], - [ - 50569, - 53 - ], - [ - 50623, - 4 - ], - [ - 50870, - 57 - ], - [ - 51170, - 57 - ], - [ - 51472, - 54 - ], - [ - 51776, - 46 - ], - [ - 52080, - 38 - ], - [ - 52385, - 28 - ], - [ - 52692, - 15 - ] - ], - "point": [ - 195, - 152 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "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": "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": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Plate|-05.52|+00.79|+04.69", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 6, - 193, - 241 - ], - "mask": [ - [ - 1610, - 5 - ], - [ - 1910, - 5 - ], - [ - 2210, - 5 - ], - [ - 2510, - 5 - ], - [ - 2811, - 5 - ], - [ - 3111, - 5 - ], - [ - 3124, - 1 - ], - [ - 4597, - 1 - ], - [ - 4897, - 1 - ], - [ - 5197, - 1 - ], - [ - 5496, - 1 - ], - [ - 6112, - 13 - ], - [ - 6412, - 13 - ], - [ - 6712, - 13 - ], - [ - 7012, - 13 - ], - [ - 7312, - 13 - ], - [ - 7612, - 13 - ], - [ - 7898, - 1 - ], - [ - 7912, - 14 - ], - [ - 7975, - 1 - ], - [ - 8196, - 3 - ], - [ - 8212, - 15 - ], - [ - 8275, - 1 - ], - [ - 8495, - 4 - ], - [ - 8512, - 15 - ], - [ - 8575, - 1 - ], - [ - 8794, - 5 - ], - [ - 8813, - 15 - ], - [ - 8875, - 1 - ], - [ - 9092, - 8 - ], - [ - 9113, - 15 - ], - [ - 9175, - 1 - ], - [ - 9391, - 9 - ], - [ - 9413, - 16 - ], - [ - 9476, - 1 - ], - [ - 9690, - 10 - ], - [ - 9713, - 17 - ], - [ - 9990, - 10 - ], - [ - 10013, - 17 - ], - [ - 10289, - 11 - ], - [ - 10313, - 18 - ], - [ - 10589, - 11 - ], - [ - 10613, - 19 - ], - [ - 10889, - 11 - ], - [ - 10913, - 19 - ], - [ - 10977, - 1 - ], - [ - 11188, - 12 - ], - [ - 11213, - 20 - ], - [ - 11274, - 4 - ], - [ - 11488, - 13 - ], - [ - 11513, - 20 - ], - [ - 11574, - 4 - ], - [ - 11787, - 14 - ], - [ - 11814, - 20 - ], - [ - 11874, - 4 - ], - [ - 12087, - 14 - ], - [ - 12114, - 21 - ], - [ - 12174, - 4 - ], - [ - 12386, - 15 - ], - [ - 12414, - 21 - ], - [ - 12474, - 4 - ], - [ - 12686, - 15 - ], - [ - 12714, - 22 - ], - [ - 12774, - 5 - ], - [ - 12986, - 15 - ], - [ - 13014, - 22 - ], - [ - 13074, - 5 - ], - [ - 13285, - 16 - ], - [ - 13314, - 23 - ], - [ - 13374, - 5 - ], - [ - 13585, - 17 - ], - [ - 13614, - 24 - ], - [ - 13674, - 5 - ], - [ - 13884, - 18 - ], - [ - 13914, - 24 - ], - [ - 13974, - 5 - ], - [ - 14184, - 18 - ], - [ - 14214, - 25 - ], - [ - 14274, - 6 - ], - [ - 14484, - 18 - ], - [ - 14514, - 26 - ], - [ - 14574, - 6 - ], - [ - 14783, - 19 - ], - [ - 14815, - 25 - ], - [ - 14874, - 6 - ], - [ - 15083, - 19 - ], - [ - 15115, - 26 - ], - [ - 15173, - 7 - ], - [ - 15382, - 20 - ], - [ - 15415, - 26 - ], - [ - 15473, - 7 - ], - [ - 15682, - 20 - ], - [ - 15715, - 27 - ], - [ - 15773, - 8 - ], - [ - 15981, - 10 - ], - [ - 16073, - 8 - ], - [ - 16281, - 7 - ], - [ - 16373, - 8 - ], - [ - 16581, - 6 - ], - [ - 16673, - 8 - ], - [ - 16880, - 6 - ], - [ - 16973, - 8 - ], - [ - 17180, - 5 - ], - [ - 17273, - 8 - ], - [ - 17479, - 4 - ], - [ - 17573, - 9 - ], - [ - 17779, - 3 - ], - [ - 17873, - 9 - ], - [ - 18078, - 3 - ], - [ - 18173, - 9 - ], - [ - 18378, - 2 - ], - [ - 18473, - 9 - ], - [ - 18678, - 1 - ], - [ - 18773, - 9 - ], - [ - 18977, - 1 - ], - [ - 19073, - 10 - ], - [ - 19373, - 10 - ], - [ - 19672, - 11 - ], - [ - 19972, - 11 - ], - [ - 20272, - 11 - ], - [ - 20572, - 12 - ], - [ - 20873, - 11 - ], - [ - 21174, - 10 - ], - [ - 21476, - 8 - ], - [ - 21777, - 7 - ], - [ - 22078, - 6 - ], - [ - 22380, - 5 - ], - [ - 22681, - 4 - ], - [ - 22982, - 3 - ], - [ - 23174, - 1 - ], - [ - 23284, - 1 - ], - [ - 23473, - 2 - ], - [ - 23771, - 4 - ], - [ - 23885, - 1 - ], - [ - 24070, - 80 - ], - [ - 24172, - 1 - ], - [ - 24370, - 80 - ], - [ - 24471, - 3 - ], - [ - 24669, - 81 - ], - [ - 24771, - 5 - ], - [ - 24969, - 81 - ], - [ - 25071, - 7 - ], - [ - 25268, - 82 - ], - [ - 25371, - 8 - ], - [ - 25386, - 1 - ], - [ - 25568, - 82 - ], - [ - 25671, - 10 - ], - [ - 25686, - 1 - ], - [ - 25868, - 82 - ], - [ - 25971, - 16 - ], - [ - 26167, - 83 - ], - [ - 26271, - 16 - ], - [ - 26467, - 83 - ], - [ - 26571, - 16 - ], - [ - 26766, - 84 - ], - [ - 26870, - 17 - ], - [ - 27066, - 84 - ], - [ - 27170, - 18 - ], - [ - 27365, - 85 - ], - [ - 27470, - 18 - ], - [ - 27665, - 85 - ], - [ - 27769, - 19 - ], - [ - 27965, - 85 - ], - [ - 28069, - 19 - ], - [ - 28264, - 87 - ], - [ - 28369, - 19 - ], - [ - 28564, - 87 - ], - [ - 28669, - 20 - ], - [ - 28863, - 88 - ], - [ - 28968, - 21 - ], - [ - 29163, - 88 - ], - [ - 29268, - 21 - ], - [ - 29463, - 88 - ], - [ - 29567, - 22 - ], - [ - 29762, - 90 - ], - [ - 29866, - 23 - ], - [ - 30062, - 90 - ], - [ - 30165, - 25 - ], - [ - 30361, - 91 - ], - [ - 30463, - 27 - ], - [ - 30661, - 92 - ], - [ - 30761, - 29 - ], - [ - 30960, - 94 - ], - [ - 31059, - 31 - ], - [ - 31260, - 130 - ], - [ - 31560, - 131 - ], - [ - 31859, - 132 - ], - [ - 32159, - 132 - ], - [ - 32458, - 133 - ], - [ - 32758, - 133 - ], - [ - 33057, - 134 - ], - [ - 33357, - 135 - ], - [ - 33657, - 135 - ], - [ - 33956, - 136 - ], - [ - 34256, - 136 - ], - [ - 34555, - 137 - ], - [ - 34855, - 138 - ], - [ - 35155, - 138 - ], - [ - 35454, - 139 - ], - [ - 35754, - 139 - ], - [ - 36053, - 140 - ], - [ - 36353, - 141 - ], - [ - 36652, - 116 - ], - [ - 36952, - 115 - ], - [ - 37252, - 114 - ], - [ - 37551, - 115 - ], - [ - 37851, - 115 - ], - [ - 38150, - 116 - ], - [ - 38450, - 116 - ], - [ - 38749, - 117 - ], - [ - 39049, - 117 - ], - [ - 39349, - 117 - ], - [ - 39648, - 118 - ], - [ - 39948, - 118 - ], - [ - 40247, - 119 - ], - [ - 40547, - 119 - ], - [ - 40847, - 119 - ], - [ - 41146, - 120 - ], - [ - 41446, - 119 - ], - [ - 41745, - 120 - ], - [ - 42045, - 120 - ], - [ - 42344, - 121 - ], - [ - 42644, - 121 - ], - [ - 42944, - 121 - ], - [ - 43243, - 122 - ], - [ - 43543, - 122 - ], - [ - 43842, - 123 - ], - [ - 44142, - 123 - ], - [ - 44442, - 123 - ], - [ - 44741, - 124 - ], - [ - 45041, - 124 - ], - [ - 45340, - 125 - ], - [ - 45640, - 125 - ], - [ - 45939, - 126 - ], - [ - 46239, - 126 - ], - [ - 46539, - 126 - ], - [ - 46838, - 126 - ], - [ - 47138, - 126 - ], - [ - 47437, - 127 - ], - [ - 47737, - 127 - ], - [ - 48036, - 128 - ], - [ - 48336, - 128 - ], - [ - 48636, - 128 - ], - [ - 48935, - 129 - ], - [ - 49235, - 129 - ], - [ - 49534, - 130 - ], - [ - 49834, - 130 - ], - [ - 50134, - 130 - ], - [ - 50433, - 131 - ], - [ - 50733, - 131 - ], - [ - 51032, - 132 - ], - [ - 51332, - 132 - ], - [ - 51631, - 133 - ], - [ - 51931, - 132 - ], - [ - 52231, - 132 - ], - [ - 52530, - 133 - ], - [ - 52830, - 133 - ], - [ - 53129, - 134 - ], - [ - 53429, - 106 - ], - [ - 53728, - 101 - ], - [ - 54028, - 95 - ], - [ - 54328, - 90 - ], - [ - 54627, - 86 - ], - [ - 54927, - 82 - ], - [ - 55226, - 79 - ], - [ - 55526, - 75 - ], - [ - 55826, - 71 - ], - [ - 56126, - 67 - ], - [ - 56427, - 62 - ], - [ - 56727, - 59 - ], - [ - 57028, - 57 - ], - [ - 57328, - 56 - ], - [ - 57629, - 55 - ], - [ - 57929, - 54 - ], - [ - 58230, - 52 - ], - [ - 58530, - 52 - ], - [ - 58831, - 50 - ], - [ - 59132, - 49 - ], - [ - 59435, - 45 - ], - [ - 59736, - 43 - ], - [ - 60036, - 43 - ], - [ - 60337, - 41 - ], - [ - 60637, - 40 - ], - [ - 60938, - 39 - ], - [ - 61238, - 38 - ], - [ - 61539, - 37 - ], - [ - 61839, - 36 - ], - [ - 62140, - 35 - ], - [ - 62440, - 34 - ], - [ - 62741, - 33 - ], - [ - 63042, - 31 - ], - [ - 63342, - 30 - ], - [ - 63643, - 29 - ], - [ - 63943, - 28 - ], - [ - 64244, - 27 - ], - [ - 64544, - 26 - ], - [ - 64845, - 25 - ], - [ - 65145, - 24 - ], - [ - 65446, - 22 - ], - [ - 65746, - 22 - ], - [ - 66047, - 20 - ], - [ - 66348, - 19 - ], - [ - 66648, - 19 - ], - [ - 66949, - 17 - ], - [ - 67249, - 17 - ], - [ - 67550, - 15 - ], - [ - 67850, - 15 - ], - [ - 68151, - 13 - ], - [ - 68451, - 13 - ], - [ - 68752, - 11 - ], - [ - 69052, - 11 - ], - [ - 69353, - 9 - ], - [ - 69654, - 8 - ], - [ - 69954, - 7 - ], - [ - 70255, - 6 - ], - [ - 70555, - 5 - ], - [ - 70856, - 4 - ], - [ - 71156, - 4 - ], - [ - 71457, - 2 - ], - [ - 71757, - 2 - ], - [ - 72058, - 1 - ] - ], - "point": [ - 109, - 122 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan218", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -6.5, - "y": 0.9008399, - "z": 5.5 - }, - "object_poses": [ - { - "objectName": "Newspaper_199ec092", - "position": { - "x": 0.9095, - "y": 0.9816666, - "z": 3.921772 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -5.762578, - "y": 0.7860695, - "z": 5.57538843 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -1.788056, - "y": 0.5331471, - "z": 3.69136047 - }, - "rotation": { - "x": 0.0, - "y": 38.00194, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": 0.822519541, - "y": 0.0997616649, - "z": 3.847929 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": 0.7532782, - "y": 0.100289404, - "z": 3.93092036 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -5.885833, - "y": 0.977974534, - "z": 4.46796751 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": -2.25522757, - "y": 0.5268649, - "z": 3.42967 - }, - "rotation": { - "x": 0.0, - "y": 38.00194, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_c192383b", - "position": { - "x": 0.8299264, - "y": -0.00101917982, - "z": 2.339594 - }, - "rotation": { - "x": 0.0007589513, - "y": 45.1253052, - "z": 0.0009456006 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": 0.6367744, - "y": 0.548666656, - "z": 6.38268328 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -1.82457507, - "y": 0.310152, - "z": 2.75476885 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Plate_0d99fab1", - "position": { - "x": -5.5160675, - "y": 0.786083639, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_76f16fe2", - "position": { - "x": -2.719, - "y": 0.6093162, - "z": 2.768 - }, - "rotation": { - "x": 0.0, - "y": 320.6474, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": 0.7845, - "y": 0.983679652, - "z": 3.29845572 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 0.722, - "y": 0.982312143, - "z": 3.506228 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4dbc7255", - "position": { - "x": -5.464, - "y": 0.7793162, - "z": 5.252 - }, - "rotation": { - "x": 0.0, - "y": 306.8717, - "z": 0.0 - } - }, - { - "objectName": "Statue_4a123fac", - "position": { - "x": -3.216549, - "y": 0.5593801, - "z": 1.56086373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3430695306, - "scene_num": 218 - }, - "task_id": "trial_T20190906_200527_066733", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3HL2LL0LEPZT8_39DD6S19JSSLCEDW06IUAF2FPDWEZO", - "high_descs": [ - "Turn right, go to the wall, turn right, go straight to the white chair, turn right, go to the coffee table, turn to face the couch near the coffee table.", - "Take the phone on the couch cushion.", - "turn right, go back to the white chair, turn left, go to the dining table.", - "Put the phone on the gray plate on the dining table.", - "Take the plate from the dining table.", - "Turn around, go straight to the left side of the wooden dresser with the TV.", - "Put the plate on the left side of the wooden dresser." - ], - "task_desc": "Put a plate with a phone on it on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A143XRCI1YXAFE_3TY7ZAOG5I1RWTZGSYG52BCYR610K0", - "high_descs": [ - "Turn around 180 degrees, walk to the opposite side of the room, turn 90 degrees to the left when you reach the other end, and walk over to the sofa.", - "Pick up the phone on the couch.", - "Turn to the right 90 degrees, then to the left 90 degrees, and walk over to the table.", - "Put the phone on the plate.", - "Pick up the plate on the table.", - "Turn around 180 degrees and walk back over to the other side of the room.", - "Place the plate on the top of the bookshelf." - ], - "task_desc": "Put a phone on a plate before placing the place on a shelf. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3YMU66OBIQPX579T0F2BABJM647GHW", - "high_descs": [ - "Turn right and begin walking to the wall, then turn right again and walk across the room to the front of the couch.", - "Pick up the white phone off of the couch cushion.", - "Turn around and take a step, then turn left and begin walking across the room, hang a left and walk up to the large wooden table.", - "Put the phone on the grey plate that is on the large wooden table.", - "Pick up the grey plate with the phone on it.", - "Turn around and walk across the room to the large wooden dresser with the television on it.", - "Place the grey plate with the phone on it on the wooden dresser to the left of the television." - ], - "task_desc": "Put a grey plate with a phone on it on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200605_664317/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200605_664317/traj_data.json deleted file mode 100644 index d529ba969..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CellPhone-Plate-Dresser-218/trial_T20190906_200605_664317/traj_data.json +++ /dev/null @@ -1,6358 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 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": 17 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "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": 0, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "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": 28 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 30 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "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": 35 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000235.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000236.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000237.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000238.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000239.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000240.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000241.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000242.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000243.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000244.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000245.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000246.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000249.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000250.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000251.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000252.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000253.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000254.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000255.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000256.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000257.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000258.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000259.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000260.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000261.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000262.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000263.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000264.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000265.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000266.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000267.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000268.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000269.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000270.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000271.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000272.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000273.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000274.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000275.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000276.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000277.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000278.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000279.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000280.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000281.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000282.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000283.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000284.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000285.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000286.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000287.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000288.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000289.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000290.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000291.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000292.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000293.png", - "low_idx": 72 - }, - { - "high_idx": 3, - "image_name": "000000294.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000295.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000296.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000297.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000298.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000299.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000300.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000301.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000302.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000303.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000304.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000305.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000306.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000307.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000308.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000319.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000320.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000321.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000322.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000323.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000346.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000347.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000348.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000349.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000350.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000351.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000352.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000353.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000354.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000355.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000356.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000357.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000358.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000359.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000360.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000361.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000362.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000363.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000364.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000365.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000366.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000367.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000368.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000369.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000370.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000371.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000372.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000373.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000374.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000375.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000376.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000377.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000378.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000379.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000380.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000381.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000384.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000385.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000386.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000387.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000388.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000389.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000390.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000391.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000392.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000393.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000394.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000395.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000396.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000397.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000398.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000399.png", - "low_idx": 90 - }, - { - "high_idx": 5, - "image_name": "000000400.png", - "low_idx": 90 - }, - { - "high_idx": 5, - "image_name": "000000401.png", - "low_idx": 91 - }, - { - "high_idx": 5, - "image_name": "000000402.png", - "low_idx": 91 - }, - { - "high_idx": 5, - "image_name": "000000403.png", - "low_idx": 92 - }, - { - "high_idx": 5, - "image_name": "000000404.png", - "low_idx": 92 - }, - { - "high_idx": 5, - "image_name": "000000405.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000406.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000407.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000408.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000409.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000410.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000411.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000412.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000413.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000414.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000415.png", - "low_idx": 93 - }, - { - "high_idx": 5, - "image_name": "000000416.png", - "low_idx": 94 - }, - { - "high_idx": 5, - "image_name": "000000417.png", - "low_idx": 94 - }, - { - "high_idx": 5, - "image_name": "000000418.png", - "low_idx": 95 - }, - { - "high_idx": 5, - "image_name": "000000419.png", - "low_idx": 95 - }, - { - "high_idx": 5, - "image_name": "000000420.png", - "low_idx": 96 - }, - { - "high_idx": 5, - "image_name": "000000421.png", - "low_idx": 96 - }, - { - "high_idx": 5, - "image_name": "000000422.png", - "low_idx": 97 - }, - { - "high_idx": 5, - "image_name": "000000423.png", - "low_idx": 97 - }, - { - "high_idx": 5, - "image_name": "000000424.png", - "low_idx": 98 - }, - { - "high_idx": 5, - "image_name": "000000425.png", - "low_idx": 98 - }, - { - "high_idx": 5, - "image_name": "000000426.png", - "low_idx": 99 - }, - { - "high_idx": 5, - "image_name": "000000427.png", - "low_idx": 99 - }, - { - "high_idx": 5, - "image_name": "000000428.png", - "low_idx": 100 - }, - { - "high_idx": 5, - "image_name": "000000429.png", - "low_idx": 100 - }, - { - "high_idx": 5, - "image_name": "000000430.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000431.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000432.png", - "low_idx": 102 - }, - { - "high_idx": 5, - "image_name": "000000433.png", - "low_idx": 102 - }, - { - "high_idx": 5, - "image_name": "000000434.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000435.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000436.png", - "low_idx": 104 - }, - { - "high_idx": 5, - "image_name": "000000437.png", - "low_idx": 104 - }, - { - "high_idx": 5, - "image_name": "000000438.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000439.png", - "low_idx": 105 - }, - { - "high_idx": 5, - "image_name": "000000440.png", - "low_idx": 106 - }, - { - "high_idx": 5, - "image_name": "000000441.png", - "low_idx": 106 - }, - { - "high_idx": 5, - "image_name": "000000442.png", - "low_idx": 107 - }, - { - "high_idx": 5, - "image_name": "000000443.png", - "low_idx": 107 - }, - { - "high_idx": 5, - "image_name": "000000444.png", - "low_idx": 108 - }, - { - "high_idx": 5, - "image_name": "000000445.png", - "low_idx": 108 - }, - { - "high_idx": 5, - "image_name": "000000446.png", - "low_idx": 109 - }, - { - "high_idx": 5, - "image_name": "000000447.png", - "low_idx": 109 - }, - { - "high_idx": 5, - "image_name": "000000448.png", - "low_idx": 110 - }, - { - "high_idx": 5, - "image_name": "000000449.png", - "low_idx": 110 - }, - { - "high_idx": 5, - "image_name": "000000450.png", - "low_idx": 111 - }, - { - "high_idx": 5, - "image_name": "000000451.png", - "low_idx": 111 - }, - { - "high_idx": 5, - "image_name": "000000452.png", - "low_idx": 112 - }, - { - "high_idx": 5, - "image_name": "000000453.png", - "low_idx": 112 - }, - { - "high_idx": 5, - "image_name": "000000454.png", - "low_idx": 113 - }, - { - "high_idx": 5, - "image_name": "000000455.png", - "low_idx": 113 - }, - { - "high_idx": 5, - "image_name": "000000456.png", - "low_idx": 114 - }, - { - "high_idx": 5, - "image_name": "000000457.png", - "low_idx": 114 - }, - { - "high_idx": 5, - "image_name": "000000458.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000459.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000460.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000461.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000462.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000463.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000464.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000465.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000466.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000467.png", - "low_idx": 115 - }, - { - "high_idx": 5, - "image_name": "000000468.png", - "low_idx": 115 - }, - { - "high_idx": 6, - "image_name": "000000469.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000470.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000471.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000472.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000473.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000474.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000475.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000476.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000477.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000478.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000479.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000480.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000481.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000482.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000483.png", - "low_idx": 116 - } - ], - "pddl_params": { - "mrecep_target": "Plate", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|24|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 3.689804552, - 3.689804552, - 26.57581712, - 26.57581712, - 2.2163204, - 2.2163204 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 2.928, - 2.928, - 26.54, - 26.54, - 0.017264604, - 0.017264604 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+00.92|+00.55|+06.64" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "plate" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-24|15|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "plate" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 3.689804552, - 3.689804552, - 26.57581712, - 26.57581712, - 2.2163204, - 2.2163204 - ] - ], - "coordinateReceptacleObjectId": [ - "Plate", - [ - -23.22940256, - -23.22940256, - 16.889925, - 16.889925, - 3.1274956, - 3.1274956 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+00.92|+00.55|+06.64", - "receptacleObjectId": "Plate|-05.81|+00.78|+04.22" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "plate" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Plate", - [ - -23.22940256, - -23.22940256, - 16.889925, - 16.889925, - 3.1274956, - 3.1274956 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -22.55729104, - -22.55729104, - 19.643744, - 19.643744, - -0.01804161072, - -0.01804161072 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.81|+00.78|+04.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|20|2|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "plate", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Plate", - [ - -23.22940256, - -23.22940256, - 16.889925, - 16.889925, - 3.1274956, - 3.1274956 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 3.388, - 3.388, - 14.856, - 14.856, - 0.017264604, - 0.017264604 - ] - ], - "forceVisible": true, - "objectId": "Plate|-05.81|+00.78|+04.22", - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - } - } - ], - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+00.92|+00.55|+06.64" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 178, - 126, - 196, - 155 - ], - "mask": [ - [ - 37678, - 16 - ], - [ - 37978, - 16 - ], - [ - 38278, - 16 - ], - [ - 38578, - 17 - ], - [ - 38878, - 17 - ], - [ - 39178, - 17 - ], - [ - 39478, - 17 - ], - [ - 39778, - 17 - ], - [ - 40078, - 17 - ], - [ - 40378, - 17 - ], - [ - 40678, - 17 - ], - [ - 40979, - 16 - ], - [ - 41279, - 17 - ], - [ - 41579, - 17 - ], - [ - 41879, - 17 - ], - [ - 42179, - 17 - ], - [ - 42479, - 17 - ], - [ - 42779, - 17 - ], - [ - 43079, - 17 - ], - [ - 43379, - 17 - ], - [ - 43679, - 17 - ], - [ - 43979, - 17 - ], - [ - 44279, - 18 - ], - [ - 44579, - 18 - ], - [ - 44879, - 18 - ], - [ - 45179, - 18 - ], - [ - 45480, - 17 - ], - [ - 45780, - 17 - ], - [ - 46080, - 17 - ], - [ - 46380, - 17 - ] - ], - "point": [ - 187, - 139 - ] - } - }, - "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+00.92|+00.55|+06.64", - "placeStationary": true, - "receptacleObjectId": "Plate|-05.81|+00.78|+04.22" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 167, - 114, - 244, - 179 - ], - "mask": [ - [ - 34091, - 21 - ], - [ - 34386, - 31 - ], - [ - 34682, - 40 - ], - [ - 34978, - 48 - ], - [ - 35274, - 56 - ], - [ - 35572, - 60 - ], - [ - 35872, - 61 - ], - [ - 36172, - 61 - ], - [ - 36471, - 63 - ], - [ - 36771, - 64 - ], - [ - 37071, - 64 - ], - [ - 37370, - 66 - ], - [ - 37670, - 66 - ], - [ - 37970, - 67 - ], - [ - 38269, - 68 - ], - [ - 38569, - 69 - ], - [ - 38869, - 69 - ], - [ - 39168, - 71 - ], - [ - 39468, - 71 - ], - [ - 39768, - 72 - ], - [ - 40068, - 72 - ], - [ - 40368, - 73 - ], - [ - 40667, - 74 - ], - [ - 40967, - 75 - ], - [ - 41267, - 75 - ], - [ - 41567, - 75 - ], - [ - 41867, - 76 - ], - [ - 42167, - 76 - ], - [ - 42467, - 76 - ], - [ - 42767, - 77 - ], - [ - 43067, - 77 - ], - [ - 43367, - 77 - ], - [ - 43667, - 77 - ], - [ - 43967, - 77 - ], - [ - 44267, - 77 - ], - [ - 44568, - 76 - ], - [ - 44868, - 77 - ], - [ - 45168, - 77 - ], - [ - 45468, - 77 - ], - [ - 45768, - 77 - ], - [ - 46069, - 76 - ], - [ - 46369, - 75 - ], - [ - 46669, - 75 - ], - [ - 46969, - 75 - ], - [ - 47270, - 74 - ], - [ - 47570, - 74 - ], - [ - 47871, - 73 - ], - [ - 48171, - 73 - ], - [ - 48471, - 73 - ], - [ - 48772, - 72 - ], - [ - 49072, - 72 - ], - [ - 49372, - 72 - ], - [ - 49673, - 70 - ], - [ - 49973, - 70 - ], - [ - 50274, - 69 - ], - [ - 50574, - 69 - ], - [ - 50874, - 69 - ], - [ - 51175, - 68 - ], - [ - 51475, - 67 - ], - [ - 51777, - 64 - ], - [ - 52081, - 56 - ], - [ - 52384, - 50 - ], - [ - 52688, - 43 - ], - [ - 52992, - 35 - ], - [ - 53296, - 27 - ], - [ - 53602, - 16 - ] - ], - "point": [ - 205, - 145 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Plate|-05.81|+00.78|+04.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 167, - 114, - 244, - 179 - ], - "mask": [ - [ - 34091, - 20 - ], - [ - 34386, - 24 - ], - [ - 34682, - 28 - ], - [ - 34978, - 32 - ], - [ - 35274, - 35 - ], - [ - 35572, - 37 - ], - [ - 35631, - 1 - ], - [ - 35872, - 37 - ], - [ - 35931, - 2 - ], - [ - 36172, - 36 - ], - [ - 36230, - 3 - ], - [ - 36471, - 37 - ], - [ - 36530, - 4 - ], - [ - 36771, - 38 - ], - [ - 36820, - 15 - ], - [ - 37071, - 64 - ], - [ - 37370, - 66 - ], - [ - 37670, - 66 - ], - [ - 37970, - 67 - ], - [ - 38269, - 68 - ], - [ - 38569, - 69 - ], - [ - 38869, - 69 - ], - [ - 39168, - 71 - ], - [ - 39468, - 71 - ], - [ - 39768, - 72 - ], - [ - 40068, - 72 - ], - [ - 40368, - 73 - ], - [ - 40667, - 74 - ], - [ - 40967, - 75 - ], - [ - 41267, - 75 - ], - [ - 41567, - 75 - ], - [ - 41867, - 76 - ], - [ - 42167, - 76 - ], - [ - 42467, - 76 - ], - [ - 42767, - 77 - ], - [ - 43067, - 77 - ], - [ - 43367, - 77 - ], - [ - 43667, - 77 - ], - [ - 43967, - 77 - ], - [ - 44267, - 77 - ], - [ - 44568, - 76 - ], - [ - 44868, - 77 - ], - [ - 45168, - 77 - ], - [ - 45468, - 77 - ], - [ - 45768, - 77 - ], - [ - 46069, - 76 - ], - [ - 46369, - 75 - ], - [ - 46669, - 75 - ], - [ - 46969, - 75 - ], - [ - 47270, - 74 - ], - [ - 47570, - 74 - ], - [ - 47871, - 73 - ], - [ - 48171, - 73 - ], - [ - 48471, - 73 - ], - [ - 48772, - 72 - ], - [ - 49072, - 72 - ], - [ - 49372, - 72 - ], - [ - 49673, - 70 - ], - [ - 49973, - 70 - ], - [ - 50274, - 69 - ], - [ - 50574, - 69 - ], - [ - 50874, - 69 - ], - [ - 51175, - 68 - ], - [ - 51475, - 67 - ], - [ - 51777, - 64 - ], - [ - 52081, - 56 - ], - [ - 52384, - 50 - ], - [ - 52688, - 43 - ], - [ - 52992, - 35 - ], - [ - 53296, - 27 - ], - [ - 53602, - 16 - ] - ], - "point": [ - 205, - 145 - ] - } - }, - "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": "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": "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": "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": "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": "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": "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": "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": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Plate|-05.81|+00.78|+04.22", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.85|+00.00|+03.71" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 6, - 196, - 240 - ], - "mask": [ - [ - 1610, - 5 - ], - [ - 1910, - 5 - ], - [ - 2210, - 5 - ], - [ - 2510, - 5 - ], - [ - 2811, - 5 - ], - [ - 3111, - 5 - ], - [ - 3124, - 1 - ], - [ - 4597, - 1 - ], - [ - 4897, - 1 - ], - [ - 5197, - 1 - ], - [ - 5496, - 1 - ], - [ - 6112, - 13 - ], - [ - 6412, - 13 - ], - [ - 6712, - 13 - ], - [ - 7012, - 13 - ], - [ - 7312, - 13 - ], - [ - 7612, - 13 - ], - [ - 7898, - 1 - ], - [ - 7912, - 14 - ], - [ - 7975, - 1 - ], - [ - 8196, - 3 - ], - [ - 8212, - 15 - ], - [ - 8275, - 1 - ], - [ - 8495, - 4 - ], - [ - 8512, - 15 - ], - [ - 8575, - 1 - ], - [ - 8794, - 5 - ], - [ - 8813, - 15 - ], - [ - 8875, - 1 - ], - [ - 9092, - 8 - ], - [ - 9113, - 15 - ], - [ - 9175, - 1 - ], - [ - 9391, - 9 - ], - [ - 9413, - 16 - ], - [ - 9476, - 1 - ], - [ - 9690, - 10 - ], - [ - 9713, - 17 - ], - [ - 9990, - 10 - ], - [ - 10013, - 17 - ], - [ - 10289, - 11 - ], - [ - 10313, - 18 - ], - [ - 10589, - 11 - ], - [ - 10613, - 19 - ], - [ - 10889, - 11 - ], - [ - 10913, - 19 - ], - [ - 10977, - 1 - ], - [ - 11188, - 12 - ], - [ - 11213, - 20 - ], - [ - 11274, - 4 - ], - [ - 11488, - 13 - ], - [ - 11513, - 20 - ], - [ - 11574, - 4 - ], - [ - 11787, - 14 - ], - [ - 11814, - 20 - ], - [ - 11874, - 4 - ], - [ - 12087, - 14 - ], - [ - 12114, - 21 - ], - [ - 12174, - 4 - ], - [ - 12386, - 15 - ], - [ - 12414, - 21 - ], - [ - 12474, - 4 - ], - [ - 12686, - 15 - ], - [ - 12714, - 22 - ], - [ - 12774, - 5 - ], - [ - 12986, - 15 - ], - [ - 13014, - 22 - ], - [ - 13074, - 5 - ], - [ - 13285, - 16 - ], - [ - 13314, - 23 - ], - [ - 13374, - 5 - ], - [ - 13585, - 17 - ], - [ - 13614, - 24 - ], - [ - 13674, - 5 - ], - [ - 13884, - 18 - ], - [ - 13914, - 24 - ], - [ - 13974, - 5 - ], - [ - 14184, - 18 - ], - [ - 14214, - 25 - ], - [ - 14274, - 6 - ], - [ - 14484, - 18 - ], - [ - 14514, - 26 - ], - [ - 14574, - 6 - ], - [ - 14783, - 19 - ], - [ - 14815, - 25 - ], - [ - 14874, - 6 - ], - [ - 15083, - 19 - ], - [ - 15115, - 26 - ], - [ - 15173, - 7 - ], - [ - 15382, - 20 - ], - [ - 15415, - 26 - ], - [ - 15473, - 7 - ], - [ - 15682, - 20 - ], - [ - 15715, - 27 - ], - [ - 15773, - 8 - ], - [ - 15981, - 10 - ], - [ - 16073, - 8 - ], - [ - 16281, - 7 - ], - [ - 16373, - 8 - ], - [ - 16581, - 6 - ], - [ - 16673, - 8 - ], - [ - 16880, - 6 - ], - [ - 16973, - 8 - ], - [ - 17180, - 5 - ], - [ - 17273, - 8 - ], - [ - 17479, - 4 - ], - [ - 17573, - 9 - ], - [ - 17779, - 3 - ], - [ - 17873, - 9 - ], - [ - 18078, - 3 - ], - [ - 18173, - 9 - ], - [ - 18378, - 2 - ], - [ - 18473, - 9 - ], - [ - 18678, - 1 - ], - [ - 18773, - 9 - ], - [ - 18977, - 1 - ], - [ - 19073, - 10 - ], - [ - 19373, - 10 - ], - [ - 19672, - 11 - ], - [ - 19892, - 56 - ], - [ - 19972, - 11 - ], - [ - 20189, - 61 - ], - [ - 20272, - 11 - ], - [ - 20488, - 62 - ], - [ - 20572, - 12 - ], - [ - 20786, - 64 - ], - [ - 20873, - 11 - ], - [ - 21085, - 65 - ], - [ - 21174, - 10 - ], - [ - 21383, - 67 - ], - [ - 21476, - 8 - ], - [ - 21682, - 68 - ], - [ - 21777, - 7 - ], - [ - 21980, - 70 - ], - [ - 22078, - 6 - ], - [ - 22279, - 71 - ], - [ - 22380, - 5 - ], - [ - 22577, - 73 - ], - [ - 22681, - 4 - ], - [ - 22876, - 74 - ], - [ - 22982, - 3 - ], - [ - 23174, - 76 - ], - [ - 23284, - 1 - ], - [ - 23473, - 77 - ], - [ - 23771, - 79 - ], - [ - 23885, - 1 - ], - [ - 24070, - 80 - ], - [ - 24172, - 1 - ], - [ - 24370, - 80 - ], - [ - 24471, - 3 - ], - [ - 24669, - 81 - ], - [ - 24771, - 5 - ], - [ - 24969, - 81 - ], - [ - 25071, - 7 - ], - [ - 25268, - 82 - ], - [ - 25371, - 8 - ], - [ - 25386, - 1 - ], - [ - 25568, - 82 - ], - [ - 25671, - 10 - ], - [ - 25686, - 1 - ], - [ - 25868, - 82 - ], - [ - 25971, - 16 - ], - [ - 26167, - 83 - ], - [ - 26271, - 16 - ], - [ - 26467, - 83 - ], - [ - 26571, - 16 - ], - [ - 26766, - 84 - ], - [ - 26870, - 17 - ], - [ - 27066, - 84 - ], - [ - 27170, - 18 - ], - [ - 27365, - 85 - ], - [ - 27470, - 18 - ], - [ - 27665, - 85 - ], - [ - 27769, - 19 - ], - [ - 27965, - 85 - ], - [ - 28069, - 19 - ], - [ - 28264, - 87 - ], - [ - 28369, - 19 - ], - [ - 28564, - 87 - ], - [ - 28669, - 20 - ], - [ - 28863, - 88 - ], - [ - 28968, - 21 - ], - [ - 29163, - 88 - ], - [ - 29268, - 21 - ], - [ - 29463, - 88 - ], - [ - 29567, - 22 - ], - [ - 29762, - 90 - ], - [ - 29866, - 23 - ], - [ - 30062, - 90 - ], - [ - 30165, - 25 - ], - [ - 30361, - 91 - ], - [ - 30463, - 27 - ], - [ - 30661, - 92 - ], - [ - 30761, - 29 - ], - [ - 30960, - 94 - ], - [ - 31059, - 31 - ], - [ - 31260, - 130 - ], - [ - 31560, - 131 - ], - [ - 31859, - 132 - ], - [ - 32159, - 132 - ], - [ - 32458, - 133 - ], - [ - 32758, - 133 - ], - [ - 33057, - 134 - ], - [ - 33357, - 135 - ], - [ - 33657, - 135 - ], - [ - 33956, - 136 - ], - [ - 34256, - 136 - ], - [ - 34555, - 137 - ], - [ - 34855, - 138 - ], - [ - 35155, - 138 - ], - [ - 35454, - 139 - ], - [ - 35754, - 139 - ], - [ - 36053, - 140 - ], - [ - 36353, - 141 - ], - [ - 36652, - 142 - ], - [ - 36952, - 142 - ], - [ - 37252, - 142 - ], - [ - 37551, - 143 - ], - [ - 37851, - 143 - ], - [ - 38150, - 145 - ], - [ - 38450, - 145 - ], - [ - 38749, - 146 - ], - [ - 39049, - 146 - ], - [ - 39349, - 146 - ], - [ - 39648, - 148 - ], - [ - 39948, - 148 - ], - [ - 40247, - 149 - ], - [ - 40547, - 149 - ], - [ - 40847, - 149 - ], - [ - 41146, - 151 - ], - [ - 41446, - 125 - ], - [ - 41745, - 124 - ], - [ - 42045, - 124 - ], - [ - 42344, - 125 - ], - [ - 42644, - 125 - ], - [ - 42944, - 125 - ], - [ - 43243, - 126 - ], - [ - 43543, - 125 - ], - [ - 43842, - 126 - ], - [ - 44142, - 126 - ], - [ - 44442, - 126 - ], - [ - 44741, - 127 - ], - [ - 45041, - 127 - ], - [ - 45340, - 128 - ], - [ - 45640, - 128 - ], - [ - 45939, - 129 - ], - [ - 46239, - 128 - ], - [ - 46539, - 128 - ], - [ - 46838, - 129 - ], - [ - 47138, - 129 - ], - [ - 47437, - 130 - ], - [ - 47737, - 130 - ], - [ - 48036, - 131 - ], - [ - 48336, - 131 - ], - [ - 48636, - 130 - ], - [ - 48935, - 131 - ], - [ - 49235, - 131 - ], - [ - 49534, - 132 - ], - [ - 49834, - 132 - ], - [ - 50134, - 132 - ], - [ - 50433, - 133 - ], - [ - 50733, - 116 - ], - [ - 50851, - 15 - ], - [ - 51032, - 102 - ], - [ - 51332, - 97 - ], - [ - 51631, - 93 - ], - [ - 51931, - 87 - ], - [ - 52231, - 83 - ], - [ - 52530, - 81 - ], - [ - 52830, - 77 - ], - [ - 53129, - 74 - ], - [ - 53429, - 70 - ], - [ - 53728, - 68 - ], - [ - 54028, - 65 - ], - [ - 54328, - 61 - ], - [ - 54627, - 59 - ], - [ - 54927, - 56 - ], - [ - 55226, - 55 - ], - [ - 55526, - 55 - ], - [ - 55826, - 54 - ], - [ - 56126, - 54 - ], - [ - 56427, - 52 - ], - [ - 56727, - 52 - ], - [ - 57028, - 50 - ], - [ - 57328, - 50 - ], - [ - 57629, - 48 - ], - [ - 57929, - 48 - ], - [ - 58230, - 46 - ], - [ - 58530, - 46 - ], - [ - 58831, - 44 - ], - [ - 59132, - 43 - ], - [ - 59435, - 39 - ], - [ - 59736, - 38 - ], - [ - 60036, - 37 - ], - [ - 60337, - 36 - ], - [ - 60637, - 35 - ], - [ - 60938, - 34 - ], - [ - 61238, - 34 - ], - [ - 61539, - 32 - ], - [ - 61839, - 32 - ], - [ - 62140, - 30 - ], - [ - 62440, - 30 - ], - [ - 62741, - 28 - ], - [ - 63042, - 27 - ], - [ - 63342, - 26 - ], - [ - 63643, - 25 - ], - [ - 63943, - 25 - ], - [ - 64244, - 23 - ], - [ - 64544, - 23 - ], - [ - 64845, - 21 - ], - [ - 65145, - 21 - ], - [ - 65446, - 19 - ], - [ - 65746, - 19 - ], - [ - 66047, - 18 - ], - [ - 66348, - 16 - ], - [ - 66648, - 16 - ], - [ - 66949, - 14 - ], - [ - 67249, - 14 - ], - [ - 67550, - 13 - ], - [ - 67850, - 12 - ], - [ - 68151, - 11 - ], - [ - 68451, - 11 - ], - [ - 68752, - 9 - ], - [ - 69052, - 9 - ], - [ - 69353, - 8 - ], - [ - 69654, - 6 - ], - [ - 69954, - 6 - ], - [ - 70255, - 4 - ], - [ - 70555, - 4 - ], - [ - 70856, - 3 - ], - [ - 71156, - 2 - ], - [ - 71457, - 1 - ], - [ - 71757, - 1 - ] - ], - "point": [ - 111, - 122 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan218", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -1.25, - "y": 0.9008399, - "z": 3.25 - }, - "object_poses": [ - { - "objectName": "Statue_4a123fac", - "position": { - "x": 0.827225566, - "y": 0.5593801, - "z": 6.38268328 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_4a123fac", - "position": { - "x": -5.885833, - "y": 0.79678303, - "z": 5.13242 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -5.885833, - "y": 0.78184, - "z": 5.57538843 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 1.0345, - "y": 0.9827533, - "z": 3.0906837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -1.37996113, - "y": 0.5048012, - "z": 2.55971956 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Box_d7ca8ed6", - "position": { - "x": -5.5160675, - "y": 0.9779746, - "z": 4.68945169 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_fa8249c9", - "position": { - "x": 0.922451138, - "y": 0.5540801, - "z": 6.64395428 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_c192383b", - "position": { - "x": 0.8299264, - "y": -0.00101917982, - "z": 2.339594 - }, - "rotation": { - "x": 0.0007589513, - "y": 45.1253052, - "z": 0.0009456006 - } - }, - { - "objectName": "Newspaper_199ec092", - "position": { - "x": -5.885833, - "y": 0.7818401, - "z": 4.910936 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_479327d9", - "position": { - "x": -1.72354293, - "y": 0.310152, - "z": 2.507604 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - }, - { - "objectName": "Plate_0d99fab1", - "position": { - "x": -5.80735064, - "y": 0.7818739, - "z": 4.22248125 - }, - "rotation": { - "x": 0.00256296876, - "y": 0.000335105753, - "z": 0.000120267257 - } - }, - { - "objectName": "Pillow_76f16fe2", - "position": { - "x": -2.719, - "y": 0.6093162, - "z": 2.768 - }, - "rotation": { - "x": 0.0, - "y": 320.6474, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_2592ccc4", - "position": { - "x": -2.25522757, - "y": 0.524923444, - "z": 3.42967 - }, - "rotation": { - "x": 0.0, - "y": 38.00194, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9f46cbc0", - "position": { - "x": 0.722, - "y": 0.982312143, - "z": 3.0906837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4dbc7255", - "position": { - "x": -5.464, - "y": 0.7793162, - "z": 5.252 - }, - "rotation": { - "x": 0.0, - "y": 306.8717, - "z": 0.0 - } - }, - { - "objectName": "Statue_4a123fac", - "position": { - "x": -1.71345186, - "y": 0.319380224, - "z": 2.334141 - }, - "rotation": { - "x": 0.0, - "y": 39.022747, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3742757398, - "scene_num": 218 - }, - "task_id": "trial_T20190906_200605_664317", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3F7G1FSFWQPLE_37FMASSAYF81ALC2QBSI9CT4QV2IB0", - "high_descs": [ - "Turn around and walk over to the small wooden table in the corner of the room to the right of the white chair.", - "Pick up the white phone off of the small wooden table.", - "Turn around and take a step, then turn right and begin walking across the room, the walk around the dining room table to the corner with the grey plate.", - "Place the white phone on the grey plate standing up.", - "Pick up the grey plate with the phone on it.", - "Turn right and walk over to the wooden dresser with the television on it.", - "Place the grey plate with the phone on it onto the wooden dresser to the left of the television." - ], - "task_desc": "Place a grey plate with a white phone on it onto the dresser.", - "votes": [ - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2BLQ1GVEHJR8T_3TE3O85733PKF7FPX5TGMBRRJL8R2B", - "high_descs": [ - "Turn around to your right and go to the TV screen, then turn left and go to the table in the corner.", - "Pick up the cell phone that is in front of the lamp.", - "Turn to your left to go to the dining table, then left again to go around to the left end of the table. Turn to your right to face the end of the table with a plate near the edge.", - "Put the phone standing vertically on the back right edge of the plate.", - "Pick up the plate with the phone on it.", - "Turn right to go behind the sofa to the far wall, then turn right to face the cabinet that is holding the TV screen.", - "Put the plate in the open space at the end of the cabinet, with the phone facing you at the front edge of the plate." - ], - "task_desc": "Place a plate with a cellphone standing upright on it next to a television screen.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A24RGLS3BRZ60J_39N5ACM9HH4A3EK95M46R3ZQPD5P9T", - "high_descs": [ - "Turn around and go to the left to find the small table in the corner.", - "Pick up the cell phone from the right side of the table.", - "Hold the cell phone and turn to the left, then the right and go straight back. Turn to the left and then the right again the find the large table.", - "Place the cell phone on the plate on the table.", - "Pick up the plate and cell phone from the table.", - "Carry the plate and turn right, then left to go past the table. Turn right to go to the other side of the room and find the short dresser.", - "Place the plate and cell phone on the dresser." - ], - "task_desc": "Move a cell phone to a plate and move both to a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_3BXQMRHWK2F223BZBH756VS9WDNUMF", - "high_descs": [ - "turn right and walk towards the tv and then turn left and walk towards the small table with the lamp on it", - "Pick up the phone from the table", - "turn left and walk towards the dining table and then turn left. walk to the end of the table and turn right and face the end of the table", - "put the phone on the plate", - "pick up the plate on the table", - "turn right and then turn left, turn right after the couch and then walk towards the tv stand and then face the tv stand", - "set the plate down on the tv stand, next to the tv" - ], - "task_desc": "take a phone on a plate and set it next to the tv", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072034_448545/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072034_448545/traj_data.json deleted file mode 100644 index c76c49b0a..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072034_448545/traj_data.json +++ /dev/null @@ -1,5047 +0,0 @@ -{ - "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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 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": 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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 2, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 72 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|6|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 11.40263368, - 11.40263368, - 4.06968308, - 4.06968308, - 3.371984, - 3.371984 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.85|+00.84|+01.02" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|17|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 11.40263368, - 11.40263368, - 4.06968308, - 4.06968308, - 3.371984, - 3.371984 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 11.13918112, - 11.13918112, - 14.86035348, - 14.86035348, - 3.239290236, - 3.239290236 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.85|+00.84|+01.02", - "receptacleObjectId": "Bowl|+02.78|+00.81|+03.72" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 11.13918112, - 11.13918112, - 14.86035348, - 14.86035348, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.78|+00.81|+03.72" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 11.13918112, - 11.13918112, - 14.86035348, - 14.86035348, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.78|+00.81|+03.72", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "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": "CreditCard|+02.85|+00.84|+01.02" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 107, - 130, - 132, - 143 - ], - "mask": [ - [ - 38809, - 23 - ], - [ - 39108, - 25 - ], - [ - 39408, - 25 - ], - [ - 39708, - 25 - ], - [ - 40008, - 25 - ], - [ - 40308, - 25 - ], - [ - 40608, - 25 - ], - [ - 40908, - 25 - ], - [ - 41208, - 25 - ], - [ - 41508, - 25 - ], - [ - 41808, - 25 - ], - [ - 42107, - 26 - ], - [ - 42407, - 26 - ], - [ - 42708, - 24 - ] - ], - "point": [ - 119, - 135 - ] - } - }, - "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": "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": "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": "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": "CreditCard|+02.85|+00.84|+01.02", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.78|+00.81|+03.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 111, - 96, - 168, - 145 - ], - "mask": [ - [ - 28637, - 6 - ], - [ - 28931, - 18 - ], - [ - 29228, - 24 - ], - [ - 29526, - 29 - ], - [ - 29824, - 33 - ], - [ - 30122, - 36 - ], - [ - 30420, - 40 - ], - [ - 30719, - 42 - ], - [ - 31018, - 44 - ], - [ - 31317, - 46 - ], - [ - 31616, - 48 - ], - [ - 31915, - 50 - ], - [ - 32215, - 50 - ], - [ - 32514, - 52 - ], - [ - 32813, - 53 - ], - [ - 33113, - 54 - ], - [ - 33412, - 55 - ], - [ - 33712, - 56 - ], - [ - 34012, - 56 - ], - [ - 34311, - 57 - ], - [ - 34611, - 57 - ], - [ - 34911, - 57 - ], - [ - 35211, - 58 - ], - [ - 35511, - 58 - ], - [ - 35811, - 57 - ], - [ - 36111, - 57 - ], - [ - 36411, - 57 - ], - [ - 36711, - 57 - ], - [ - 37011, - 57 - ], - [ - 37312, - 56 - ], - [ - 37612, - 55 - ], - [ - 37912, - 55 - ], - [ - 38213, - 54 - ], - [ - 38513, - 53 - ], - [ - 38813, - 53 - ], - [ - 39114, - 51 - ], - [ - 39415, - 49 - ], - [ - 39715, - 49 - ], - [ - 40016, - 47 - ], - [ - 40317, - 46 - ], - [ - 40618, - 44 - ], - [ - 40919, - 42 - ], - [ - 41219, - 41 - ], - [ - 41521, - 37 - ], - [ - 41822, - 35 - ], - [ - 42123, - 33 - ], - [ - 42425, - 29 - ], - [ - 42728, - 23 - ], - [ - 43031, - 17 - ], - [ - 43336, - 7 - ] - ], - "point": [ - 139, - 119 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.78|+00.81|+03.72" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 111, - 96, - 168, - 145 - ], - "mask": [ - [ - 28637, - 6 - ], - [ - 28931, - 18 - ], - [ - 29228, - 24 - ], - [ - 29526, - 29 - ], - [ - 29824, - 33 - ], - [ - 30122, - 36 - ], - [ - 30420, - 40 - ], - [ - 30719, - 42 - ], - [ - 31018, - 44 - ], - [ - 31317, - 46 - ], - [ - 31616, - 48 - ], - [ - 31915, - 50 - ], - [ - 32215, - 50 - ], - [ - 32514, - 52 - ], - [ - 32813, - 53 - ], - [ - 33113, - 54 - ], - [ - 33412, - 55 - ], - [ - 33712, - 56 - ], - [ - 34012, - 56 - ], - [ - 34311, - 57 - ], - [ - 34611, - 57 - ], - [ - 34911, - 57 - ], - [ - 35211, - 58 - ], - [ - 35511, - 58 - ], - [ - 35811, - 57 - ], - [ - 36111, - 57 - ], - [ - 36411, - 57 - ], - [ - 36711, - 57 - ], - [ - 37011, - 18 - ], - [ - 37051, - 17 - ], - [ - 37312, - 16 - ], - [ - 37352, - 16 - ], - [ - 37612, - 16 - ], - [ - 37652, - 15 - ], - [ - 37912, - 16 - ], - [ - 37952, - 15 - ], - [ - 38213, - 15 - ], - [ - 38252, - 15 - ], - [ - 38513, - 15 - ], - [ - 38552, - 14 - ], - [ - 38813, - 15 - ], - [ - 38852, - 14 - ], - [ - 39114, - 14 - ], - [ - 39152, - 13 - ], - [ - 39415, - 13 - ], - [ - 39452, - 12 - ], - [ - 39715, - 12 - ], - [ - 39752, - 12 - ], - [ - 40016, - 11 - ], - [ - 40052, - 11 - ], - [ - 40317, - 10 - ], - [ - 40352, - 11 - ], - [ - 40618, - 9 - ], - [ - 40652, - 10 - ], - [ - 40919, - 42 - ], - [ - 41219, - 41 - ], - [ - 41521, - 37 - ], - [ - 41822, - 35 - ], - [ - 42123, - 33 - ], - [ - 42425, - 29 - ], - [ - 42728, - 23 - ], - [ - 43031, - 17 - ], - [ - 43336, - 7 - ] - ], - "point": [ - 139, - 119 - ] - } - }, - "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": "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": "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": "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": "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": "Bowl|+02.78|+00.81|+03.72", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18953, - 45 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19852, - 50 - ], - [ - 19917, - 30 - ], - [ - 19950, - 36 - ], - [ - 19988, - 55 - ], - [ - 20152, - 51 - ], - [ - 20217, - 30 - ], - [ - 20250, - 93 - ], - [ - 20452, - 51 - ], - [ - 20517, - 30 - ], - [ - 20550, - 93 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 29 - ], - [ - 20850, - 93 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 29 - ], - [ - 21150, - 92 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 28 - ], - [ - 21450, - 92 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 28 - ], - [ - 21750, - 92 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 27 - ], - [ - 22050, - 92 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 27 - ], - [ - 22350, - 91 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 27 - ], - [ - 22650, - 91 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 26 - ], - [ - 22950, - 91 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 26 - ], - [ - 23249, - 91 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 26 - ], - [ - 23549, - 91 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 25 - ], - [ - 23849, - 90 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 262 - ], - [ - 35738, - 262 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.0, - "y": 0.9101201, - "z": 2.25 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.36734867, - "y": 0.806327343, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.576072, - "y": 0.809822559, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.78479528, - "y": 0.809822559, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.36734867, - "y": 0.807934046, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.6451336, - "y": 0.04980806, - "z": 3.743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.66068769, - "y": 0.46727246, - "z": 0.3302396 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.85065842, - "y": 0.84865284, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.53340769, - "y": 0.09803629, - "z": 0.8198403 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.78479528, - "y": 0.810731351, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.78479528, - "y": 0.807386458, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.6841401, - "y": 0.9143347, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.36492372, - "y": 0.399080217, - "z": -0.507367 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.946811736, - "y": 0.9127645, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.59503245, - "y": 0.745671749, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.946811736, - "y": 0.911498964, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.946811736, - "y": 0.9127645, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.44725227, - "y": 0.752507448, - "z": -1.37231946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.85065842, - "y": 0.8429095, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.78479528, - "y": 0.809822559, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.85065842, - "y": 0.842996, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.70311451, - "y": 0.0955311656, - "z": 0.721920133 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.53340769, - "y": 0.09592956, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 0.123219371, - "y": 0.7123361, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.749808, - "y": 0.916839838, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.07318592, - "y": 0.785215139, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.47171044, - "y": 0.807934046, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.3991785, - "y": 0.7500904, - "z": -1.57073247 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.47171044, - "y": 0.8053905, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3554587837, - "scene_num": 311 - }, - "task_id": "trial_T20190908_072034_448545", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A24RGLS3BRZ60J_3E7TUJ2EGF31EHHJ0DDBR9I1BCQD9R", - "high_descs": [ - "Turn around and to the right, face the small white dresser with the TV on the short side.", - "Pick up the credit card from the left side of the small dresser.", - "Carry the credit card and turn right. Then turn right again and another right to face the short side of the dining table.", - "Place the credit card in the dish closest to the short side. ", - "Pick up the dish from the table.", - "Carry the dish and turn right, then left to go back to the TV. Face the TV straight on.", - "Place the dish on the dresser, to the left side." - ], - "task_desc": "Move a credit card and dish to a small dresser.", - "votes": [ - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 1 - ] - }, - { - "assignment_id": "A3C81THYYSBGVD_3LRKMWOKB8YTHY1G7MNT8ETQTM82Z1", - "high_descs": [ - "Turn around, turn left and face the white tv stand to your right.", - "Pick up the card on the white tv stand in front of you.", - "Turn right, then right again, then right and face the black table on your right.", - "Place the card in the bowl on the black table in front of you.", - "Pick up the bowl from the black table in front of you.", - "Turn right, then left and face the white tv stand on your left.", - "Place the bowl with the card inside of it on the white tv stand in front of you." - ], - "task_desc": "Place a card in a bowl on a tv stand.", - "votes": [ - 1, - 1, - 1, - 1, - 1, - 0, - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_3B2X28YI3Z6T2Q3ZKI8ADVN1CA8B6A", - "high_descs": [ - "turn around, take a step, turn left, walk to wall, turn right to face tv stand", - "pick up the credit card that is on the tv stand", - "turn around, take a few steps, turn right, walk forward, turn right after desk, walk forward, turn right to face desk", - "put the credit card in the bowl that is on the desk", - "pick up the bowl that is on the desk with the credit card in it", - "turn right, walk forward, turn left, walk forward, turn left to face tv stand", - "put the bowl on the tv stand" - ], - "task_desc": "put a bowl with credit card in it on tv stand", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072110_247281/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072110_247281/traj_data.json deleted file mode 100644 index f78062d13..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072110_247281/traj_data.json +++ /dev/null @@ -1,4871 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 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": 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": 1, - "image_name": "000000105.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 64 - }, - { - "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": 64 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 64 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "countertop" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|18|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - -3.5245752, - -3.5245752, - 18.134655, - 18.134655, - 3.65397978, - 3.65397978 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -3.5624, - -3.5624, - 17.4, - 17.4, - 3.807995796, - 3.807995796 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|-00.88|+00.91|+04.53" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|17|3|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - -3.5245752, - -3.5245752, - 18.134655, - 18.134655, - 3.65397978, - 3.65397978 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - -3.787246944, - -3.787246944, - 16.665344, - 16.665344, - 3.663724184, - 3.663724184 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|-00.88|+00.91|+04.53", - "receptacleObjectId": "Bowl|-00.95|+00.92|+04.17" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - -3.787246944, - -3.787246944, - 16.665344, - 16.665344, - 3.663724184, - 3.663724184 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -3.5624, - -3.5624, - 17.4, - 17.4, - 3.807995796, - 3.807995796 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-00.95|+00.92|+04.17" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - -3.787246944, - -3.787246944, - 16.665344, - 16.665344, - 3.663724184, - 3.663724184 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-00.95|+00.92|+04.17", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "PickupObject", - "objectId": "CreditCard|-00.88|+00.91|+04.53" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 152, - 150, - 167, - 167 - ], - "mask": [ - [ - 44852, - 14 - ], - [ - 45152, - 15 - ], - [ - 45452, - 15 - ], - [ - 45752, - 15 - ], - [ - 46052, - 15 - ], - [ - 46352, - 15 - ], - [ - 46652, - 15 - ], - [ - 46952, - 15 - ], - [ - 47252, - 15 - ], - [ - 47552, - 15 - ], - [ - 47852, - 15 - ], - [ - 48152, - 15 - ], - [ - 48452, - 15 - ], - [ - 48752, - 15 - ], - [ - 49052, - 15 - ], - [ - 49352, - 15 - ], - [ - 49652, - 16 - ], - [ - 49953, - 14 - ] - ], - "point": [ - 159, - 157 - ] - } - }, - "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": "PutObject", - "forceAction": true, - "objectId": "CreditCard|-00.88|+00.91|+04.53", - "placeStationary": true, - "receptacleObjectId": "Bowl|-00.95|+00.92|+04.17" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 98, - 115, - 153, - 155 - ], - "mask": [ - [ - 34319, - 18 - ], - [ - 34615, - 25 - ], - [ - 34913, - 30 - ], - [ - 35210, - 35 - ], - [ - 35508, - 38 - ], - [ - 35807, - 41 - ], - [ - 36105, - 44 - ], - [ - 36404, - 46 - ], - [ - 36703, - 48 - ], - [ - 37002, - 50 - ], - [ - 37302, - 50 - ], - [ - 37601, - 52 - ], - [ - 37900, - 53 - ], - [ - 38200, - 54 - ], - [ - 38499, - 55 - ], - [ - 38799, - 55 - ], - [ - 39099, - 55 - ], - [ - 39398, - 56 - ], - [ - 39698, - 56 - ], - [ - 39998, - 56 - ], - [ - 40298, - 56 - ], - [ - 40599, - 54 - ], - [ - 40899, - 54 - ], - [ - 41199, - 54 - ], - [ - 41499, - 54 - ], - [ - 41800, - 52 - ], - [ - 42100, - 52 - ], - [ - 42401, - 50 - ], - [ - 42701, - 50 - ], - [ - 43002, - 48 - ], - [ - 43302, - 47 - ], - [ - 43603, - 46 - ], - [ - 43904, - 43 - ], - [ - 44205, - 41 - ], - [ - 44506, - 39 - ], - [ - 44807, - 37 - ], - [ - 45109, - 33 - ], - [ - 45411, - 30 - ], - [ - 45713, - 26 - ], - [ - 46015, - 21 - ], - [ - 46318, - 15 - ] - ], - "point": [ - 125, - 134 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|-00.95|+00.92|+04.17" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 98, - 115, - 153, - 155 - ], - "mask": [ - [ - 34319, - 18 - ], - [ - 34615, - 25 - ], - [ - 34913, - 30 - ], - [ - 35210, - 35 - ], - [ - 35508, - 38 - ], - [ - 35807, - 41 - ], - [ - 36105, - 44 - ], - [ - 36404, - 46 - ], - [ - 36703, - 48 - ], - [ - 37002, - 50 - ], - [ - 37302, - 50 - ], - [ - 37601, - 52 - ], - [ - 37900, - 53 - ], - [ - 38200, - 54 - ], - [ - 38499, - 55 - ], - [ - 38799, - 55 - ], - [ - 39099, - 55 - ], - [ - 39398, - 56 - ], - [ - 39698, - 56 - ], - [ - 39998, - 56 - ], - [ - 40298, - 56 - ], - [ - 40599, - 54 - ], - [ - 40899, - 54 - ], - [ - 41199, - 54 - ], - [ - 41499, - 16 - ], - [ - 41539, - 14 - ], - [ - 41800, - 15 - ], - [ - 41838, - 14 - ], - [ - 42100, - 15 - ], - [ - 42138, - 14 - ], - [ - 42401, - 14 - ], - [ - 42438, - 13 - ], - [ - 42701, - 14 - ], - [ - 42738, - 13 - ], - [ - 43002, - 12 - ], - [ - 43038, - 12 - ], - [ - 43302, - 12 - ], - [ - 43338, - 11 - ], - [ - 43603, - 11 - ], - [ - 43638, - 11 - ], - [ - 43904, - 10 - ], - [ - 43937, - 10 - ], - [ - 44205, - 10 - ], - [ - 44234, - 12 - ], - [ - 44506, - 39 - ], - [ - 44807, - 37 - ], - [ - 45109, - 33 - ], - [ - 45411, - 30 - ], - [ - 45713, - 26 - ], - [ - 46015, - 21 - ], - [ - 46318, - 15 - ] - ], - "point": [ - 125, - 134 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|-00.95|+00.92|+04.17", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 56 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 56 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 57 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 58 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 59 - ], - [ - 31242, - 90 - ], - [ - 31436, - 59 - ], - [ - 31542, - 92 - ], - [ - 31734, - 60 - ], - [ - 31841, - 95 - ], - [ - 32032, - 62 - ], - [ - 32141, - 96 - ], - [ - 32331, - 62 - ], - [ - 32441, - 98 - ], - [ - 32628, - 64 - ], - [ - 32741, - 101 - ], - [ - 32926, - 65 - ], - [ - 33040, - 104 - ], - [ - 33224, - 67 - ], - [ - 33340, - 107 - ], - [ - 33522, - 68 - ], - [ - 33640, - 109 - ], - [ - 33819, - 70 - ], - [ - 33940, - 113 - ], - [ - 34116, - 72 - ], - [ - 34239, - 117 - ], - [ - 34412, - 76 - ], - [ - 34539, - 121 - ], - [ - 34708, - 79 - ], - [ - 34839, - 127 - ], - [ - 35002, - 84 - ], - [ - 35139, - 135 - ], - [ - 35294, - 91 - ], - [ - 35438, - 109 - ], - [ - 35551, - 134 - ], - [ - 35738, - 106 - ], - [ - 35847, - 4 - ], - [ - 35853, - 131 - ], - [ - 36038, - 106 - ], - [ - 36145, - 7 - ], - [ - 36154, - 130 - ], - [ - 36337, - 115 - ], - [ - 36454, - 130 - ], - [ - 36637, - 115 - ], - [ - 36753, - 130 - ], - [ - 36937, - 100 - ], - [ - 37043, - 2 - ], - [ - 37046, - 6 - ], - [ - 37053, - 130 - ], - [ - 37237, - 99 - ], - [ - 37344, - 1 - ], - [ - 37346, - 6 - ], - [ - 37353, - 131 - ], - [ - 37536, - 100 - ], - [ - 37644, - 1 - ], - [ - 37646, - 6 - ], - [ - 37653, - 131 - ], - [ - 37836, - 100 - ], - [ - 37947, - 2 - ], - [ - 37951, - 1 - ], - [ - 37953, - 131 - ], - [ - 38136, - 100 - ], - [ - 38247, - 1 - ], - [ - 38249, - 2 - ], - [ - 38253, - 132 - ], - [ - 38436, - 100 - ], - [ - 38544, - 2 - ], - [ - 38553, - 132 - ], - [ - 38735, - 102 - ], - [ - 38843, - 4 - ], - [ - 38850, - 2 - ], - [ - 38853, - 133 - ], - [ - 39035, - 104 - ], - [ - 39142, - 5 - ], - [ - 39148, - 2 - ], - [ - 39153, - 133 - ], - [ - 39335, - 111 - ], - [ - 39447, - 1 - ], - [ - 39453, - 134 - ], - [ - 39635, - 115 - ], - [ - 39755, - 133 - ], - [ - 39934, - 51 - ], - [ - 40035, - 12 - ], - [ - 40055, - 135 - ], - [ - 40234, - 50 - ], - [ - 40336, - 13 - ], - [ - 40355, - 136 - ], - [ - 40534, - 50 - ], - [ - 40636, - 13 - ], - [ - 40655, - 138 - ], - [ - 40833, - 50 - ], - [ - 40936, - 13 - ], - [ - 40950, - 2 - ], - [ - 40955, - 140 - ], - [ - 41133, - 50 - ], - [ - 41236, - 12 - ], - [ - 41249, - 4 - ], - [ - 41255, - 144 - ], - [ - 41433, - 50 - ], - [ - 41536, - 11 - ], - [ - 41548, - 5 - ], - [ - 41556, - 144 - ], - [ - 41733, - 50 - ], - [ - 41836, - 5 - ], - [ - 41847, - 6 - ], - [ - 41856, - 144 - ], - [ - 42032, - 51 - ], - [ - 42136, - 4 - ], - [ - 42146, - 8 - ], - [ - 42156, - 144 - ], - [ - 42332, - 51 - ], - [ - 42436, - 4 - ], - [ - 42446, - 8 - ], - [ - 42457, - 143 - ], - [ - 42632, - 50 - ], - [ - 42736, - 4 - ], - [ - 42746, - 8 - ], - [ - 42757, - 143 - ], - [ - 42932, - 50 - ], - [ - 43036, - 4 - ], - [ - 43046, - 154 - ], - [ - 43231, - 51 - ], - [ - 43336, - 4 - ], - [ - 43342, - 158 - ], - [ - 43531, - 51 - ], - [ - 43636, - 2 - ], - [ - 43642, - 158 - ], - [ - 43831, - 51 - ], - [ - 43936, - 2 - ], - [ - 43941, - 159 - ], - [ - 44131, - 51 - ], - [ - 44236, - 1 - ], - [ - 44240, - 160 - ], - [ - 44430, - 52 - ], - [ - 44539, - 161 - ], - [ - 44730, - 51 - ], - [ - 44836, - 1 - ], - [ - 44839, - 161 - ], - [ - 45030, - 51 - ], - [ - 45136, - 164 - ], - [ - 45329, - 52 - ], - [ - 45436, - 164 - ], - [ - 45629, - 52 - ], - [ - 45736, - 164 - ], - [ - 45929, - 52 - ], - [ - 46036, - 164 - ], - [ - 46229, - 52 - ], - [ - 46336, - 164 - ], - [ - 46528, - 53 - ], - [ - 46636, - 164 - ], - [ - 46828, - 53 - ], - [ - 46935, - 165 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 7 - ], - [ - 65073, - 1 - ], - [ - 65175, - 6 - ], - [ - 65371, - 2 - ], - [ - 65476, - 4 - ], - [ - 65670, - 1 - ], - [ - 65777, - 3 - ], - [ - 65968, - 2 - ], - [ - 66078, - 1 - ], - [ - 66267, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.25, - "y": 0.9101201, - "z": 0.75 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.52934146, - "y": 0.841, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.66068769, - "y": 0.09430212, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.490981, - "y": 0.09430212, - "z": 0.8198403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.449012, - "y": 0.8429095, - "z": 0.886280537 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.576072, - "y": 0.8073, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.54473543, - "y": 0.399810672, - "z": -0.42024672 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.52934146, - "y": 0.8438358, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.45482922, - "y": 0.400650442, - "z": -0.33312723 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.47171044, - "y": 0.806656, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.749808, - "y": 0.9127645, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.64429259, - "y": 0.745671749, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -1.30783033, - "y": 0.401048839, - "z": -1.05339372 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.32727814, - "y": 0.753941834, - "z": -1.57073247 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": 0.123219371, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.36734867, - "y": 0.806327343, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.312467, - "y": 0.7123361, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.47171044, - "y": 0.806656, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.749808, - "y": 0.9215688, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.49651241, - "y": 0.7443471, - "z": -1.58802092 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.946811736, - "y": 0.915931046, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.8811438, - "y": 0.913494945, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.749808, - "y": 0.9143347, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -1.1280179, - "y": 0.401048839, - "z": -1.22763276 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.355342746, - "y": 0.7123361, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.618261, - "y": 0.4623289, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": 2.364924, - "y": 0.4706937, - "z": -0.5944867 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.247310251, - "y": 0.752, - "z": 2.96067333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.6451336, - "y": 0.04980806, - "z": 3.76357174 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.59503245, - "y": 0.7500904, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.44725227, - "y": 0.7438719, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3822326028, - "scene_num": 311 - }, - "task_id": "trial_T20190908_072110_247281", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3F7G1FSFWQPLE_3HMIGG0U4ON4YNT0RHUB4YXR9UX8YO", - "high_descs": [ - "Turn around and walk towards the television, then hang a left and walk towards the door, turn left and walk over to the white counter.", - "Pick up the red credit card off of the counter.", - "Turn left and walk forward, then turn right to face the counter.", - "Put the red credit card in the glass bowl that is on the counter.", - "Pick up the glass bowl with the credit card in it.", - "Turn left and walk to the wall, then turn left and walk forward, hang a right and walk over to the television.", - "Put the glass bowl with the credit card in it to the left of the television on the white dresser in front of you." - ], - "task_desc": "Put a glass bowl with a credit card in it on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3YWRV122CVGNHE9VHGXM1DRED51U8P", - "high_descs": [ - "Turn around to your left, then left again walk forward at the end of the table turn left facing the mirror", - "Pick up the credit card in front of the mirror", - "Move little closer to your left ", - "Put the credit card in the bowl", - "Pick up the bowl with credit card", - "Turn to your left walk straight then turn right then face the tv stand on your left", - "Put the bowl with credit card on the left side of the tv stand " - ], - "task_desc": "Put the bowl with credit card on the tv stand", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3SKRO2GZ748R3IKYOHK5GGV8X911KL", - "high_descs": [ - "Turn around, turn left at the television, turn left after the table on the right, walk to the counter. ", - "Pick up the red credit card in the middle of the counter. ", - "Move to the left to stand in front of the keys and the book. ", - "Place the credit card inside of the white bowl. ", - "Pick up the white bowl from the counter. ", - "Turn around, turn right at the desk, turn left and face the television stand. ", - "Place the bowl on the television stand to the left of the television. " - ], - "task_desc": "To put a credit card in a bowl and move the bowl to the television stand. ", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072141_716322/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072141_716322/traj_data.json deleted file mode 100644 index 21ac5dc6e..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-311/trial_T20190908_072141_716322/traj_data.json +++ /dev/null @@ -1,4575 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000062.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 3, - "image_name": "000000170.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "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": 43 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 65 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|1|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 9.796048, - 9.796048, - 0.922317504, - 0.922317504, - 3.371984, - 3.371984 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.45|+00.84|+00.23" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|17|2|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 9.796048, - 9.796048, - 0.922317504, - 0.922317504, - 3.371984, - 3.371984 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 11.13918112, - 11.13918112, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.45|+00.84|+00.23", - "receptacleObjectId": "Bowl|+02.78|+00.81|+03.49" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 11.13918112, - 11.13918112, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.78|+00.81|+03.49" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 11.13918112, - 11.13918112, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.78|+00.81|+03.49", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+02.45|+00.84|+00.23" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 148, - 135, - 163, - 155 - ], - "mask": [ - [ - 40348, - 16 - ], - [ - 40648, - 16 - ], - [ - 40948, - 16 - ], - [ - 41248, - 16 - ], - [ - 41548, - 16 - ], - [ - 41848, - 16 - ], - [ - 42148, - 16 - ], - [ - 42448, - 16 - ], - [ - 42748, - 16 - ], - [ - 43048, - 16 - ], - [ - 43348, - 16 - ], - [ - 43648, - 16 - ], - [ - 43948, - 16 - ], - [ - 44248, - 16 - ], - [ - 44548, - 16 - ], - [ - 44848, - 16 - ], - [ - 45148, - 16 - ], - [ - 45448, - 16 - ], - [ - 45748, - 16 - ], - [ - 46048, - 16 - ], - [ - 46348, - 16 - ] - ], - "point": [ - 155, - 144 - ] - } - }, - "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": "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": "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": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+02.45|+00.84|+00.23", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.78|+00.81|+03.49" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 117, - 126, - 165, - 163 - ], - "mask": [ - [ - 37639, - 6 - ], - [ - 37933, - 18 - ], - [ - 38230, - 24 - ], - [ - 38527, - 29 - ], - [ - 38826, - 32 - ], - [ - 39124, - 35 - ], - [ - 39423, - 37 - ], - [ - 39721, - 41 - ], - [ - 40021, - 41 - ], - [ - 40320, - 43 - ], - [ - 40619, - 45 - ], - [ - 40918, - 46 - ], - [ - 41218, - 47 - ], - [ - 41517, - 48 - ], - [ - 41817, - 49 - ], - [ - 42117, - 49 - ], - [ - 42417, - 49 - ], - [ - 42717, - 49 - ], - [ - 43017, - 49 - ], - [ - 43317, - 49 - ], - [ - 43617, - 48 - ], - [ - 43917, - 48 - ], - [ - 44217, - 48 - ], - [ - 44518, - 47 - ], - [ - 44818, - 46 - ], - [ - 45119, - 45 - ], - [ - 45419, - 44 - ], - [ - 45720, - 43 - ], - [ - 46020, - 42 - ], - [ - 46321, - 40 - ], - [ - 46622, - 38 - ], - [ - 46923, - 36 - ], - [ - 47224, - 34 - ], - [ - 47525, - 32 - ], - [ - 47827, - 28 - ], - [ - 48129, - 24 - ], - [ - 48431, - 20 - ], - [ - 48734, - 14 - ] - ], - "point": [ - 141, - 143 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.78|+00.81|+03.49" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 117, - 126, - 165, - 163 - ], - "mask": [ - [ - 37639, - 6 - ], - [ - 37933, - 18 - ], - [ - 38230, - 24 - ], - [ - 38527, - 29 - ], - [ - 38826, - 32 - ], - [ - 39124, - 35 - ], - [ - 39423, - 37 - ], - [ - 39721, - 41 - ], - [ - 40021, - 41 - ], - [ - 40320, - 43 - ], - [ - 40619, - 45 - ], - [ - 40918, - 46 - ], - [ - 41218, - 47 - ], - [ - 41517, - 48 - ], - [ - 41817, - 49 - ], - [ - 42117, - 49 - ], - [ - 42417, - 49 - ], - [ - 42717, - 49 - ], - [ - 43017, - 49 - ], - [ - 43317, - 49 - ], - [ - 43617, - 48 - ], - [ - 43917, - 48 - ], - [ - 44217, - 15 - ], - [ - 44251, - 14 - ], - [ - 44518, - 13 - ], - [ - 44552, - 13 - ], - [ - 44818, - 13 - ], - [ - 44852, - 12 - ], - [ - 45119, - 12 - ], - [ - 45152, - 12 - ], - [ - 45419, - 12 - ], - [ - 45452, - 11 - ], - [ - 45720, - 11 - ], - [ - 45752, - 11 - ], - [ - 46020, - 11 - ], - [ - 46052, - 10 - ], - [ - 46321, - 10 - ], - [ - 46352, - 9 - ], - [ - 46622, - 8 - ], - [ - 46652, - 8 - ], - [ - 46923, - 8 - ], - [ - 46950, - 9 - ], - [ - 47224, - 34 - ], - [ - 47525, - 32 - ], - [ - 47827, - 28 - ], - [ - 48129, - 24 - ], - [ - 48431, - 20 - ], - [ - 48734, - 14 - ] - ], - "point": [ - 141, - 143 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "Bowl|+02.78|+00.81|+03.49", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18953, - 45 - ], - [ - 19176, - 11 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 25 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 24 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 24 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 23 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 22 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 22 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 21 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 21 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 21 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 21 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 20 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 19 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 20 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 19 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 19 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 18 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 19 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 18 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 18 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 19 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 18 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 19 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 18 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 19 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 20 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 20 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 21 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 22 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 23 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 25 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 27 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 27 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 30 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 33 - ], - [ - 29399, - 1 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 35 - ], - [ - 29698, - 2 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 38 - ], - [ - 29996, - 4 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 41 - ], - [ - 30294, - 6 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 262 - ], - [ - 35738, - 262 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 7 - ], - [ - 65073, - 1 - ], - [ - 65175, - 6 - ], - [ - 65371, - 2 - ], - [ - 65476, - 4 - ], - [ - 65670, - 1 - ], - [ - 65777, - 3 - ], - [ - 65968, - 2 - ], - [ - 66078, - 1 - ], - [ - 66267, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.75, - "y": 0.9101201, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.26298714, - "y": 0.813980162, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.26298714, - "y": 0.810731351, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -1.07814765, - "y": 0.913494945, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.45482969, - "y": 0.399810672, - "z": -0.5073667 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.449012, - "y": 0.842996, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.946811736, - "y": 0.9143347, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.53340769, - "y": 0.09396094, - "z": 0.721920133 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 0.123219371, - "y": 0.713601649, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.36492443, - "y": 0.401048839, - "z": -0.7687262 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.576072, - "y": 0.8086246, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.49651241, - "y": 0.7539418, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.5946238, - "y": 0.7123361, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.12801838, - "y": 0.3978147, - "z": -1.05339324 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.749808, - "y": 0.9127645, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.576072, - "y": 0.8154603, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.47171044, - "y": 0.8073, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.78479528, - "y": 0.809822559, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.69355273, - "y": 0.7444336, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.749808, - "y": 0.9143347, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.44725227, - "y": 0.7471061, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.815475941, - "y": 0.911498964, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.36734867, - "y": 0.810731351, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.247310251, - "y": 0.752, - "z": 2.96067333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.6841401, - "y": 0.913105667, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -1.01247966, - "y": 0.9191518, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.69, - "y": 0.841, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1699678620, - "scene_num": 311 - }, - "task_id": "trial_T20190908_072141_716322", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A32W24TWSWXW_384PI804XVIPKCCOX7P7TX389A0S0G", - "high_descs": [ - "Turn right and walk to the yellow dresser and stop.", - "Pick up the credit card sitting on the front right of the dresser.", - "Turn left and take six steps, turn left for two steps, turn right for nine steps, turn right again and take five steps, then turn right to face the table. ", - "Place the credit in the glass bowl sitting on the left hand side of the table. ", - "Pick up the bowl with the credit card in it.", - "Turn right and walk five steps, turn left and take fourteen steps, and turn left to face the yellow dresser with the TV.", - "Set down the glass bowl on the far left of the dress midway between the TV and the front edge of the dresser." - ], - "task_desc": "Put a glass bowl containing a credit card on the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A24RGLS3BRZ60J_3A4NIXBJ79GZJDO523F4F8WQKJ9LMM", - "high_descs": [ - "Turn to the right to find the TV.", - "Pick up the credit card from in front of the TV.", - "Carry the credit card and turn to the left, then right at the far side of the desk.", - "Place the credit card in a bowl near the back of the desk.", - "Pick up the bowl and credit card from the desk.", - "Carry the bowl and turn to the right, then the left to the TV.", - "Place the credit card and bowl on the table, to the left side of the TV." - ], - "task_desc": "Move a bowl and credit card to a table.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3QBD8R3Z240RL82W9RV0LVJKTY64O6", - "high_descs": [ - "Turn right and walk over to the white dresser.", - "Pick up the credit card off of the dresser.", - "Turn left and walk over to the far side of the dark wooden table.", - "Put the credit card in the glass bowl that is on the table.", - "Pick up the glass bowl with the credit card in it.", - "Walk back over to the white dresser.", - "Put the glass bowl with the credit card in it on the left side of the dresser." - ], - "task_desc": "Put a glass bowl with a credit card in it on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190907_035059_143638/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190907_035059_143638/traj_data.json deleted file mode 100644 index e90cf8cdb..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190907_035059_143638/traj_data.json +++ /dev/null @@ -1,4439 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 14 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 61 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|5|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 9.27179052, - 9.27179052, - 7.36960888, - 7.36960888, - 1.760774256, - 1.760774256 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.648, - 9.648, - 7.98, - 7.98, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.32|+00.44|+01.84" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|3|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 9.27179052, - 9.27179052, - 7.36960888, - 7.36960888, - 1.760774256, - 1.760774256 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - -6.797988, - -6.797988, - -6.92553236, - -6.92553236, - 4.58587932, - 4.58587932 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.32|+00.44|+01.84", - "receptacleObjectId": "Bowl|-01.70|+01.15|-01.73" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - -6.797988, - -6.797988, - -6.92553236, - -6.92553236, - 4.58587932, - 4.58587932 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.798, - -6.798, - -8.228, - -8.228, - 4.5512, - 4.5512 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-01.70|+01.15|-01.73" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - -6.797988, - -6.797988, - -6.92553236, - -6.92553236, - 4.58587932, - 4.58587932 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-01.70|+01.15|-01.73", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+02.32|+00.44|+01.84" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 158, - 154, - 168, - 169 - ], - "mask": [ - [ - 46059, - 10 - ], - [ - 46358, - 11 - ], - [ - 46658, - 11 - ], - [ - 46958, - 11 - ], - [ - 47258, - 11 - ], - [ - 47558, - 11 - ], - [ - 47858, - 11 - ], - [ - 48158, - 11 - ], - [ - 48458, - 11 - ], - [ - 48758, - 11 - ], - [ - 49058, - 11 - ], - [ - 49358, - 11 - ], - [ - 49658, - 11 - ], - [ - 49958, - 11 - ], - [ - 50258, - 11 - ], - [ - 50559, - 10 - ] - ], - "point": [ - 163, - 160 - ] - } - }, - "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+02.32|+00.44|+01.84", - "placeStationary": true, - "receptacleObjectId": "Bowl|-01.70|+01.15|-01.73" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 111, - 91, - 206, - 162 - ], - "mask": [ - [ - 27144, - 28 - ], - [ - 27434, - 48 - ], - [ - 27729, - 58 - ], - [ - 28024, - 67 - ], - [ - 28322, - 72 - ], - [ - 28621, - 74 - ], - [ - 28920, - 75 - ], - [ - 29219, - 77 - ], - [ - 29519, - 78 - ], - [ - 29818, - 80 - ], - [ - 30117, - 82 - ], - [ - 30416, - 84 - ], - [ - 30716, - 84 - ], - [ - 31016, - 85 - ], - [ - 31315, - 86 - ], - [ - 31615, - 87 - ], - [ - 31914, - 88 - ], - [ - 32214, - 89 - ], - [ - 32513, - 90 - ], - [ - 32813, - 91 - ], - [ - 33113, - 91 - ], - [ - 33412, - 92 - ], - [ - 33712, - 93 - ], - [ - 34012, - 93 - ], - [ - 34312, - 94 - ], - [ - 34611, - 95 - ], - [ - 34911, - 95 - ], - [ - 35211, - 95 - ], - [ - 35511, - 95 - ], - [ - 35811, - 96 - ], - [ - 36111, - 96 - ], - [ - 36411, - 96 - ], - [ - 36711, - 96 - ], - [ - 37011, - 96 - ], - [ - 37311, - 96 - ], - [ - 37611, - 96 - ], - [ - 37911, - 96 - ], - [ - 38211, - 96 - ], - [ - 38511, - 96 - ], - [ - 38811, - 96 - ], - [ - 39111, - 96 - ], - [ - 39411, - 96 - ], - [ - 39711, - 96 - ], - [ - 40011, - 96 - ], - [ - 40311, - 96 - ], - [ - 40612, - 95 - ], - [ - 40912, - 94 - ], - [ - 41213, - 93 - ], - [ - 41513, - 93 - ], - [ - 41813, - 92 - ], - [ - 42114, - 91 - ], - [ - 42414, - 91 - ], - [ - 42715, - 89 - ], - [ - 43015, - 89 - ], - [ - 43316, - 87 - ], - [ - 43618, - 83 - ], - [ - 43919, - 81 - ], - [ - 44220, - 78 - ], - [ - 44522, - 75 - ], - [ - 44823, - 72 - ], - [ - 45125, - 68 - ], - [ - 45426, - 65 - ], - [ - 45728, - 62 - ], - [ - 46029, - 59 - ], - [ - 46331, - 56 - ], - [ - 46632, - 53 - ], - [ - 46933, - 50 - ], - [ - 47235, - 47 - ], - [ - 47536, - 44 - ], - [ - 47839, - 39 - ], - [ - 48143, - 30 - ], - [ - 48450, - 17 - ] - ], - "point": [ - 158, - 125 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|-01.70|+01.15|-01.73" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 111, - 91, - 206, - 162 - ], - "mask": [ - [ - 27144, - 28 - ], - [ - 27434, - 48 - ], - [ - 27729, - 58 - ], - [ - 28024, - 67 - ], - [ - 28322, - 72 - ], - [ - 28621, - 74 - ], - [ - 28920, - 75 - ], - [ - 29219, - 77 - ], - [ - 29519, - 78 - ], - [ - 29818, - 80 - ], - [ - 30117, - 82 - ], - [ - 30416, - 84 - ], - [ - 30716, - 84 - ], - [ - 31016, - 85 - ], - [ - 31315, - 86 - ], - [ - 31615, - 87 - ], - [ - 31914, - 88 - ], - [ - 32214, - 89 - ], - [ - 32513, - 90 - ], - [ - 32813, - 91 - ], - [ - 33113, - 91 - ], - [ - 33412, - 92 - ], - [ - 33712, - 93 - ], - [ - 34012, - 93 - ], - [ - 34312, - 94 - ], - [ - 34611, - 95 - ], - [ - 34911, - 95 - ], - [ - 35211, - 95 - ], - [ - 35511, - 95 - ], - [ - 35811, - 96 - ], - [ - 36111, - 96 - ], - [ - 36411, - 96 - ], - [ - 36711, - 96 - ], - [ - 37011, - 96 - ], - [ - 37311, - 21 - ], - [ - 37369, - 38 - ], - [ - 37611, - 20 - ], - [ - 37669, - 38 - ], - [ - 37911, - 20 - ], - [ - 37969, - 38 - ], - [ - 38211, - 20 - ], - [ - 38269, - 38 - ], - [ - 38511, - 20 - ], - [ - 38569, - 38 - ], - [ - 38811, - 20 - ], - [ - 38869, - 38 - ], - [ - 39111, - 20 - ], - [ - 39169, - 38 - ], - [ - 39411, - 20 - ], - [ - 39469, - 38 - ], - [ - 39711, - 20 - ], - [ - 39769, - 38 - ], - [ - 40011, - 20 - ], - [ - 40070, - 37 - ], - [ - 40311, - 20 - ], - [ - 40370, - 37 - ], - [ - 40612, - 19 - ], - [ - 40670, - 37 - ], - [ - 40912, - 19 - ], - [ - 40970, - 36 - ], - [ - 41213, - 17 - ], - [ - 41270, - 36 - ], - [ - 41513, - 17 - ], - [ - 41570, - 36 - ], - [ - 41813, - 18 - ], - [ - 41869, - 36 - ], - [ - 42114, - 91 - ], - [ - 42414, - 91 - ], - [ - 42715, - 89 - ], - [ - 43015, - 89 - ], - [ - 43316, - 87 - ], - [ - 43618, - 83 - ], - [ - 43919, - 81 - ], - [ - 44220, - 78 - ], - [ - 44522, - 75 - ], - [ - 44823, - 72 - ], - [ - 45125, - 68 - ], - [ - 45426, - 65 - ], - [ - 45728, - 62 - ], - [ - 46029, - 59 - ], - [ - 46331, - 56 - ], - [ - 46632, - 53 - ], - [ - 46933, - 50 - ], - [ - 47235, - 47 - ], - [ - 47536, - 44 - ], - [ - 47839, - 39 - ], - [ - 48143, - 30 - ], - [ - 48450, - 17 - ] - ], - "point": [ - 158, - 123 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|-01.70|+01.15|-01.73", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 265 - ], - [ - 5134, - 266 - ], - [ - 5434, - 266 - ], - [ - 5734, - 266 - ], - [ - 6033, - 267 - ], - [ - 6333, - 267 - ], - [ - 6633, - 185 - ], - [ - 6879, - 21 - ], - [ - 6932, - 185 - ], - [ - 7180, - 20 - ], - [ - 7232, - 185 - ], - [ - 7480, - 20 - ], - [ - 7531, - 186 - ], - [ - 7780, - 20 - ], - [ - 7831, - 186 - ], - [ - 8081, - 19 - ], - [ - 8131, - 186 - ], - [ - 8381, - 19 - ], - [ - 8430, - 187 - ], - [ - 8682, - 18 - ], - [ - 8730, - 187 - ], - [ - 8982, - 18 - ], - [ - 9030, - 188 - ], - [ - 9282, - 18 - ], - [ - 9329, - 189 - ], - [ - 9583, - 13 - ], - [ - 9629, - 189 - ], - [ - 9883, - 11 - ], - [ - 9929, - 189 - ], - [ - 10184, - 9 - ], - [ - 10228, - 190 - ], - [ - 10484, - 8 - ], - [ - 10528, - 191 - ], - [ - 10784, - 8 - ], - [ - 10827, - 192 - ], - [ - 11085, - 6 - ], - [ - 11127, - 192 - ], - [ - 11385, - 6 - ], - [ - 11427, - 192 - ], - [ - 11686, - 5 - ], - [ - 11726, - 193 - ], - [ - 11986, - 5 - ], - [ - 12026, - 194 - ], - [ - 12286, - 5 - ], - [ - 12326, - 194 - ], - [ - 12587, - 5 - ], - [ - 12625, - 195 - ], - [ - 12887, - 6 - ], - [ - 12925, - 195 - ], - [ - 13188, - 6 - ], - [ - 13225, - 195 - ], - [ - 13488, - 6 - ], - [ - 13524, - 197 - ], - [ - 13788, - 8 - ], - [ - 13824, - 197 - ], - [ - 14089, - 8 - ], - [ - 14123, - 198 - ], - [ - 14389, - 10 - ], - [ - 14423, - 198 - ], - [ - 14690, - 10 - ], - [ - 14723, - 198 - ], - [ - 14990, - 10 - ], - [ - 15022, - 200 - ], - [ - 15290, - 10 - ], - [ - 15322, - 200 - ], - [ - 15591, - 9 - ], - [ - 15622, - 200 - ], - [ - 15889, - 11 - ], - [ - 15921, - 201 - ], - [ - 16189, - 11 - ], - [ - 16221, - 201 - ], - [ - 16488, - 12 - ], - [ - 16521, - 202 - ], - [ - 16788, - 12 - ], - [ - 16820, - 203 - ], - [ - 17088, - 12 - ], - [ - 17120, - 238 - ], - [ - 17362, - 38 - ], - [ - 17419, - 240 - ], - [ - 17662, - 38 - ], - [ - 17719, - 240 - ], - [ - 17962, - 38 - ], - [ - 18019, - 240 - ], - [ - 18262, - 38 - ], - [ - 18318, - 241 - ], - [ - 18562, - 38 - ], - [ - 18618, - 242 - ], - [ - 18863, - 37 - ], - [ - 18918, - 242 - ], - [ - 19163, - 37 - ], - [ - 19217, - 243 - ], - [ - 19463, - 37 - ], - [ - 19517, - 181 - ], - [ - 19699, - 61 - ], - [ - 19763, - 37 - ], - [ - 19817, - 181 - ], - [ - 19999, - 61 - ], - [ - 20064, - 36 - ], - [ - 20116, - 182 - ], - [ - 20300, - 61 - ], - [ - 20364, - 36 - ], - [ - 20416, - 181 - ], - [ - 20600, - 61 - ], - [ - 20664, - 36 - ], - [ - 20715, - 182 - ], - [ - 20900, - 61 - ], - [ - 20964, - 36 - ], - [ - 21015, - 183 - ], - [ - 21200, - 61 - ], - [ - 21264, - 36 - ], - [ - 21315, - 183 - ], - [ - 21500, - 62 - ], - [ - 21565, - 35 - ], - [ - 21614, - 184 - ], - [ - 21801, - 61 - ], - [ - 21865, - 35 - ], - [ - 21914, - 184 - ], - [ - 22101, - 61 - ], - [ - 22165, - 35 - ], - [ - 22214, - 184 - ], - [ - 22401, - 61 - ], - [ - 22465, - 35 - ], - [ - 22513, - 185 - ], - [ - 22701, - 61 - ], - [ - 22766, - 34 - ], - [ - 22813, - 185 - ], - [ - 23001, - 62 - ], - [ - 23066, - 34 - ], - [ - 23113, - 186 - ], - [ - 23301, - 62 - ], - [ - 23366, - 34 - ], - [ - 23412, - 187 - ], - [ - 23601, - 62 - ], - [ - 23666, - 34 - ], - [ - 23712, - 187 - ], - [ - 23902, - 61 - ], - [ - 23967, - 33 - ], - [ - 24011, - 188 - ], - [ - 24202, - 62 - ], - [ - 24267, - 33 - ], - [ - 24311, - 188 - ], - [ - 24502, - 62 - ], - [ - 24567, - 33 - ], - [ - 24611, - 188 - ], - [ - 24802, - 62 - ], - [ - 24867, - 33 - ], - [ - 24910, - 189 - ], - [ - 25102, - 62 - ], - [ - 25167, - 33 - ], - [ - 25210, - 189 - ], - [ - 25402, - 62 - ], - [ - 25468, - 32 - ], - [ - 25510, - 190 - ], - [ - 25702, - 63 - ], - [ - 25768, - 32 - ], - [ - 25809, - 191 - ], - [ - 26003, - 62 - ], - [ - 26068, - 32 - ], - [ - 26109, - 191 - ], - [ - 26303, - 62 - ], - [ - 26368, - 32 - ], - [ - 26409, - 191 - ], - [ - 26603, - 62 - ], - [ - 26668, - 32 - ], - [ - 26708, - 192 - ], - [ - 26903, - 63 - ], - [ - 26968, - 32 - ], - [ - 27008, - 192 - ], - [ - 27203, - 63 - ], - [ - 27268, - 32 - ], - [ - 27307, - 193 - ], - [ - 27503, - 64 - ], - [ - 27568, - 32 - ], - [ - 27607, - 193 - ], - [ - 27803, - 97 - ], - [ - 27907, - 194 - ], - [ - 28103, - 97 - ], - [ - 28206, - 195 - ], - [ - 28404, - 96 - ], - [ - 28506, - 195 - ], - [ - 28704, - 96 - ], - [ - 28806, - 195 - ], - [ - 29004, - 96 - ], - [ - 29105, - 196 - ], - [ - 29304, - 96 - ], - [ - 29405, - 196 - ], - [ - 29604, - 96 - ], - [ - 29705, - 196 - ], - [ - 29904, - 96 - ], - [ - 30004, - 197 - ], - [ - 30204, - 96 - ], - [ - 30304, - 198 - ], - [ - 30505, - 95 - ], - [ - 30603, - 199 - ], - [ - 30805, - 95 - ], - [ - 30903, - 199 - ], - [ - 31105, - 95 - ], - [ - 31203, - 199 - ], - [ - 31405, - 95 - ], - [ - 31502, - 200 - ], - [ - 31705, - 95 - ], - [ - 31802, - 200 - ], - [ - 32005, - 95 - ], - [ - 32102, - 201 - ], - [ - 32305, - 95 - ], - [ - 32401, - 202 - ], - [ - 32605, - 95 - ], - [ - 32701, - 202 - ], - [ - 32905, - 95 - ], - [ - 33001, - 203 - ], - [ - 33205, - 11495 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.9009992, - "z": 1.0 - }, - "object_poses": [ - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.668169, - "y": 1.14705348, - "z": -1.95940626 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.80463719, - "y": 0.971910357, - "z": 0.062176466 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.76216149, - "y": 1.63742185, - "z": -2.30143833 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": -1.49437249, - "y": 0.0368020572, - "z": -0.629953265 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.5835458, - "y": 0.9779565, - "z": -0.339928746 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.6644547, - "y": 0.223549545, - "z": -0.443392336 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.44001412, - "y": 0.605402052, - "z": -0.258970231 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.58354735, - "y": 0.972387, - "z": 0.263229847 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 1.26115906, - "y": 0.774509549, - "z": -1.28486085 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.73094082, - "y": 0.9706196, - "z": 0.2632295 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.502318, - "y": 0.773138165, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.80463672, - "y": 0.971675038, - "z": -0.138876379 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.65724361, - "y": 0.972387, - "z": 0.0621768236 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.50985, - "y": 0.972123265, - "z": 0.06217718 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 0.537682, - "y": 0.836844742, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 1.02, - "y": 0.836844742, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": 1.731044, - "y": 0.6816989, - "z": 2.12762666 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.02, - "y": 0.773138165, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": 2.283264, - "y": 0.6861595, - "z": -1.671936 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.699498, - "y": 1.6432997, - "z": -1.8453958 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.31794763, - "y": 0.440193564, - "z": 1.84240222 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.657243, - "y": 0.9779565, - "z": -0.138876021 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 0.296522975, - "y": 0.7753482, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.6995002, - "y": 1.63742185, - "z": -2.07341766 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.699497, - "y": 1.14646983, - "z": -1.73138309 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": 1.576309, - "y": 0.691063941, - "z": 2.17273641 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3785732757, - "scene_num": 330 - }, - "task_id": "trial_T20190907_035059_143638", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1AKL5YH9NLD2V_3OUYGIZWRAFS7KWW5QLDYSYXMUK0P7", - "high_descs": [ - "Turn right and walk to the brown chair in the corner.", - "Pick up the credit card from the seat of the brown chair.", - "Turn left and walk to the brown dresser in the opposite corner of the room.", - "Place the credit card in the glass bowl on the dresser.", - "Pick up the glass bowl from the dresser.", - "Turn right and walk to the dresser with the red book on it.", - "Place the glass bowl to the left of the leftmost pen on the dresser." - ], - "task_desc": "Place a bowl with a credit card in it on the dresser that has a red book on it.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2WKZI3JQCE3Z6_3OXV7EAXLH7GE6DO9H4NUQ5NU1N368", - "high_descs": [ - "Turn right and move all the way to the wall, turn left to face the chair, move to the chair.", - "Pick up the credit card on the seat of the chair.", - "Turn left and move past the edge of the bed, turn left and move to the end of the bed.", - "Turn right and move to the shelf, place the credit card in the bowl on the right side of the lower shelf.", - "Pick up the bowl.", - "Turn to the right and move forward to the dresser, turn right and move forward past the edge of the dresser, turn left and move to in front of the left side of the dresser, turn left and face the dresser.", - "Place the bowl on the dresser." - ], - "task_desc": "Put a bowl with the credit card from the chair onto the left side of the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3WZ36BJEV6XRJZSDKNRMNJVD10OTBA", - "high_descs": [ - "Go right to the brown chair.", - "Pick the credit card up from the chair.", - "Go left all the way to the brown dresser.", - "Put the credit card in the gray bowl.", - "Pick the gray bowl with the credit card up.", - "Go right to the black dresser and turn to face it.", - "Put the bowl down on the black dresser." - ], - "task_desc": "Put a credit card in a bowl before setting it on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190909_192407_939684/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190909_192407_939684/traj_data.json deleted file mode 100644 index 103abe153..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190909_192407_939684/traj_data.json +++ /dev/null @@ -1,5476 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 11 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 33 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 34 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000235.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000236.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000237.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000238.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000239.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000240.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000241.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000242.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000243.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000244.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000245.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000246.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 72 - }, - { - "high_idx": 3, - "image_name": "000000249.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000250.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000251.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000252.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000253.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000254.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000255.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000256.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000257.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000258.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000259.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000260.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000261.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000262.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000263.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 86 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|-5|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 8.82359124, - 8.82359124, - -6.1464472, - -6.1464472, - 2.723984, - 2.723984 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 9.752, - 9.752, - -6.412, - -6.412, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.21|+00.68|-01.54" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|3|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 8.82359124, - 8.82359124, - -6.1464472, - -6.1464472, - 2.723984, - 2.723984 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - -6.797992, - -6.797992, - -7.38157748, - -7.38157748, - 4.58587932, - 4.58587932 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.21|+00.68|-01.54", - "receptacleObjectId": "Bowl|-01.70|+01.15|-01.85" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - -6.797992, - -6.797992, - -7.38157748, - -7.38157748, - 4.58587932, - 4.58587932 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.798, - -6.798, - -8.228, - -8.228, - 4.5512, - 4.5512 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-01.70|+01.15|-01.85" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - -6.797992, - -6.797992, - -7.38157748, - -7.38157748, - 4.58587932, - 4.58587932 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-01.70|+01.15|-01.85", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+02.21|+00.68|-01.54" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 151, - 200, - 174, - 214 - ], - "mask": [ - [ - 59851, - 23 - ], - [ - 60151, - 23 - ], - [ - 60451, - 23 - ], - [ - 60751, - 23 - ], - [ - 61051, - 23 - ], - [ - 61351, - 23 - ], - [ - 61651, - 23 - ], - [ - 61951, - 24 - ], - [ - 62251, - 24 - ], - [ - 62551, - 24 - ], - [ - 62851, - 24 - ], - [ - 63151, - 24 - ], - [ - 63451, - 24 - ], - [ - 63751, - 24 - ], - [ - 64051, - 23 - ] - ], - "point": [ - 162, - 206 - ] - } - }, - "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+02.21|+00.68|-01.54", - "placeStationary": true, - "receptacleObjectId": "Bowl|-01.70|+01.15|-01.85" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 55, - 91, - 153, - 162 - ], - "mask": [ - [ - 27097, - 28 - ], - [ - 27386, - 49 - ], - [ - 27682, - 57 - ], - [ - 27977, - 67 - ], - [ - 28274, - 72 - ], - [ - 28573, - 73 - ], - [ - 28872, - 75 - ], - [ - 29171, - 77 - ], - [ - 29470, - 79 - ], - [ - 29769, - 80 - ], - [ - 30068, - 82 - ], - [ - 30367, - 83 - ], - [ - 30666, - 85 - ], - [ - 30966, - 85 - ], - [ - 31265, - 86 - ], - [ - 31564, - 88 - ], - [ - 31864, - 88 - ], - [ - 32163, - 89 - ], - [ - 32462, - 91 - ], - [ - 32762, - 91 - ], - [ - 33061, - 92 - ], - [ - 33361, - 92 - ], - [ - 33660, - 93 - ], - [ - 33960, - 93 - ], - [ - 34259, - 94 - ], - [ - 34559, - 94 - ], - [ - 34858, - 96 - ], - [ - 35158, - 96 - ], - [ - 35458, - 96 - ], - [ - 35757, - 96 - ], - [ - 36057, - 96 - ], - [ - 36357, - 96 - ], - [ - 36657, - 96 - ], - [ - 36956, - 97 - ], - [ - 37256, - 97 - ], - [ - 37556, - 97 - ], - [ - 37856, - 97 - ], - [ - 38156, - 96 - ], - [ - 38455, - 97 - ], - [ - 38755, - 97 - ], - [ - 39055, - 97 - ], - [ - 39355, - 96 - ], - [ - 39655, - 96 - ], - [ - 39955, - 96 - ], - [ - 40255, - 96 - ], - [ - 40555, - 95 - ], - [ - 40855, - 95 - ], - [ - 41155, - 94 - ], - [ - 41456, - 92 - ], - [ - 41756, - 92 - ], - [ - 42056, - 91 - ], - [ - 42356, - 91 - ], - [ - 42657, - 89 - ], - [ - 42957, - 88 - ], - [ - 43258, - 86 - ], - [ - 43559, - 84 - ], - [ - 43861, - 81 - ], - [ - 44163, - 78 - ], - [ - 44465, - 75 - ], - [ - 44767, - 72 - ], - [ - 45069, - 69 - ], - [ - 45372, - 65 - ], - [ - 45674, - 62 - ], - [ - 45976, - 59 - ], - [ - 46278, - 56 - ], - [ - 46580, - 53 - ], - [ - 46882, - 50 - ], - [ - 47184, - 47 - ], - [ - 47486, - 43 - ], - [ - 47788, - 39 - ], - [ - 48092, - 30 - ], - [ - 48399, - 16 - ] - ], - "point": [ - 104, - 125 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|-01.70|+01.15|-01.85" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 55, - 91, - 153, - 162 - ], - "mask": [ - [ - 27097, - 28 - ], - [ - 27386, - 49 - ], - [ - 27682, - 57 - ], - [ - 27977, - 67 - ], - [ - 28274, - 72 - ], - [ - 28573, - 73 - ], - [ - 28872, - 75 - ], - [ - 29171, - 77 - ], - [ - 29470, - 79 - ], - [ - 29769, - 80 - ], - [ - 30068, - 82 - ], - [ - 30367, - 83 - ], - [ - 30666, - 85 - ], - [ - 30966, - 85 - ], - [ - 31265, - 86 - ], - [ - 31564, - 88 - ], - [ - 31864, - 88 - ], - [ - 32163, - 89 - ], - [ - 32462, - 91 - ], - [ - 32762, - 91 - ], - [ - 33061, - 92 - ], - [ - 33361, - 92 - ], - [ - 33660, - 93 - ], - [ - 33960, - 93 - ], - [ - 34259, - 94 - ], - [ - 34559, - 94 - ], - [ - 34858, - 96 - ], - [ - 35158, - 96 - ], - [ - 35458, - 96 - ], - [ - 35757, - 96 - ], - [ - 36057, - 96 - ], - [ - 36357, - 96 - ], - [ - 36657, - 96 - ], - [ - 36956, - 97 - ], - [ - 37256, - 25 - ], - [ - 37318, - 35 - ], - [ - 37556, - 25 - ], - [ - 37618, - 35 - ], - [ - 37856, - 25 - ], - [ - 37918, - 35 - ], - [ - 38156, - 24 - ], - [ - 38218, - 34 - ], - [ - 38455, - 25 - ], - [ - 38518, - 34 - ], - [ - 38755, - 25 - ], - [ - 38818, - 34 - ], - [ - 39055, - 24 - ], - [ - 39118, - 34 - ], - [ - 39355, - 24 - ], - [ - 39418, - 33 - ], - [ - 39655, - 24 - ], - [ - 39717, - 34 - ], - [ - 39955, - 23 - ], - [ - 40017, - 34 - ], - [ - 40255, - 23 - ], - [ - 40317, - 34 - ], - [ - 40555, - 23 - ], - [ - 40617, - 33 - ], - [ - 40855, - 23 - ], - [ - 40917, - 33 - ], - [ - 41155, - 22 - ], - [ - 41217, - 32 - ], - [ - 41456, - 21 - ], - [ - 41517, - 31 - ], - [ - 41756, - 21 - ], - [ - 41816, - 32 - ], - [ - 42056, - 91 - ], - [ - 42356, - 91 - ], - [ - 42657, - 89 - ], - [ - 42957, - 88 - ], - [ - 43258, - 86 - ], - [ - 43559, - 84 - ], - [ - 43861, - 81 - ], - [ - 44163, - 78 - ], - [ - 44465, - 75 - ], - [ - 44767, - 72 - ], - [ - 45069, - 69 - ], - [ - 45372, - 65 - ], - [ - 45674, - 62 - ], - [ - 45976, - 59 - ], - [ - 46278, - 56 - ], - [ - 46580, - 53 - ], - [ - 46882, - 50 - ], - [ - 47184, - 47 - ], - [ - 47486, - 43 - ], - [ - 47788, - 39 - ], - [ - 48092, - 30 - ], - [ - 48399, - 16 - ] - ], - "point": [ - 104, - 123 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|-01.70|+01.15|-01.85", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 34 - ], - [ - 4872, - 228 - ], - [ - 5134, - 35 - ], - [ - 5172, - 228 - ], - [ - 5434, - 35 - ], - [ - 5472, - 228 - ], - [ - 5734, - 35 - ], - [ - 5772, - 82 - ], - [ - 5856, - 144 - ], - [ - 6033, - 36 - ], - [ - 6072, - 78 - ], - [ - 6158, - 142 - ], - [ - 6333, - 36 - ], - [ - 6373, - 73 - ], - [ - 6469, - 131 - ], - [ - 6633, - 36 - ], - [ - 6673, - 72 - ], - [ - 6770, - 130 - ], - [ - 6932, - 38 - ], - [ - 6973, - 71 - ], - [ - 7070, - 130 - ], - [ - 7232, - 38 - ], - [ - 7273, - 69 - ], - [ - 7370, - 130 - ], - [ - 7531, - 38 - ], - [ - 7574, - 67 - ], - [ - 7670, - 130 - ], - [ - 7831, - 38 - ], - [ - 7874, - 66 - ], - [ - 7969, - 131 - ], - [ - 8131, - 1 - ], - [ - 8140, - 29 - ], - [ - 8174, - 65 - ], - [ - 8269, - 131 - ], - [ - 8430, - 1 - ], - [ - 8443, - 26 - ], - [ - 8474, - 63 - ], - [ - 8568, - 132 - ], - [ - 8746, - 22 - ], - [ - 8775, - 61 - ], - [ - 8866, - 134 - ], - [ - 9049, - 18 - ], - [ - 9076, - 59 - ], - [ - 9165, - 135 - ], - [ - 9352, - 14 - ], - [ - 9377, - 57 - ], - [ - 9463, - 137 - ], - [ - 9655, - 10 - ], - [ - 9678, - 54 - ], - [ - 9762, - 138 - ], - [ - 9956, - 9 - ], - [ - 9978, - 53 - ], - [ - 10060, - 140 - ], - [ - 10257, - 7 - ], - [ - 10279, - 51 - ], - [ - 10358, - 142 - ], - [ - 10558, - 5 - ], - [ - 10580, - 49 - ], - [ - 10655, - 145 - ], - [ - 10859, - 3 - ], - [ - 10881, - 48 - ], - [ - 10952, - 148 - ], - [ - 11161, - 1 - ], - [ - 11182, - 46 - ], - [ - 11249, - 151 - ], - [ - 11482, - 45 - ], - [ - 11548, - 152 - ], - [ - 11783, - 43 - ], - [ - 11847, - 153 - ], - [ - 12083, - 43 - ], - [ - 12146, - 154 - ], - [ - 12383, - 42 - ], - [ - 12446, - 154 - ], - [ - 12683, - 42 - ], - [ - 12746, - 154 - ], - [ - 12983, - 42 - ], - [ - 13047, - 153 - ], - [ - 13283, - 41 - ], - [ - 13347, - 153 - ], - [ - 13583, - 41 - ], - [ - 13647, - 153 - ], - [ - 13839, - 3 - ], - [ - 13883, - 41 - ], - [ - 13948, - 152 - ], - [ - 14135, - 9 - ], - [ - 14183, - 41 - ], - [ - 14248, - 152 - ], - [ - 14431, - 15 - ], - [ - 14483, - 41 - ], - [ - 14548, - 152 - ], - [ - 14727, - 19 - ], - [ - 14783, - 40 - ], - [ - 14849, - 151 - ], - [ - 15022, - 24 - ], - [ - 15083, - 40 - ], - [ - 15149, - 151 - ], - [ - 15322, - 24 - ], - [ - 15383, - 40 - ], - [ - 15449, - 151 - ], - [ - 15622, - 24 - ], - [ - 15683, - 41 - ], - [ - 15749, - 151 - ], - [ - 15921, - 25 - ], - [ - 15983, - 41 - ], - [ - 16049, - 151 - ], - [ - 16221, - 26 - ], - [ - 16284, - 40 - ], - [ - 16349, - 151 - ], - [ - 16521, - 26 - ], - [ - 16578, - 1 - ], - [ - 16584, - 40 - ], - [ - 16649, - 151 - ], - [ - 16820, - 27 - ], - [ - 16878, - 2 - ], - [ - 16885, - 39 - ], - [ - 16949, - 151 - ], - [ - 17120, - 27 - ], - [ - 17178, - 4 - ], - [ - 17185, - 39 - ], - [ - 17248, - 152 - ], - [ - 17419, - 28 - ], - [ - 17477, - 4 - ], - [ - 17485, - 39 - ], - [ - 17549, - 151 - ], - [ - 17719, - 28 - ], - [ - 17777, - 4 - ], - [ - 17785, - 39 - ], - [ - 17849, - 151 - ], - [ - 18019, - 29 - ], - [ - 18076, - 5 - ], - [ - 18085, - 39 - ], - [ - 18149, - 151 - ], - [ - 18318, - 30 - ], - [ - 18376, - 5 - ], - [ - 18385, - 39 - ], - [ - 18450, - 150 - ], - [ - 18618, - 30 - ], - [ - 18676, - 5 - ], - [ - 18685, - 39 - ], - [ - 18751, - 149 - ], - [ - 18918, - 31 - ], - [ - 18975, - 6 - ], - [ - 18985, - 39 - ], - [ - 19052, - 148 - ], - [ - 19217, - 32 - ], - [ - 19275, - 5 - ], - [ - 19285, - 38 - ], - [ - 19353, - 147 - ], - [ - 19517, - 32 - ], - [ - 19576, - 4 - ], - [ - 19585, - 37 - ], - [ - 19653, - 147 - ], - [ - 19817, - 32 - ], - [ - 19859, - 8 - ], - [ - 19876, - 5 - ], - [ - 19884, - 38 - ], - [ - 19954, - 146 - ], - [ - 20116, - 34 - ], - [ - 20158, - 9 - ], - [ - 20177, - 6 - ], - [ - 20184, - 37 - ], - [ - 20254, - 146 - ], - [ - 20416, - 34 - ], - [ - 20459, - 9 - ], - [ - 20477, - 44 - ], - [ - 20554, - 146 - ], - [ - 20715, - 36 - ], - [ - 20759, - 10 - ], - [ - 20777, - 44 - ], - [ - 20854, - 146 - ], - [ - 21015, - 36 - ], - [ - 21059, - 11 - ], - [ - 21078, - 43 - ], - [ - 21154, - 146 - ], - [ - 21315, - 36 - ], - [ - 21359, - 12 - ], - [ - 21378, - 43 - ], - [ - 21454, - 146 - ], - [ - 21614, - 38 - ], - [ - 21659, - 12 - ], - [ - 21678, - 43 - ], - [ - 21754, - 146 - ], - [ - 21914, - 38 - ], - [ - 21960, - 12 - ], - [ - 21979, - 42 - ], - [ - 22054, - 146 - ], - [ - 22214, - 39 - ], - [ - 22260, - 13 - ], - [ - 22279, - 43 - ], - [ - 22353, - 147 - ], - [ - 22513, - 40 - ], - [ - 22560, - 14 - ], - [ - 22579, - 43 - ], - [ - 22652, - 148 - ], - [ - 22813, - 40 - ], - [ - 22859, - 16 - ], - [ - 22879, - 44 - ], - [ - 22951, - 149 - ], - [ - 23113, - 40 - ], - [ - 23159, - 16 - ], - [ - 23180, - 44 - ], - [ - 23250, - 150 - ], - [ - 23412, - 41 - ], - [ - 23459, - 16 - ], - [ - 23480, - 45 - ], - [ - 23550, - 150 - ], - [ - 23712, - 41 - ], - [ - 23759, - 16 - ], - [ - 23781, - 44 - ], - [ - 23848, - 152 - ], - [ - 24011, - 43 - ], - [ - 24059, - 16 - ], - [ - 24081, - 44 - ], - [ - 24147, - 153 - ], - [ - 24311, - 43 - ], - [ - 24359, - 17 - ], - [ - 24382, - 43 - ], - [ - 24447, - 153 - ], - [ - 24611, - 43 - ], - [ - 24659, - 17 - ], - [ - 24683, - 42 - ], - [ - 24747, - 153 - ], - [ - 24910, - 44 - ], - [ - 24959, - 17 - ], - [ - 24983, - 42 - ], - [ - 25047, - 153 - ], - [ - 25210, - 44 - ], - [ - 25259, - 17 - ], - [ - 25282, - 43 - ], - [ - 25347, - 153 - ], - [ - 25510, - 44 - ], - [ - 25559, - 18 - ], - [ - 25582, - 43 - ], - [ - 25647, - 153 - ], - [ - 25809, - 45 - ], - [ - 25859, - 18 - ], - [ - 25882, - 43 - ], - [ - 25947, - 153 - ], - [ - 26109, - 45 - ], - [ - 26158, - 20 - ], - [ - 26181, - 44 - ], - [ - 26247, - 153 - ], - [ - 26409, - 44 - ], - [ - 26458, - 67 - ], - [ - 26547, - 153 - ], - [ - 26708, - 45 - ], - [ - 26758, - 67 - ], - [ - 26847, - 153 - ], - [ - 27008, - 45 - ], - [ - 27059, - 66 - ], - [ - 27147, - 153 - ], - [ - 27307, - 46 - ], - [ - 27359, - 66 - ], - [ - 27447, - 153 - ], - [ - 27607, - 46 - ], - [ - 27659, - 66 - ], - [ - 27747, - 153 - ], - [ - 27907, - 45 - ], - [ - 27959, - 66 - ], - [ - 28047, - 153 - ], - [ - 28206, - 47 - ], - [ - 28259, - 66 - ], - [ - 28347, - 153 - ], - [ - 28506, - 47 - ], - [ - 28559, - 65 - ], - [ - 28647, - 153 - ], - [ - 28806, - 47 - ], - [ - 28858, - 66 - ], - [ - 28947, - 153 - ], - [ - 29105, - 48 - ], - [ - 29158, - 66 - ], - [ - 29247, - 153 - ], - [ - 29405, - 119 - ], - [ - 29547, - 153 - ], - [ - 29705, - 119 - ], - [ - 29848, - 152 - ], - [ - 30004, - 120 - ], - [ - 30148, - 152 - ], - [ - 30304, - 120 - ], - [ - 30448, - 152 - ], - [ - 30603, - 121 - ], - [ - 30748, - 152 - ], - [ - 30903, - 121 - ], - [ - 31048, - 152 - ], - [ - 31203, - 121 - ], - [ - 31348, - 152 - ], - [ - 31502, - 122 - ], - [ - 31648, - 152 - ], - [ - 31802, - 122 - ], - [ - 31948, - 152 - ], - [ - 32102, - 123 - ], - [ - 32247, - 153 - ], - [ - 32401, - 124 - ], - [ - 32547, - 153 - ], - [ - 32701, - 124 - ], - [ - 32847, - 153 - ], - [ - 33001, - 125 - ], - [ - 33147, - 279 - ], - [ - 33447, - 280 - ], - [ - 33747, - 281 - ], - [ - 34046, - 284 - ], - [ - 34342, - 289 - ], - [ - 34636, - 10064 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.9009992, - "z": -1.75 - }, - "object_poses": [ - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.65724158, - "y": 0.9808639, - "z": -0.7420345 - }, - "rotation": { - "x": 0.0, - "y": 179.999878, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.63684082, - "y": 1.63742185, - "z": -2.07341814 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.59267068, - "y": 0.433210015, - "z": 1.58401692 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 1.7310462, - "y": 0.681210041, - "z": 2.30805779 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.7309413, - "y": 0.9764528, - "z": 0.464282334 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 1.49894214, - "y": 0.6864845, - "z": 2.26295257 - }, - "rotation": { - "x": 0.0, - "y": 180.000687, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.12998438, - "y": 0.432995975, - "z": 1.67541051 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.60551, - "y": 1.14794159, - "z": -2.07341838 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 2.49989271, - "y": 0.434587, - "z": 1.58533323 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.02, - "y": 0.836844742, - "z": -0.9902473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 0.296522975, - "y": 0.774509549, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 1.57631111, - "y": 0.682587, - "z": 2.35316753 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.63683772, - "y": 1.63763475, - "z": -1.73138571 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.502318, - "y": 0.836844742, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 1.02, - "y": 0.836844742, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.5098505, - "y": 0.9714989, - "z": 0.263230026 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.74347711, - "y": 0.773138165, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.66817355, - "y": 1.6432997, - "z": -2.41545 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.20589781, - "y": 0.680996, - "z": -1.5366118 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 1.73104572, - "y": 0.686652839, - "z": 2.26295 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 1.80841255, - "y": 0.681210041, - "z": 2.17273355 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.65724206, - "y": 0.971910357, - "z": -0.5409817 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.699498, - "y": 1.14646983, - "z": -1.84539437 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.50984848, - "y": 0.9808639, - "z": -0.540981352 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2608913390, - "scene_num": 330 - }, - "task_id": "trial_T20190909_192407_939684", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3A0VPWPASCO9J_3KXIR214I7XDE1DRMTX3EIGHS3U242", - "high_descs": [ - "Go past the dresser on the left and hang a right to the nightstand by the bed.", - "Pick up the green credit card on the nightstand.", - "Take the credit card to the shelf by the window.", - "Put the card into the bowl on the shelf.", - "Pick up the bowl with the card in it.", - "Take the bowl with the card in it to the dresser. ", - "Set the bowl and card down on the top of the dresser." - ], - "task_desc": "Put a bowl with a credit card inside on top of the dresser.", - "votes": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_37M28K1J0TUSMMRG2FDMQ2OYMPKAJI", - "high_descs": [ - "Walk towards the door, turn right to the bed, then turn right face the side table", - "Pick up the credit card on the table", - "Turn around to your right walk straight, then left and another left head to the furthest drawer", - "Put the credit card on the bowl at the drawer", - "Pick up the bowl on the drawer", - "Turn around to your right then walk towards the next drawer ", - "Put the bowl with credit card on the drawer" - ], - "task_desc": "Put the bowl with credit card on the large cabinet drawer", - "votes": [ - 1, - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_37ZHEEHM6Z3ZI6RTSR9F045JPLA37S", - "high_descs": [ - "walk forwards to the end of the bed on the right, then take a right and walk to the night stand on the right side of the end of the room ahead", - "grab the credit card off of the night stand", - "move around to the other side of the bed, and continue walking to the end of the room where the tall cabinet is on the right", - "place the credit card in a bowl on the cabinet", - "grab the bowl off of the cabinet", - "move to the right to the black dresser, and turn to face it", - "place the bowl down on top of the dresser there" - ], - "task_desc": "place a bowl with a credit card in it on top of the dresser", - "votes": [ - 1, - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2NGMLBFZ3YQP5_3JC6VJ2SAE0KFNCVDD9SPS5T4WXA5K", - "high_descs": [ - "Turn right, walk forward, turn right at the other side of the bed, walk forward, walk to the nightstand.", - "Pick up credit card from nightstand.", - "Turn right, and right again, walk to the end of the bed, turn left, walk to wall, turn right, go to the tall dresser. ", - "Put credit card in the bowl to the right of the keys.", - "Pick up the bowl from the shelf.", - "Walk to dresser to the right of this dresser and face it.", - "Put the bowl on the dresser to the right of the statues." - ], - "task_desc": "Put a bowl with credit card in it on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ZE52NWZPN85P_3ATTHHXXWD58NOF3V7K0Y9KWA05XI8", - "high_descs": [ - "Walk past the bed, turning right twice until you reach the bedside table.", - "Pick up the credit card off of the desk", - "Turn around, and follow the bed, turning left twice, before turning right and walking up to the shelves.", - "Drop the credit card into the plastic tub", - "Pick up the plastic bowl with the credit card inside", - "Turn around and head to the chest of drawers on the left.", - "Place the bowl with the credit card inside on top of the chest of drawers." - ], - "task_desc": "Place a bowl containing a credit card on top of a chest of drawers", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190909_192750_830230/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190909_192750_830230/traj_data.json deleted file mode 100644 index 3f153824a..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Bowl-Dresser-330/trial_T20190909_192750_830230/traj_data.json +++ /dev/null @@ -1,4329 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 32 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 68 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|5|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 8.89586256, - 8.89586256, - 7.03562308, - 7.03562308, - 1.7319839, - 1.7319839 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.648, - 9.648, - 7.98, - 7.98, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.22|+00.43|+01.76" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|7|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 8.89586256, - 8.89586256, - 7.03562308, - 7.03562308, - 1.7319839, - 1.7319839 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 6.30523776, - 6.30523776, - 8.871376, - 8.871376, - 2.72446108, - 2.72446108 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.22|+00.43|+01.76", - "receptacleObjectId": "Bowl|+01.58|+00.68|+02.22" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 6.30523776, - 6.30523776, - 8.871376, - 8.871376, - 2.72446108, - 2.72446108 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 6.30523444, - 6.30523444, - 8.56312752, - 8.56312752, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.58|+00.68|+02.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 6.30523776, - 6.30523776, - 8.871376, - 8.871376, - 2.72446108, - 2.72446108 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.58|+00.68|+02.22", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+02.22|+00.43|+01.76" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 139, - 170, - 149, - 185 - ], - "mask": [ - [ - 50839, - 11 - ], - [ - 51139, - 11 - ], - [ - 51439, - 11 - ], - [ - 51739, - 11 - ], - [ - 52039, - 11 - ], - [ - 52339, - 11 - ], - [ - 52639, - 11 - ], - [ - 52939, - 11 - ], - [ - 53239, - 11 - ], - [ - 53539, - 11 - ], - [ - 53839, - 11 - ], - [ - 54139, - 11 - ], - [ - 54439, - 11 - ], - [ - 54739, - 11 - ], - [ - 55039, - 11 - ], - [ - 55339, - 11 - ] - ], - "point": [ - 144, - 176 - ] - } - }, - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+02.22|+00.43|+01.76", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.58|+00.68|+02.22" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 143, - 128, - 199, - 177 - ], - "mask": [ - [ - 38266, - 15 - ], - [ - 38566, - 20 - ], - [ - 38866, - 24 - ], - [ - 39165, - 27 - ], - [ - 39465, - 28 - ], - [ - 39765, - 29 - ], - [ - 40065, - 29 - ], - [ - 40364, - 31 - ], - [ - 40663, - 33 - ], - [ - 40962, - 34 - ], - [ - 41262, - 35 - ], - [ - 41561, - 36 - ], - [ - 41860, - 37 - ], - [ - 42159, - 39 - ], - [ - 42459, - 39 - ], - [ - 42758, - 40 - ], - [ - 43057, - 41 - ], - [ - 43356, - 43 - ], - [ - 43655, - 44 - ], - [ - 43955, - 44 - ], - [ - 44254, - 45 - ], - [ - 44553, - 46 - ], - [ - 44851, - 49 - ], - [ - 45149, - 51 - ], - [ - 45448, - 52 - ], - [ - 45746, - 54 - ], - [ - 46044, - 56 - ], - [ - 46343, - 57 - ], - [ - 46643, - 57 - ], - [ - 46943, - 57 - ], - [ - 47243, - 57 - ], - [ - 47543, - 57 - ], - [ - 47843, - 57 - ], - [ - 48144, - 56 - ], - [ - 48444, - 56 - ], - [ - 48744, - 56 - ], - [ - 49044, - 55 - ], - [ - 49344, - 55 - ], - [ - 49645, - 54 - ], - [ - 49945, - 54 - ], - [ - 50245, - 53 - ], - [ - 50546, - 52 - ], - [ - 50846, - 52 - ], - [ - 51147, - 50 - ], - [ - 51447, - 50 - ], - [ - 51749, - 47 - ], - [ - 52051, - 42 - ], - [ - 52354, - 36 - ], - [ - 52658, - 28 - ], - [ - 52967, - 11 - ] - ], - "point": [ - 171, - 151 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.58|+00.68|+02.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 143, - 128, - 199, - 177 - ], - "mask": [ - [ - 38266, - 15 - ], - [ - 38566, - 20 - ], - [ - 38866, - 24 - ], - [ - 39165, - 27 - ], - [ - 39465, - 28 - ], - [ - 39765, - 29 - ], - [ - 40065, - 29 - ], - [ - 40364, - 31 - ], - [ - 40663, - 33 - ], - [ - 40962, - 34 - ], - [ - 41262, - 35 - ], - [ - 41561, - 36 - ], - [ - 41860, - 37 - ], - [ - 42159, - 39 - ], - [ - 42459, - 39 - ], - [ - 42758, - 40 - ], - [ - 43057, - 41 - ], - [ - 43356, - 8 - ], - [ - 43386, - 13 - ], - [ - 43655, - 9 - ], - [ - 43686, - 13 - ], - [ - 43955, - 9 - ], - [ - 43986, - 13 - ], - [ - 44254, - 10 - ], - [ - 44286, - 13 - ], - [ - 44553, - 11 - ], - [ - 44587, - 12 - ], - [ - 44851, - 13 - ], - [ - 44887, - 13 - ], - [ - 45149, - 15 - ], - [ - 45187, - 13 - ], - [ - 45448, - 16 - ], - [ - 45487, - 13 - ], - [ - 45746, - 18 - ], - [ - 45787, - 13 - ], - [ - 46044, - 20 - ], - [ - 46087, - 13 - ], - [ - 46343, - 21 - ], - [ - 46387, - 13 - ], - [ - 46643, - 21 - ], - [ - 46687, - 13 - ], - [ - 46943, - 57 - ], - [ - 47243, - 57 - ], - [ - 47543, - 57 - ], - [ - 47843, - 57 - ], - [ - 48144, - 56 - ], - [ - 48444, - 56 - ], - [ - 48744, - 56 - ], - [ - 49044, - 55 - ], - [ - 49344, - 55 - ], - [ - 49645, - 54 - ], - [ - 49945, - 54 - ], - [ - 50245, - 53 - ], - [ - 50546, - 52 - ], - [ - 50846, - 52 - ], - [ - 51147, - 50 - ], - [ - 51447, - 50 - ], - [ - 51749, - 47 - ], - [ - 52051, - 42 - ], - [ - 52354, - 36 - ], - [ - 52658, - 28 - ], - [ - 52967, - 11 - ] - ], - "point": [ - 171, - 156 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.58|+00.68|+02.22", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 28 - ], - [ - 4895, - 164 - ], - [ - 5082, - 18 - ], - [ - 5134, - 29 - ], - [ - 5195, - 164 - ], - [ - 5382, - 18 - ], - [ - 5434, - 29 - ], - [ - 5495, - 163 - ], - [ - 5682, - 18 - ], - [ - 5734, - 29 - ], - [ - 5795, - 163 - ], - [ - 5982, - 18 - ], - [ - 6033, - 31 - ], - [ - 6095, - 162 - ], - [ - 6282, - 18 - ], - [ - 6333, - 31 - ], - [ - 6394, - 163 - ], - [ - 6582, - 18 - ], - [ - 6633, - 32 - ], - [ - 6694, - 163 - ], - [ - 6882, - 18 - ], - [ - 6932, - 34 - ], - [ - 6994, - 162 - ], - [ - 7181, - 19 - ], - [ - 7232, - 34 - ], - [ - 7294, - 162 - ], - [ - 7481, - 19 - ], - [ - 7531, - 36 - ], - [ - 7594, - 161 - ], - [ - 7781, - 19 - ], - [ - 7831, - 37 - ], - [ - 7895, - 160 - ], - [ - 8081, - 19 - ], - [ - 8131, - 37 - ], - [ - 8195, - 160 - ], - [ - 8381, - 19 - ], - [ - 8430, - 39 - ], - [ - 8495, - 159 - ], - [ - 8681, - 19 - ], - [ - 8730, - 40 - ], - [ - 8795, - 159 - ], - [ - 8981, - 19 - ], - [ - 9030, - 40 - ], - [ - 9095, - 159 - ], - [ - 9281, - 19 - ], - [ - 9329, - 42 - ], - [ - 9395, - 159 - ], - [ - 9581, - 19 - ], - [ - 9629, - 43 - ], - [ - 9694, - 160 - ], - [ - 9881, - 19 - ], - [ - 9929, - 44 - ], - [ - 9994, - 160 - ], - [ - 10181, - 19 - ], - [ - 10228, - 45 - ], - [ - 10294, - 159 - ], - [ - 10481, - 19 - ], - [ - 10528, - 45 - ], - [ - 10594, - 159 - ], - [ - 10781, - 19 - ], - [ - 10827, - 45 - ], - [ - 10894, - 159 - ], - [ - 11081, - 19 - ], - [ - 11127, - 45 - ], - [ - 11194, - 159 - ], - [ - 11381, - 19 - ], - [ - 11427, - 45 - ], - [ - 11493, - 160 - ], - [ - 11681, - 19 - ], - [ - 11726, - 46 - ], - [ - 11793, - 159 - ], - [ - 11981, - 19 - ], - [ - 12026, - 45 - ], - [ - 12093, - 159 - ], - [ - 12281, - 19 - ], - [ - 12326, - 45 - ], - [ - 12393, - 159 - ], - [ - 12557, - 1 - ], - [ - 12581, - 19 - ], - [ - 12625, - 46 - ], - [ - 12693, - 158 - ], - [ - 12856, - 2 - ], - [ - 12881, - 19 - ], - [ - 12925, - 46 - ], - [ - 12993, - 158 - ], - [ - 13156, - 2 - ], - [ - 13181, - 19 - ], - [ - 13225, - 46 - ], - [ - 13292, - 158 - ], - [ - 13455, - 3 - ], - [ - 13481, - 19 - ], - [ - 13524, - 46 - ], - [ - 13592, - 156 - ], - [ - 13755, - 3 - ], - [ - 13782, - 18 - ], - [ - 13824, - 46 - ], - [ - 13892, - 155 - ], - [ - 14054, - 4 - ], - [ - 14082, - 18 - ], - [ - 14123, - 47 - ], - [ - 14192, - 154 - ], - [ - 14353, - 6 - ], - [ - 14382, - 18 - ], - [ - 14423, - 47 - ], - [ - 14492, - 154 - ], - [ - 14653, - 6 - ], - [ - 14682, - 18 - ], - [ - 14723, - 47 - ], - [ - 14792, - 155 - ], - [ - 14952, - 7 - ], - [ - 14982, - 18 - ], - [ - 15022, - 50 - ], - [ - 15091, - 156 - ], - [ - 15251, - 8 - ], - [ - 15282, - 18 - ], - [ - 15322, - 56 - ], - [ - 15391, - 168 - ], - [ - 15583, - 17 - ], - [ - 15622, - 63 - ], - [ - 15691, - 169 - ], - [ - 15883, - 17 - ], - [ - 15921, - 239 - ], - [ - 16183, - 17 - ], - [ - 16221, - 239 - ], - [ - 16483, - 17 - ], - [ - 16521, - 239 - ], - [ - 16783, - 17 - ], - [ - 16820, - 241 - ], - [ - 17084, - 16 - ], - [ - 17120, - 241 - ], - [ - 17384, - 16 - ], - [ - 17419, - 242 - ], - [ - 17684, - 16 - ], - [ - 17719, - 240 - ], - [ - 17984, - 16 - ], - [ - 18019, - 239 - ], - [ - 18287, - 13 - ], - [ - 18318, - 240 - ], - [ - 18588, - 12 - ], - [ - 18618, - 239 - ], - [ - 18886, - 14 - ], - [ - 18918, - 235 - ], - [ - 19185, - 15 - ], - [ - 19217, - 235 - ], - [ - 19484, - 16 - ], - [ - 19517, - 235 - ], - [ - 19784, - 16 - ], - [ - 19817, - 236 - ], - [ - 20083, - 17 - ], - [ - 20116, - 237 - ], - [ - 20383, - 17 - ], - [ - 20416, - 238 - ], - [ - 20683, - 17 - ], - [ - 20715, - 239 - ], - [ - 20982, - 18 - ], - [ - 21015, - 239 - ], - [ - 21282, - 18 - ], - [ - 21315, - 239 - ], - [ - 21560, - 1 - ], - [ - 21581, - 19 - ], - [ - 21614, - 241 - ], - [ - 21859, - 3 - ], - [ - 21881, - 19 - ], - [ - 21914, - 241 - ], - [ - 22159, - 4 - ], - [ - 22180, - 20 - ], - [ - 22214, - 251 - ], - [ - 22480, - 20 - ], - [ - 22513, - 254 - ], - [ - 22776, - 24 - ], - [ - 22813, - 260 - ], - [ - 23074, - 26 - ], - [ - 23113, - 287 - ], - [ - 23412, - 288 - ], - [ - 23712, - 288 - ], - [ - 24011, - 289 - ], - [ - 24311, - 289 - ], - [ - 24611, - 289 - ], - [ - 24910, - 290 - ], - [ - 25210, - 290 - ], - [ - 25510, - 290 - ], - [ - 25809, - 291 - ], - [ - 26109, - 291 - ], - [ - 26409, - 291 - ], - [ - 26708, - 292 - ], - [ - 27008, - 292 - ], - [ - 27307, - 293 - ], - [ - 27607, - 293 - ], - [ - 27907, - 293 - ], - [ - 28206, - 294 - ], - [ - 28506, - 294 - ], - [ - 28806, - 294 - ], - [ - 29105, - 295 - ], - [ - 29405, - 295 - ], - [ - 29705, - 295 - ], - [ - 30004, - 296 - ], - [ - 30304, - 296 - ], - [ - 30603, - 297 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 299 - ], - [ - 33001, - 11699 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.9009992, - "z": -2.75 - }, - "object_poses": [ - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.657243, - "y": 0.9808639, - "z": -0.138876021 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.60551214, - "y": 1.6432997, - "z": -2.18742919 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.72064722, - "y": 0.670089662, - "z": -2.17742825 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.22396564, - "y": 0.432995975, - "z": 1.75890577 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.60742, - "y": 0.0353132375, - "z": -0.349351883 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.02, - "y": 0.773138165, - "z": -0.9902473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.296522975, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.7204659, - "y": 0.0353132375, - "z": -0.629953742 - }, - "rotation": { - "x": 0.0, - "y": 179.999878, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.49624407, - "y": 0.4117931, - "z": 0.4417066 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.80463517, - "y": 0.972123265, - "z": -0.7420349 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.413, - "y": 0.794, - "z": -1.505 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": 2.438, - "y": 0.6816989, - "z": -1.6268301 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.26115906, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 1.49894, - "y": 0.6864845, - "z": 2.08252144 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.408318, - "y": 0.432995975, - "z": 1.67146146 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.63683689, - "y": 1.15200746, - "z": -1.73138356 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.43799829, - "y": 0.681210041, - "z": -1.76215351 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.69949913, - "y": 1.63742185, - "z": -1.95940673 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": 1.57630944, - "y": 0.68111527, - "z": 2.217844 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.58354783, - "y": 0.9823676, - "z": 0.4642827 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2079312984, - "scene_num": 330 - }, - "task_id": "trial_T20190909_192750_830230", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1GVTH5YS3WOK0_37M28K1J0TUSMMRG2FDMQ2OYMOEAJA", - "high_descs": [ - "Walk straight passed the bed, turn right towards the wall, and then turn left to face the grey sofa chair.", - "Pick up the left credit card on the chair.", - "Take a step to the left to face the night stand.", - "Place the credit card in the grey bowl on the night stand.", - "Pick up the bowl from the night stand.", - "Turn left, walk past the bed, turn left towards the first dresser on your right.", - "Place the bowl on the dresser." - ], - "task_desc": "Place the bowl with a credit card on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3D4CH1LGEDA4Q1RA23EJXULYO7FG9J", - "high_descs": [ - "walk to the end of the bed on the right, then walk across the room to the right of the bed, turn left to face the chair at the end of the room", - "grab a credit card off of the chair there", - "move to the left a bit and face the desk to the left of the chair", - "put the credit card in the clear bowl on the desk", - "grab the bowl off of the desk", - "turn left and walk to the door on the right, then turn left and walk over to the left side of the black dresser on the right side of the room", - "place the bowl on top of the dresser there" - ], - "task_desc": "place a bowl with a credit card in it on top of the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3PEIJLRY6WAQOJZ8KOOFZ0T4PZMWX9", - "high_descs": [ - "Begin walking across the room, hang a right after the bed and walk over to the chair in the corner of the room.", - "Pick up the leftmost credit card off of the seat of the chair.", - "Turn left and walk around the chair to the small black dresser on its side.", - "Place the credit card in the glass bowl that is on the small black dresser.", - "Pick up the glass bowl with the credit card in it.", - "Turn left and begin walking across the room, then hang a left and walk over to the large black dresser that is below the mirror on the wall.", - "Place the glass bowl with the credit card in it onto the dresser to the left of the golden statue." - ], - "task_desc": "Put a glass bowl with a credit card in it onto the large black dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190907_171322_825653/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190907_171322_825653/traj_data.json deleted file mode 100644 index 0fdadc9cf..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190907_171322_825653/traj_data.json +++ /dev/null @@ -1,4782 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 22 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 25 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 61 - } - ], - "pddl_params": { - "mrecep_target": "Box", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|57|-4|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 58.154, - 58.154, - -3.6079998, - -3.6079998, - 2.071984, - 2.071984 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 58.464, - 58.464, - -3.108, - -3.108, - 0.01200000104, - 0.01200000104 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+14.54|+00.52|-00.90" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "box" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|46|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "box" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 58.154, - 58.154, - -3.6079998, - -3.6079998, - 2.071984, - 2.071984 - ] - ], - "coordinateReceptacleObjectId": [ - "Box", - [ - 45.70508, - 45.70508, - 3.45595026, - 3.45595026, - 3.362771036, - 3.362771036 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+14.54|+00.52|-00.90", - "receptacleObjectId": "Box|+11.43|+00.84|+00.86" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - 45.70508, - 45.70508, - 3.45595026, - 3.45595026, - 3.362771036, - 3.362771036 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - 43.29548, - 43.29548, - 3.789484, - 3.789484, - 0.052, - 0.052 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.43|+00.84|+00.86" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - 45.70508, - 45.70508, - 3.45595026, - 3.45595026, - 3.362771036, - 3.362771036 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.43|+00.84|+00.86", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+14.54|+00.52|-00.90" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 119, - 209, - 132, - 229 - ], - "mask": [ - [ - 62520, - 12 - ], - [ - 62820, - 13 - ], - [ - 63120, - 13 - ], - [ - 63420, - 13 - ], - [ - 63720, - 13 - ], - [ - 64020, - 13 - ], - [ - 64320, - 13 - ], - [ - 64620, - 13 - ], - [ - 64920, - 13 - ], - [ - 65219, - 14 - ], - [ - 65519, - 14 - ], - [ - 65819, - 13 - ], - [ - 66119, - 13 - ], - [ - 66419, - 13 - ], - [ - 66719, - 13 - ], - [ - 67019, - 13 - ], - [ - 67319, - 13 - ], - [ - 67619, - 13 - ], - [ - 67919, - 13 - ], - [ - 68219, - 13 - ], - [ - 68519, - 13 - ] - ], - "point": [ - 125, - 218 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+14.54|+00.52|-00.90", - "placeStationary": true, - "receptacleObjectId": "Box|+11.43|+00.84|+00.86" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 72, - 77, - 183, - 182 - ], - "mask": [ - [ - 22908, - 47 - ], - [ - 23208, - 47 - ], - [ - 23508, - 47 - ], - [ - 23808, - 47 - ], - [ - 24108, - 47 - ], - [ - 24408, - 47 - ], - [ - 24708, - 47 - ], - [ - 25008, - 47 - ], - [ - 25308, - 47 - ], - [ - 25378, - 1 - ], - [ - 25608, - 47 - ], - [ - 25675, - 4 - ], - [ - 25908, - 47 - ], - [ - 25972, - 7 - ], - [ - 26208, - 47 - ], - [ - 26269, - 10 - ], - [ - 26508, - 47 - ], - [ - 26566, - 14 - ], - [ - 26808, - 47 - ], - [ - 26863, - 17 - ], - [ - 27082, - 4 - ], - [ - 27108, - 47 - ], - [ - 27160, - 20 - ], - [ - 27381, - 22 - ], - [ - 27408, - 47 - ], - [ - 27456, - 24 - ], - [ - 27681, - 99 - ], - [ - 27981, - 99 - ], - [ - 28281, - 99 - ], - [ - 28581, - 99 - ], - [ - 28881, - 99 - ], - [ - 29180, - 100 - ], - [ - 29480, - 100 - ], - [ - 29780, - 100 - ], - [ - 30080, - 100 - ], - [ - 30380, - 101 - ], - [ - 30679, - 102 - ], - [ - 30979, - 102 - ], - [ - 31279, - 102 - ], - [ - 31579, - 102 - ], - [ - 31879, - 102 - ], - [ - 32179, - 102 - ], - [ - 32478, - 103 - ], - [ - 32778, - 103 - ], - [ - 33078, - 103 - ], - [ - 33378, - 103 - ], - [ - 33678, - 103 - ], - [ - 33978, - 103 - ], - [ - 34277, - 105 - ], - [ - 34577, - 105 - ], - [ - 34877, - 105 - ], - [ - 35177, - 105 - ], - [ - 35477, - 105 - ], - [ - 35777, - 105 - ], - [ - 36076, - 106 - ], - [ - 36376, - 106 - ], - [ - 36676, - 106 - ], - [ - 36976, - 106 - ], - [ - 37276, - 106 - ], - [ - 37575, - 107 - ], - [ - 37875, - 107 - ], - [ - 38175, - 108 - ], - [ - 38475, - 108 - ], - [ - 38775, - 108 - ], - [ - 39075, - 108 - ], - [ - 39374, - 109 - ], - [ - 39674, - 109 - ], - [ - 39974, - 41 - ], - [ - 40016, - 67 - ], - [ - 40274, - 109 - ], - [ - 40574, - 109 - ], - [ - 40874, - 109 - ], - [ - 41173, - 110 - ], - [ - 41473, - 110 - ], - [ - 41773, - 110 - ], - [ - 42073, - 111 - ], - [ - 42373, - 111 - ], - [ - 42672, - 112 - ], - [ - 42972, - 108 - ], - [ - 43272, - 104 - ], - [ - 43572, - 100 - ], - [ - 43872, - 62 - ], - [ - 43935, - 33 - ], - [ - 44172, - 62 - ], - [ - 44235, - 28 - ], - [ - 44487, - 47 - ], - [ - 44535, - 24 - ], - [ - 44800, - 57 - ], - [ - 45101, - 56 - ], - [ - 45401, - 56 - ], - [ - 45700, - 57 - ], - [ - 46000, - 57 - ], - [ - 46300, - 57 - ], - [ - 46599, - 58 - ], - [ - 46899, - 58 - ], - [ - 47199, - 58 - ], - [ - 47498, - 59 - ], - [ - 47804, - 53 - ], - [ - 48104, - 53 - ], - [ - 48404, - 53 - ], - [ - 48705, - 51 - ], - [ - 49005, - 51 - ], - [ - 49305, - 51 - ], - [ - 49605, - 51 - ], - [ - 49906, - 50 - ], - [ - 50206, - 50 - ], - [ - 50506, - 50 - ], - [ - 50807, - 49 - ], - [ - 51107, - 49 - ], - [ - 51407, - 49 - ], - [ - 51708, - 48 - ], - [ - 52008, - 48 - ], - [ - 52308, - 48 - ], - [ - 52609, - 47 - ], - [ - 52909, - 47 - ], - [ - 53209, - 47 - ], - [ - 53510, - 46 - ], - [ - 53810, - 46 - ], - [ - 54110, - 46 - ], - [ - 54411, - 45 - ] - ], - "point": [ - 127, - 128 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|+11.43|+00.84|+00.86" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 72, - 77, - 183, - 182 - ], - "mask": [ - [ - 22908, - 47 - ], - [ - 23208, - 47 - ], - [ - 23508, - 47 - ], - [ - 23808, - 47 - ], - [ - 24108, - 47 - ], - [ - 24408, - 47 - ], - [ - 24708, - 47 - ], - [ - 25008, - 47 - ], - [ - 25308, - 47 - ], - [ - 25378, - 1 - ], - [ - 25608, - 47 - ], - [ - 25675, - 4 - ], - [ - 25908, - 47 - ], - [ - 25972, - 7 - ], - [ - 26208, - 47 - ], - [ - 26269, - 10 - ], - [ - 26508, - 47 - ], - [ - 26566, - 14 - ], - [ - 26808, - 47 - ], - [ - 26863, - 17 - ], - [ - 27082, - 4 - ], - [ - 27108, - 47 - ], - [ - 27160, - 20 - ], - [ - 27381, - 22 - ], - [ - 27408, - 47 - ], - [ - 27456, - 24 - ], - [ - 27681, - 99 - ], - [ - 27981, - 99 - ], - [ - 28281, - 99 - ], - [ - 28581, - 99 - ], - [ - 28881, - 99 - ], - [ - 29180, - 100 - ], - [ - 29480, - 100 - ], - [ - 29780, - 100 - ], - [ - 30080, - 100 - ], - [ - 30380, - 101 - ], - [ - 30679, - 102 - ], - [ - 30979, - 102 - ], - [ - 31279, - 102 - ], - [ - 31579, - 102 - ], - [ - 31879, - 102 - ], - [ - 32179, - 102 - ], - [ - 32478, - 103 - ], - [ - 32778, - 103 - ], - [ - 33078, - 103 - ], - [ - 33378, - 103 - ], - [ - 33678, - 103 - ], - [ - 33978, - 103 - ], - [ - 34277, - 105 - ], - [ - 34577, - 105 - ], - [ - 34877, - 105 - ], - [ - 35177, - 105 - ], - [ - 35477, - 105 - ], - [ - 35777, - 105 - ], - [ - 36076, - 106 - ], - [ - 36376, - 106 - ], - [ - 36676, - 106 - ], - [ - 36976, - 106 - ], - [ - 37276, - 106 - ], - [ - 37575, - 107 - ], - [ - 37875, - 107 - ], - [ - 38175, - 108 - ], - [ - 38475, - 108 - ], - [ - 38775, - 108 - ], - [ - 39075, - 108 - ], - [ - 39374, - 109 - ], - [ - 39674, - 109 - ], - [ - 39974, - 41 - ], - [ - 40016, - 67 - ], - [ - 40274, - 109 - ], - [ - 40574, - 109 - ], - [ - 40874, - 109 - ], - [ - 41173, - 110 - ], - [ - 41473, - 57 - ], - [ - 41549, - 34 - ], - [ - 41773, - 57 - ], - [ - 41849, - 34 - ], - [ - 42073, - 57 - ], - [ - 42149, - 35 - ], - [ - 42373, - 57 - ], - [ - 42449, - 35 - ], - [ - 42672, - 58 - ], - [ - 42749, - 35 - ], - [ - 42972, - 58 - ], - [ - 43049, - 31 - ], - [ - 43272, - 58 - ], - [ - 43349, - 27 - ], - [ - 43572, - 58 - ], - [ - 43649, - 23 - ], - [ - 43872, - 58 - ], - [ - 43949, - 19 - ], - [ - 44172, - 57 - ], - [ - 44249, - 14 - ], - [ - 44487, - 43 - ], - [ - 44549, - 10 - ], - [ - 44800, - 57 - ], - [ - 45101, - 56 - ], - [ - 45401, - 56 - ], - [ - 45700, - 57 - ], - [ - 46000, - 57 - ], - [ - 46300, - 57 - ], - [ - 46599, - 58 - ], - [ - 46899, - 58 - ], - [ - 47199, - 58 - ], - [ - 47498, - 59 - ], - [ - 47804, - 53 - ], - [ - 48104, - 53 - ], - [ - 48404, - 53 - ], - [ - 48705, - 51 - ], - [ - 49005, - 51 - ], - [ - 49305, - 51 - ], - [ - 49605, - 51 - ], - [ - 49906, - 50 - ], - [ - 50206, - 50 - ], - [ - 50506, - 50 - ], - [ - 50807, - 49 - ], - [ - 51107, - 49 - ], - [ - 51407, - 49 - ], - [ - 51708, - 48 - ], - [ - 52008, - 48 - ], - [ - 52308, - 48 - ], - [ - 52609, - 47 - ], - [ - 52909, - 47 - ], - [ - 53209, - 47 - ], - [ - 53510, - 46 - ], - [ - 53810, - 46 - ], - [ - 54110, - 46 - ], - [ - 54411, - 45 - ] - ], - "point": [ - 127, - 128 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Box|+11.43|+00.84|+00.86", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 95 - ], - [ - 8100, - 99 - ], - [ - 8400, - 108 - ], - [ - 8526, - 1 - ], - [ - 8700, - 167 - ], - [ - 8983, - 185 - ], - [ - 9282, - 186 - ], - [ - 9582, - 186 - ], - [ - 9881, - 187 - ], - [ - 10181, - 187 - ], - [ - 10481, - 187 - ], - [ - 10780, - 188 - ], - [ - 11080, - 188 - ], - [ - 11380, - 188 - ], - [ - 11679, - 189 - ], - [ - 11979, - 38 - ], - [ - 12019, - 149 - ], - [ - 12278, - 35 - ], - [ - 12322, - 147 - ], - [ - 12578, - 34 - ], - [ - 12623, - 146 - ], - [ - 12878, - 33 - ], - [ - 12924, - 145 - ], - [ - 13177, - 34 - ], - [ - 13225, - 144 - ], - [ - 13477, - 34 - ], - [ - 13526, - 143 - ], - [ - 13776, - 35 - ], - [ - 13827, - 142 - ], - [ - 14076, - 34 - ], - [ - 14127, - 142 - ], - [ - 14376, - 35 - ], - [ - 14427, - 142 - ], - [ - 14675, - 36 - ], - [ - 14727, - 142 - ], - [ - 14976, - 35 - ], - [ - 15027, - 142 - ], - [ - 15276, - 36 - ], - [ - 15327, - 142 - ], - [ - 15576, - 36 - ], - [ - 15627, - 7 - ], - [ - 15635, - 134 - ], - [ - 15876, - 37 - ], - [ - 15928, - 4 - ], - [ - 15939, - 130 - ], - [ - 16176, - 38 - ], - [ - 16229, - 3 - ], - [ - 16240, - 129 - ], - [ - 16476, - 39 - ], - [ - 16541, - 128 - ], - [ - 16776, - 40 - ], - [ - 16841, - 128 - ], - [ - 17076, - 41 - ], - [ - 17142, - 127 - ], - [ - 17376, - 42 - ], - [ - 17443, - 126 - ], - [ - 17676, - 47 - ], - [ - 17743, - 126 - ], - [ - 17976, - 48 - ], - [ - 18044, - 125 - ], - [ - 18276, - 49 - ], - [ - 18345, - 124 - ], - [ - 18576, - 50 - ], - [ - 18646, - 123 - ], - [ - 18876, - 50 - ], - [ - 18947, - 122 - ], - [ - 19176, - 50 - ], - [ - 19247, - 122 - ], - [ - 19476, - 50 - ], - [ - 19548, - 121 - ], - [ - 19776, - 50 - ], - [ - 19847, - 122 - ], - [ - 20077, - 49 - ], - [ - 20143, - 1 - ], - [ - 20147, - 122 - ], - [ - 20377, - 49 - ], - [ - 20444, - 125 - ], - [ - 20677, - 49 - ], - [ - 20744, - 125 - ], - [ - 20976, - 49 - ], - [ - 21044, - 125 - ], - [ - 21276, - 49 - ], - [ - 21344, - 281 - ], - [ - 21644, - 281 - ], - [ - 21945, - 280 - ], - [ - 22245, - 121 - ], - [ - 22431, - 94 - ], - [ - 22546, - 120 - ], - [ - 22732, - 93 - ], - [ - 22847, - 119 - ], - [ - 23032, - 93 - ], - [ - 23148, - 118 - ], - [ - 23332, - 93 - ], - [ - 23450, - 116 - ], - [ - 23632, - 94 - ], - [ - 23751, - 115 - ], - [ - 23932, - 95 - ], - [ - 24052, - 114 - ], - [ - 24233, - 95 - ], - [ - 24352, - 114 - ], - [ - 24533, - 96 - ], - [ - 24653, - 113 - ], - [ - 24833, - 96 - ], - [ - 24953, - 113 - ], - [ - 25133, - 97 - ], - [ - 25254, - 112 - ], - [ - 25433, - 97 - ], - [ - 25554, - 112 - ], - [ - 25734, - 97 - ], - [ - 25854, - 112 - ], - [ - 26034, - 97 - ], - [ - 26155, - 111 - ], - [ - 26334, - 98 - ], - [ - 26455, - 111 - ], - [ - 26634, - 98 - ], - [ - 26755, - 111 - ], - [ - 26935, - 97 - ], - [ - 27054, - 112 - ], - [ - 27235, - 98 - ], - [ - 27354, - 112 - ], - [ - 27535, - 98 - ], - [ - 27655, - 111 - ], - [ - 27835, - 99 - ], - [ - 27955, - 111 - ], - [ - 28135, - 99 - ], - [ - 28255, - 111 - ], - [ - 28436, - 99 - ], - [ - 28556, - 110 - ], - [ - 28736, - 99 - ], - [ - 28856, - 110 - ], - [ - 29036, - 99 - ], - [ - 29156, - 110 - ], - [ - 29336, - 100 - ], - [ - 29457, - 109 - ], - [ - 29636, - 100 - ], - [ - 29757, - 109 - ], - [ - 29937, - 99 - ], - [ - 30057, - 109 - ], - [ - 30237, - 100 - ], - [ - 30357, - 110 - ], - [ - 30537, - 100 - ], - [ - 30648, - 1 - ], - [ - 30658, - 109 - ], - [ - 30837, - 100 - ], - [ - 30948, - 2 - ], - [ - 30959, - 108 - ], - [ - 31138, - 99 - ], - [ - 31248, - 2 - ], - [ - 31260, - 107 - ], - [ - 31438, - 99 - ], - [ - 31548, - 3 - ], - [ - 31561, - 106 - ], - [ - 31738, - 99 - ], - [ - 31848, - 4 - ], - [ - 31862, - 105 - ], - [ - 32038, - 98 - ], - [ - 32148, - 6 - ], - [ - 32163, - 104 - ], - [ - 32338, - 98 - ], - [ - 32449, - 6 - ], - [ - 32463, - 104 - ], - [ - 32639, - 98 - ], - [ - 32749, - 7 - ], - [ - 32764, - 103 - ], - [ - 32939, - 98 - ], - [ - 33051, - 6 - ], - [ - 33064, - 103 - ], - [ - 33239, - 97 - ], - [ - 33352, - 5 - ], - [ - 33365, - 102 - ], - [ - 33539, - 97 - ], - [ - 33654, - 4 - ], - [ - 33665, - 102 - ], - [ - 33839, - 97 - ], - [ - 33955, - 4 - ], - [ - 33966, - 101 - ], - [ - 34139, - 97 - ], - [ - 34256, - 3 - ], - [ - 34266, - 101 - ], - [ - 34439, - 97 - ], - [ - 34556, - 4 - ], - [ - 34572, - 95 - ], - [ - 34738, - 98 - ], - [ - 34857, - 2 - ], - [ - 34877, - 260 - ], - [ - 35179, - 259 - ], - [ - 35481, - 259 - ], - [ - 35751, - 1 - ], - [ - 35782, - 258 - ], - [ - 36084, - 256 - ], - [ - 36384, - 256 - ], - [ - 36685, - 256 - ], - [ - 36986, - 255 - ], - [ - 37286, - 255 - ], - [ - 37587, - 254 - ], - [ - 37888, - 254 - ], - [ - 38188, - 254 - ], - [ - 38488, - 254 - ], - [ - 38788, - 254 - ], - [ - 39088, - 255 - ], - [ - 39388, - 255 - ], - [ - 39688, - 255 - ], - [ - 39989, - 254 - ], - [ - 40289, - 254 - ], - [ - 40589, - 254 - ], - [ - 40888, - 255 - ], - [ - 41188, - 255 - ], - [ - 41487, - 256 - ], - [ - 41787, - 256 - ], - [ - 42087, - 256 - ], - [ - 42386, - 258 - ], - [ - 42686, - 259 - ], - [ - 42985, - 260 - ], - [ - 43284, - 262 - ], - [ - 43583, - 263 - ], - [ - 43882, - 265 - ], - [ - 44181, - 266 - ], - [ - 44480, - 269 - ], - [ - 44778, - 272 - ], - [ - 45077, - 275 - ], - [ - 45375, - 278 - ], - [ - 45673, - 284 - ], - [ - 45969, - 293 - ], - [ - 46263, - 1737 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 55638, - 1 - ], - [ - 55938, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 95 - ], - [ - 62614, - 181 - ], - [ - 62914, - 181 - ], - [ - 63214, - 86 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 13.25, - "y": 0.9028512, - "z": 2.25 - }, - "object_poses": [ - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 14.0381966, - "y": 0.7585794, - "z": 1.56446457 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 11.42627, - "y": 0.591835737, - "z": 1.14258671 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.2333994, - "y": 0.7523519, - "z": 1.04213476 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 9.692654, - "y": 0.429995984, - "z": 3.36050129 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 10.8072624, - "y": 0.528624356, - "z": 3.08167934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 9.692654, - "y": 0.4304519, - "z": 3.14374924 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.42627, - "y": 0.840692759, - "z": 0.863987565 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 14.5385, - "y": 0.517996, - "z": -0.90199995 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 14.73225, - "y": 0.5193825, - "z": -0.5895 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 11.2344208, - "y": 0.528624356, - "z": 3.08167934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.6516485, - "y": 0.5976794, - "z": 1.235453 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 10.8453035, - "y": 0.5889999, - "z": 0.863987565 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 11.0208416, - "y": 0.4597072, - "z": 3.30447173 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 11.0389585, - "y": 0.591272652, - "z": 1.235453 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 46581885, - "scene_num": 213 - }, - "task_id": "trial_T20190907_171322_825653", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3UF6XXFFRR237_33C7UALJVOF78HIXFSN2QBMH2PN18E", - "high_descs": [ - "Go to the small black table in the far left corner of the room.", - "Pick up the red credit card from the table.", - "Walk over to the coffee table sitting on the rug and face the open box.", - "Put the credit card in the box on the table.", - "Pick up the box with the credit card in it.", - "Take the box over to the TV stand and face the TV", - "Place the box with the card on the stand in front of the TV." - ], - "task_desc": "Put the credit card in a box and place both in front of the TV.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3MHW492WW3U2FI0ZG7HA2HUSB05MV2", - "high_descs": [ - "Walk across the room then turn to your right just before the wall so that you are facing the small, black end table. ", - "Pick up the credit card on the right, bottom corner of the small, black end table.", - "Turn around and walk straight until you reach the table with a plant on it, then turn right and go to the cardboard box on the coffee table. ", - "Place the credit card in the card board box, on the coffee table. ", - "Pick up the cardboard box, with the credit card in it, on the table. ", - "Turn to your right, and walk to the center of the dresser with the television on it.", - "Place the cardboard box, with the credit card inside, on the dresser, in front of the television. " - ], - "task_desc": "Place a cardboard box containing a credit card, in front of the TV, on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3VP0C6EFSJDH0SLYFZ92QPETU716MI", - "high_descs": [ - "Move to the end table ahead and to the left of you", - "Pick up the card from the table", - "Move to the coffee table behind you", - "Place the card in a box on the table", - "Pick up the box from the coffee table", - "Move to the dresser to the left of the end table", - "Place the box on the dresser" - ], - "task_desc": "Put a box with a card inside near the TV.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190908_025113_751548/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190908_025113_751548/traj_data.json deleted file mode 100644 index f24ad8b4c..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190908_025113_751548/traj_data.json +++ /dev/null @@ -1,3467 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000129.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000132.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000134.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 18 - }, - { - "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": 22 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 22 - }, - { - "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": 24 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000201.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000202.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000203.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000204.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000205.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000208.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000209.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000210.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000211.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 36 - } - ], - "pddl_params": { - "mrecep_target": "Box", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sofa" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|47|10|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 46.6463164, - 46.6463164, - 12.92082976, - 12.92082976, - 1.827983856, - 1.827983856 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - 45.792, - 45.792, - 12.812, - 12.812, - -0.264, - -0.264 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+11.66|+00.46|+03.23" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "box" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|45|10|0|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "box" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 46.6463164, - 46.6463164, - 12.92082976, - 12.92082976, - 1.827983856, - 1.827983856 - ] - ], - "coordinateReceptacleObjectId": [ - "Box", - [ - 44.9376832, - 44.9376832, - 13.21788692, - 13.21788692, - 2.82677102, - 2.82677102 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+11.66|+00.46|+03.23", - "receptacleObjectId": "Box|+11.23|+00.71|+03.30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - 44.9376832, - 44.9376832, - 13.21788692, - 13.21788692, - 2.82677102, - 2.82677102 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - 45.792, - 45.792, - 12.812, - 12.812, - -0.264, - -0.264 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.23|+00.71|+03.30" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - 44.9376832, - 44.9376832, - 13.21788692, - 13.21788692, - 2.82677102, - 2.82677102 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.23|+00.71|+03.30", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+11.66|+00.46|+03.23" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 124, - 132, - 140, - 140 - ], - "mask": [ - [ - 39425, - 16 - ], - [ - 39725, - 16 - ], - [ - 40025, - 16 - ], - [ - 40325, - 16 - ], - [ - 40625, - 16 - ], - [ - 40924, - 17 - ], - [ - 41224, - 17 - ], - [ - 41524, - 17 - ], - [ - 41824, - 17 - ] - ], - "point": [ - 132, - 135 - ] - } - }, - "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": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+11.66|+00.46|+03.23", - "placeStationary": true, - "receptacleObjectId": "Box|+11.23|+00.71|+03.30" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 102, - 139, - 191, - 227 - ], - "mask": [ - [ - 41530, - 36 - ], - [ - 41829, - 37 - ], - [ - 42129, - 37 - ], - [ - 42429, - 37 - ], - [ - 42729, - 38 - ], - [ - 43029, - 38 - ], - [ - 43329, - 38 - ], - [ - 43384, - 2 - ], - [ - 43629, - 38 - ], - [ - 43681, - 5 - ], - [ - 43929, - 38 - ], - [ - 43978, - 8 - ], - [ - 44229, - 38 - ], - [ - 44275, - 11 - ], - [ - 44529, - 38 - ], - [ - 44572, - 14 - ], - [ - 44809, - 12 - ], - [ - 44829, - 38 - ], - [ - 44869, - 17 - ], - [ - 45109, - 78 - ], - [ - 45409, - 78 - ], - [ - 45708, - 79 - ], - [ - 46008, - 79 - ], - [ - 46308, - 79 - ], - [ - 46608, - 79 - ], - [ - 46908, - 79 - ], - [ - 47208, - 80 - ], - [ - 47507, - 81 - ], - [ - 47807, - 81 - ], - [ - 48107, - 81 - ], - [ - 48407, - 81 - ], - [ - 48707, - 81 - ], - [ - 49007, - 81 - ], - [ - 49306, - 83 - ], - [ - 49606, - 83 - ], - [ - 49906, - 83 - ], - [ - 50206, - 83 - ], - [ - 50506, - 83 - ], - [ - 50806, - 83 - ], - [ - 51106, - 83 - ], - [ - 51405, - 85 - ], - [ - 51705, - 85 - ], - [ - 52005, - 85 - ], - [ - 52305, - 85 - ], - [ - 52605, - 85 - ], - [ - 52905, - 85 - ], - [ - 53204, - 86 - ], - [ - 53504, - 87 - ], - [ - 53804, - 87 - ], - [ - 54104, - 87 - ], - [ - 54404, - 87 - ], - [ - 54704, - 87 - ], - [ - 55003, - 88 - ], - [ - 55303, - 88 - ], - [ - 55603, - 89 - ], - [ - 55903, - 89 - ], - [ - 56203, - 88 - ], - [ - 56503, - 84 - ], - [ - 56802, - 82 - ], - [ - 57102, - 78 - ], - [ - 57402, - 74 - ], - [ - 57712, - 61 - ], - [ - 58025, - 45 - ], - [ - 58325, - 45 - ], - [ - 58625, - 45 - ], - [ - 58925, - 45 - ], - [ - 59225, - 45 - ], - [ - 59525, - 45 - ], - [ - 59824, - 47 - ], - [ - 60126, - 44 - ], - [ - 60426, - 44 - ], - [ - 60726, - 44 - ], - [ - 61026, - 43 - ], - [ - 61326, - 43 - ], - [ - 61626, - 43 - ], - [ - 61926, - 43 - ], - [ - 62226, - 43 - ], - [ - 62526, - 43 - ], - [ - 62827, - 42 - ], - [ - 63127, - 42 - ], - [ - 63427, - 42 - ], - [ - 63727, - 42 - ], - [ - 64027, - 42 - ], - [ - 64327, - 41 - ], - [ - 64627, - 41 - ], - [ - 64927, - 41 - ], - [ - 65228, - 40 - ], - [ - 65528, - 40 - ], - [ - 65828, - 40 - ], - [ - 66128, - 40 - ], - [ - 66428, - 40 - ], - [ - 66728, - 40 - ], - [ - 67028, - 40 - ], - [ - 67328, - 40 - ], - [ - 67628, - 39 - ], - [ - 67929, - 38 - ] - ], - "point": [ - 146, - 182 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|+11.23|+00.71|+03.30" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 102, - 139, - 191, - 227 - ], - "mask": [ - [ - 41530, - 36 - ], - [ - 41829, - 37 - ], - [ - 42129, - 37 - ], - [ - 42429, - 37 - ], - [ - 42729, - 38 - ], - [ - 43029, - 38 - ], - [ - 43329, - 38 - ], - [ - 43384, - 2 - ], - [ - 43629, - 38 - ], - [ - 43681, - 5 - ], - [ - 43929, - 38 - ], - [ - 43978, - 8 - ], - [ - 44229, - 38 - ], - [ - 44275, - 11 - ], - [ - 44529, - 38 - ], - [ - 44572, - 14 - ], - [ - 44809, - 12 - ], - [ - 44829, - 38 - ], - [ - 44869, - 17 - ], - [ - 45109, - 78 - ], - [ - 45409, - 78 - ], - [ - 45708, - 79 - ], - [ - 46008, - 79 - ], - [ - 46308, - 79 - ], - [ - 46608, - 79 - ], - [ - 46908, - 79 - ], - [ - 47208, - 80 - ], - [ - 47507, - 81 - ], - [ - 47807, - 81 - ], - [ - 48107, - 81 - ], - [ - 48407, - 81 - ], - [ - 48707, - 81 - ], - [ - 49007, - 81 - ], - [ - 49306, - 83 - ], - [ - 49606, - 83 - ], - [ - 49906, - 83 - ], - [ - 50206, - 83 - ], - [ - 50506, - 83 - ], - [ - 50806, - 83 - ], - [ - 51106, - 83 - ], - [ - 51405, - 85 - ], - [ - 51705, - 85 - ], - [ - 52005, - 85 - ], - [ - 52305, - 85 - ], - [ - 52605, - 85 - ], - [ - 52905, - 85 - ], - [ - 53204, - 86 - ], - [ - 53504, - 87 - ], - [ - 53804, - 87 - ], - [ - 54104, - 87 - ], - [ - 54404, - 87 - ], - [ - 54704, - 87 - ], - [ - 55003, - 88 - ], - [ - 55303, - 88 - ], - [ - 55603, - 89 - ], - [ - 55903, - 89 - ], - [ - 56203, - 88 - ], - [ - 56503, - 84 - ], - [ - 56802, - 82 - ], - [ - 57102, - 42 - ], - [ - 57160, - 20 - ], - [ - 57402, - 42 - ], - [ - 57461, - 15 - ], - [ - 57712, - 32 - ], - [ - 57761, - 12 - ], - [ - 58025, - 45 - ], - [ - 58325, - 45 - ], - [ - 58625, - 45 - ], - [ - 58925, - 45 - ], - [ - 59225, - 45 - ], - [ - 59525, - 45 - ], - [ - 59824, - 47 - ], - [ - 60126, - 44 - ], - [ - 60426, - 44 - ], - [ - 60726, - 44 - ], - [ - 61026, - 43 - ], - [ - 61326, - 43 - ], - [ - 61626, - 43 - ], - [ - 61926, - 43 - ], - [ - 62226, - 43 - ], - [ - 62526, - 43 - ], - [ - 62827, - 42 - ], - [ - 63127, - 42 - ], - [ - 63427, - 42 - ], - [ - 63727, - 42 - ], - [ - 64027, - 42 - ], - [ - 64327, - 41 - ], - [ - 64627, - 41 - ], - [ - 64927, - 41 - ], - [ - 65228, - 40 - ], - [ - 65528, - 40 - ], - [ - 65828, - 40 - ], - [ - 66128, - 40 - ], - [ - 66428, - 40 - ], - [ - 66728, - 40 - ], - [ - 67028, - 40 - ], - [ - 67328, - 40 - ], - [ - 67628, - 39 - ], - [ - 67929, - 38 - ] - ], - "point": [ - 146, - 182 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Box|+11.23|+00.71|+03.30", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 95 - ], - [ - 8100, - 99 - ], - [ - 8400, - 108 - ], - [ - 8526, - 1 - ], - [ - 8700, - 167 - ], - [ - 8983, - 30 - ], - [ - 9037, - 131 - ], - [ - 9282, - 30 - ], - [ - 9349, - 119 - ], - [ - 9582, - 30 - ], - [ - 9655, - 113 - ], - [ - 9881, - 30 - ], - [ - 9955, - 113 - ], - [ - 10181, - 30 - ], - [ - 10255, - 113 - ], - [ - 10481, - 29 - ], - [ - 10555, - 113 - ], - [ - 10780, - 30 - ], - [ - 10854, - 114 - ], - [ - 11080, - 29 - ], - [ - 11154, - 114 - ], - [ - 11380, - 29 - ], - [ - 11454, - 114 - ], - [ - 11679, - 31 - ], - [ - 11746, - 122 - ], - [ - 11979, - 32 - ], - [ - 12033, - 135 - ], - [ - 12278, - 191 - ], - [ - 12578, - 191 - ], - [ - 12878, - 191 - ], - [ - 13177, - 192 - ], - [ - 13477, - 192 - ], - [ - 13776, - 193 - ], - [ - 14076, - 193 - ], - [ - 14376, - 193 - ], - [ - 14675, - 194 - ], - [ - 14976, - 193 - ], - [ - 15276, - 193 - ], - [ - 15576, - 193 - ], - [ - 15876, - 193 - ], - [ - 16176, - 193 - ], - [ - 16476, - 193 - ], - [ - 16776, - 193 - ], - [ - 17076, - 193 - ], - [ - 17376, - 193 - ], - [ - 17676, - 46 - ], - [ - 17728, - 141 - ], - [ - 17976, - 45 - ], - [ - 18022, - 6 - ], - [ - 18029, - 140 - ], - [ - 18276, - 45 - ], - [ - 18322, - 5 - ], - [ - 18328, - 141 - ], - [ - 18576, - 39 - ], - [ - 18619, - 8 - ], - [ - 18628, - 141 - ], - [ - 18876, - 38 - ], - [ - 18920, - 6 - ], - [ - 18927, - 142 - ], - [ - 19176, - 37 - ], - [ - 19222, - 1 - ], - [ - 19226, - 143 - ], - [ - 19476, - 37 - ], - [ - 19526, - 143 - ], - [ - 19776, - 38 - ], - [ - 19819, - 2 - ], - [ - 19823, - 2 - ], - [ - 19826, - 143 - ], - [ - 20077, - 43 - ], - [ - 20125, - 144 - ], - [ - 20377, - 43 - ], - [ - 20421, - 2 - ], - [ - 20426, - 143 - ], - [ - 20677, - 44 - ], - [ - 20727, - 142 - ], - [ - 20976, - 24 - ], - [ - 21001, - 21 - ], - [ - 21026, - 143 - ], - [ - 21276, - 24 - ], - [ - 21301, - 20 - ], - [ - 21322, - 2 - ], - [ - 21326, - 274 - ], - [ - 21602, - 17 - ], - [ - 21621, - 3 - ], - [ - 21626, - 274 - ], - [ - 21903, - 11 - ], - [ - 21918, - 6 - ], - [ - 21926, - 274 - ], - [ - 22203, - 10 - ], - [ - 22218, - 6 - ], - [ - 22226, - 274 - ], - [ - 22504, - 8 - ], - [ - 22517, - 7 - ], - [ - 22525, - 275 - ], - [ - 22805, - 6 - ], - [ - 22814, - 286 - ], - [ - 23105, - 5 - ], - [ - 23113, - 287 - ], - [ - 23406, - 3 - ], - [ - 23412, - 288 - ], - [ - 23707, - 2 - ], - [ - 23710, - 290 - ], - [ - 24007, - 293 - ], - [ - 24308, - 292 - ], - [ - 24608, - 292 - ], - [ - 24909, - 291 - ], - [ - 25210, - 290 - ], - [ - 25510, - 290 - ], - [ - 25811, - 289 - ], - [ - 26110, - 290 - ], - [ - 26409, - 291 - ], - [ - 26710, - 290 - ], - [ - 27010, - 290 - ], - [ - 27310, - 290 - ], - [ - 27609, - 291 - ], - [ - 27908, - 292 - ], - [ - 28207, - 293 - ], - [ - 28506, - 294 - ], - [ - 28805, - 295 - ], - [ - 29103, - 297 - ], - [ - 29402, - 298 - ], - [ - 29701, - 18299 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 55638, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 98 - ], - [ - 62611, - 186 - ], - [ - 62911, - 186 - ], - [ - 63211, - 89 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 12.5, - "y": 0.9028512, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 9.208518, - "y": 0.4366794, - "z": 3.07149863 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 12.2315474, - "y": 0.6065493, - "z": -0.976848662 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 9.595827, - "y": 0.430272669, - "z": 3.36050129 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 9.305346, - "y": 0.430835754, - "z": 3.216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 14.4286013, - "y": 0.752735734, - "z": 1.82562959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 10.6516485, - "y": 0.590995967, - "z": 1.235453 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 9.499, - "y": 0.679692745, - "z": 3.216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.2326145, - "y": 0.840692759, - "z": 0.9568539 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.1461048, - "y": 0.348994344, - "z": 1.67757916 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.2344208, - "y": 0.706692755, - "z": 3.30447173 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 11.6615791, - "y": 0.456995964, - "z": 3.23020744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 10.4579926, - "y": 0.591835737, - "z": 1.14258671 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 12.0487576, - "y": 0.52, - "z": 3.22808361 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.6516485, - "y": 0.5976794, - "z": 1.04972029 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 14.24, - "y": 0.747655, - "z": 2.067 - }, - "rotation": { - "x": 0.0, - "y": 300.000061, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 14.6238041, - "y": 0.7546072, - "z": 1.82562959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 10.6516485, - "y": 0.591272652, - "z": 0.6782548 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 915825069, - "scene_num": 213 - }, - "task_id": "trial_T20190908_025113_751548", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1CY7IOJ9YH136_3DYGAII7POPGVD1VMOFSDYPFZEYQP7", - "high_descs": [ - "go to red couch to the right", - "pick up red credit card next to yellow pillow on right end of couch", - "go to box on couch to the left", - "place credit card in box on the couch", - "pick up box with credit card", - "go to counter with laptop and monitor on the right", - "place box on counter in front of monitor" - ], - "task_desc": "Place box with credit card on counter with monitor", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1WJU1IQ3UTRC6_3QHK8ZVMIPZ30MK8BEPV1SLW83UBLE", - "high_descs": [ - "Turn right and go to the sofa.", - "Pick up the red credit card from the sofa.", - "Turn left and go to the box.", - "Put the card inside the box.", - "Pick up the box with the card in it.", - "Turn around and head towards the TV.", - "Put the box down on the TV stand in front of the TV." - ], - "task_desc": "Put the credit card in the box and next to the TV.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3T3IWE1XG94EN5U235OCI8QCOFYTQQ", - "high_descs": [ - "Move to the couch to the right of you", - "Pick up a card from the couch", - "Move to the box on the couch", - "Place the card in the box", - "Pick up the box from the couch", - "Move to the TV to the right of you", - "Place the box on the TV stand" - ], - "task_desc": "Put a box with a card inside on the TV stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190908_174345_546124/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190908_174345_546124/traj_data.json deleted file mode 100644 index 1eb631dfd..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-CreditCard-Box-Dresser-213/trial_T20190908_174345_546124/traj_data.json +++ /dev/null @@ -1,4139 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "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": 15 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "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": 5, - "image_name": "000000184.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "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": 43 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "Box", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|38|10|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 37.996, - 37.996, - 12.864, - 12.864, - 1.719983936, - 1.719983936 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 37.996, - 37.996, - 13.064, - 13.064, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+09.50|+00.43|+03.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "box" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|47|10|0|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "box" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 37.996, - 37.996, - 12.864, - 12.864, - 1.719983936, - 1.719983936 - ] - ], - "coordinateReceptacleObjectId": [ - "Box", - [ - 46.6463164, - 46.6463164, - 12.92082976, - 12.92082976, - 2.82677102, - 2.82677102 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+09.50|+00.43|+03.22", - "receptacleObjectId": "Box|+11.66|+00.71|+03.23" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - 46.6463164, - 46.6463164, - 12.92082976, - 12.92082976, - 2.82677102, - 2.82677102 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - 45.792, - 45.792, - 12.812, - 12.812, - -0.264, - -0.264 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.66|+00.71|+03.23" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - 46.6463164, - 46.6463164, - 12.92082976, - 12.92082976, - 2.82677102, - 2.82677102 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.66|+00.71|+03.23", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "CreditCard|+09.50|+00.43|+03.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 142, - 138, - 157, - 145 - ], - "mask": [ - [ - 41242, - 16 - ], - [ - 41542, - 16 - ], - [ - 41842, - 16 - ], - [ - 42142, - 16 - ], - [ - 42442, - 16 - ], - [ - 42742, - 16 - ], - [ - 43042, - 16 - ], - [ - 43342, - 16 - ] - ], - "point": [ - 149, - 140 - ] - } - }, - "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": "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": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+09.50|+00.43|+03.22", - "placeStationary": true, - "receptacleObjectId": "Box|+11.66|+00.71|+03.23" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 80, - 150, - 173, - 242 - ], - "mask": [ - [ - 44812, - 39 - ], - [ - 45112, - 39 - ], - [ - 45412, - 39 - ], - [ - 45712, - 39 - ], - [ - 46012, - 39 - ], - [ - 46312, - 39 - ], - [ - 46612, - 39 - ], - [ - 46912, - 39 - ], - [ - 46968, - 2 - ], - [ - 47212, - 39 - ], - [ - 47265, - 6 - ], - [ - 47512, - 39 - ], - [ - 47562, - 9 - ], - [ - 47812, - 39 - ], - [ - 47859, - 12 - ], - [ - 48112, - 39 - ], - [ - 48156, - 15 - ], - [ - 48390, - 14 - ], - [ - 48412, - 39 - ], - [ - 48453, - 18 - ], - [ - 48690, - 81 - ], - [ - 48990, - 81 - ], - [ - 49290, - 81 - ], - [ - 49589, - 82 - ], - [ - 49889, - 82 - ], - [ - 50189, - 82 - ], - [ - 50489, - 82 - ], - [ - 50788, - 83 - ], - [ - 51088, - 84 - ], - [ - 51388, - 84 - ], - [ - 51688, - 84 - ], - [ - 51988, - 84 - ], - [ - 52287, - 85 - ], - [ - 52587, - 85 - ], - [ - 52887, - 85 - ], - [ - 53187, - 85 - ], - [ - 53486, - 86 - ], - [ - 53786, - 86 - ], - [ - 54086, - 86 - ], - [ - 54386, - 86 - ], - [ - 54686, - 86 - ], - [ - 54985, - 88 - ], - [ - 55285, - 88 - ], - [ - 55585, - 88 - ], - [ - 55885, - 88 - ], - [ - 56184, - 89 - ], - [ - 56484, - 89 - ], - [ - 56784, - 89 - ], - [ - 57084, - 89 - ], - [ - 57384, - 89 - ], - [ - 57683, - 90 - ], - [ - 57983, - 90 - ], - [ - 58283, - 90 - ], - [ - 58583, - 90 - ], - [ - 58882, - 92 - ], - [ - 59182, - 92 - ], - [ - 59482, - 92 - ], - [ - 59782, - 92 - ], - [ - 60082, - 92 - ], - [ - 60381, - 93 - ], - [ - 60681, - 93 - ], - [ - 60981, - 93 - ], - [ - 61281, - 90 - ], - [ - 61581, - 86 - ], - [ - 61880, - 83 - ], - [ - 62180, - 80 - ], - [ - 62482, - 74 - ], - [ - 62804, - 48 - ], - [ - 63104, - 48 - ], - [ - 63404, - 48 - ], - [ - 63704, - 48 - ], - [ - 64004, - 48 - ], - [ - 64303, - 49 - ], - [ - 64603, - 49 - ], - [ - 64902, - 50 - ], - [ - 65202, - 50 - ], - [ - 65506, - 46 - ], - [ - 65806, - 46 - ], - [ - 66106, - 46 - ], - [ - 66407, - 45 - ], - [ - 66707, - 45 - ], - [ - 67007, - 45 - ], - [ - 67307, - 45 - ], - [ - 67608, - 44 - ], - [ - 67908, - 44 - ], - [ - 68208, - 44 - ], - [ - 68508, - 44 - ], - [ - 68808, - 44 - ], - [ - 69109, - 43 - ], - [ - 69409, - 43 - ], - [ - 69709, - 43 - ], - [ - 70009, - 43 - ], - [ - 70310, - 42 - ], - [ - 70610, - 42 - ], - [ - 70910, - 42 - ], - [ - 71210, - 42 - ], - [ - 71511, - 41 - ], - [ - 71811, - 41 - ], - [ - 72111, - 12 - ], - [ - 72411, - 11 - ] - ], - "point": [ - 126, - 195 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|+11.66|+00.71|+03.23" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 80, - 150, - 173, - 242 - ], - "mask": [ - [ - 44812, - 39 - ], - [ - 45112, - 39 - ], - [ - 45412, - 39 - ], - [ - 45712, - 39 - ], - [ - 46012, - 39 - ], - [ - 46312, - 39 - ], - [ - 46612, - 39 - ], - [ - 46912, - 39 - ], - [ - 46968, - 2 - ], - [ - 47212, - 39 - ], - [ - 47265, - 6 - ], - [ - 47512, - 39 - ], - [ - 47562, - 9 - ], - [ - 47812, - 39 - ], - [ - 47859, - 12 - ], - [ - 48112, - 39 - ], - [ - 48156, - 15 - ], - [ - 48390, - 14 - ], - [ - 48412, - 39 - ], - [ - 48453, - 18 - ], - [ - 48690, - 81 - ], - [ - 48990, - 81 - ], - [ - 49290, - 81 - ], - [ - 49589, - 82 - ], - [ - 49889, - 82 - ], - [ - 50189, - 82 - ], - [ - 50489, - 82 - ], - [ - 50788, - 83 - ], - [ - 51088, - 84 - ], - [ - 51388, - 84 - ], - [ - 51688, - 84 - ], - [ - 51988, - 84 - ], - [ - 52287, - 85 - ], - [ - 52587, - 85 - ], - [ - 52887, - 85 - ], - [ - 53187, - 85 - ], - [ - 53486, - 86 - ], - [ - 53786, - 86 - ], - [ - 54086, - 86 - ], - [ - 54386, - 86 - ], - [ - 54686, - 86 - ], - [ - 54985, - 88 - ], - [ - 55285, - 88 - ], - [ - 55585, - 88 - ], - [ - 55885, - 88 - ], - [ - 56184, - 89 - ], - [ - 56484, - 89 - ], - [ - 56784, - 89 - ], - [ - 57084, - 89 - ], - [ - 57384, - 89 - ], - [ - 57683, - 90 - ], - [ - 57983, - 90 - ], - [ - 58283, - 90 - ], - [ - 58583, - 90 - ], - [ - 58882, - 92 - ], - [ - 59182, - 92 - ], - [ - 59482, - 92 - ], - [ - 59782, - 92 - ], - [ - 60082, - 92 - ], - [ - 60381, - 93 - ], - [ - 60681, - 48 - ], - [ - 60746, - 28 - ], - [ - 60981, - 48 - ], - [ - 61046, - 28 - ], - [ - 61281, - 48 - ], - [ - 61346, - 25 - ], - [ - 61581, - 48 - ], - [ - 61646, - 21 - ], - [ - 61880, - 49 - ], - [ - 61946, - 17 - ], - [ - 62180, - 49 - ], - [ - 62246, - 14 - ], - [ - 62482, - 47 - ], - [ - 62546, - 10 - ], - [ - 62804, - 48 - ], - [ - 63104, - 48 - ], - [ - 63404, - 48 - ], - [ - 63704, - 48 - ], - [ - 64004, - 48 - ], - [ - 64303, - 49 - ], - [ - 64603, - 49 - ], - [ - 64902, - 50 - ], - [ - 65202, - 50 - ], - [ - 65506, - 46 - ], - [ - 65806, - 46 - ], - [ - 66106, - 46 - ], - [ - 66407, - 45 - ], - [ - 66707, - 45 - ], - [ - 67007, - 45 - ], - [ - 67307, - 45 - ], - [ - 67608, - 44 - ], - [ - 67908, - 44 - ], - [ - 68208, - 44 - ], - [ - 68508, - 44 - ], - [ - 68808, - 44 - ], - [ - 69109, - 43 - ], - [ - 69409, - 43 - ], - [ - 69709, - 43 - ], - [ - 70009, - 43 - ], - [ - 70310, - 42 - ], - [ - 70610, - 42 - ], - [ - 70910, - 42 - ], - [ - 71210, - 42 - ], - [ - 71511, - 41 - ], - [ - 71811, - 41 - ], - [ - 72111, - 41 - ], - [ - 72411, - 41 - ] - ], - "point": [ - 126, - 195 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Box|+11.66|+00.71|+03.23", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 95 - ], - [ - 8100, - 99 - ], - [ - 8400, - 108 - ], - [ - 8526, - 1 - ], - [ - 8700, - 167 - ], - [ - 8983, - 82 - ], - [ - 9090, - 78 - ], - [ - 9282, - 83 - ], - [ - 9402, - 66 - ], - [ - 9582, - 83 - ], - [ - 9708, - 60 - ], - [ - 9881, - 83 - ], - [ - 10008, - 60 - ], - [ - 10181, - 83 - ], - [ - 10308, - 60 - ], - [ - 10481, - 83 - ], - [ - 10608, - 60 - ], - [ - 10780, - 84 - ], - [ - 10908, - 60 - ], - [ - 11080, - 83 - ], - [ - 11207, - 61 - ], - [ - 11380, - 83 - ], - [ - 11507, - 61 - ], - [ - 11679, - 84 - ], - [ - 11799, - 69 - ], - [ - 11979, - 85 - ], - [ - 12087, - 81 - ], - [ - 12278, - 191 - ], - [ - 12578, - 191 - ], - [ - 12878, - 191 - ], - [ - 13177, - 192 - ], - [ - 13477, - 192 - ], - [ - 13776, - 193 - ], - [ - 14076, - 193 - ], - [ - 14376, - 193 - ], - [ - 14675, - 194 - ], - [ - 14976, - 193 - ], - [ - 15276, - 193 - ], - [ - 15576, - 193 - ], - [ - 15876, - 193 - ], - [ - 16176, - 193 - ], - [ - 16476, - 46 - ], - [ - 16525, - 55 - ], - [ - 16583, - 86 - ], - [ - 16776, - 45 - ], - [ - 16826, - 52 - ], - [ - 16883, - 86 - ], - [ - 17076, - 44 - ], - [ - 17127, - 50 - ], - [ - 17184, - 85 - ], - [ - 17376, - 43 - ], - [ - 17427, - 49 - ], - [ - 17484, - 85 - ], - [ - 17676, - 42 - ], - [ - 17727, - 49 - ], - [ - 17780, - 2 - ], - [ - 17785, - 84 - ], - [ - 17976, - 41 - ], - [ - 18022, - 1 - ], - [ - 18028, - 47 - ], - [ - 18079, - 3 - ], - [ - 18085, - 84 - ], - [ - 18276, - 41 - ], - [ - 18321, - 2 - ], - [ - 18328, - 47 - ], - [ - 18378, - 4 - ], - [ - 18385, - 84 - ], - [ - 18576, - 41 - ], - [ - 18620, - 3 - ], - [ - 18628, - 47 - ], - [ - 18677, - 5 - ], - [ - 18686, - 83 - ], - [ - 18876, - 41 - ], - [ - 18920, - 3 - ], - [ - 18928, - 47 - ], - [ - 18977, - 5 - ], - [ - 18986, - 83 - ], - [ - 19176, - 40 - ], - [ - 19219, - 4 - ], - [ - 19228, - 47 - ], - [ - 19277, - 5 - ], - [ - 19286, - 83 - ], - [ - 19476, - 40 - ], - [ - 19519, - 3 - ], - [ - 19527, - 48 - ], - [ - 19577, - 4 - ], - [ - 19585, - 84 - ], - [ - 19776, - 41 - ], - [ - 19819, - 2 - ], - [ - 19825, - 51 - ], - [ - 19877, - 2 - ], - [ - 19883, - 86 - ], - [ - 20077, - 41 - ], - [ - 20125, - 51 - ], - [ - 20183, - 86 - ], - [ - 20377, - 42 - ], - [ - 20424, - 53 - ], - [ - 20482, - 87 - ], - [ - 20677, - 43 - ], - [ - 20722, - 147 - ], - [ - 20976, - 24 - ], - [ - 21001, - 168 - ], - [ - 21276, - 24 - ], - [ - 21301, - 198 - ], - [ - 21511, - 89 - ], - [ - 21602, - 198 - ], - [ - 21811, - 89 - ], - [ - 21903, - 197 - ], - [ - 22110, - 90 - ], - [ - 22203, - 196 - ], - [ - 22410, - 90 - ], - [ - 22504, - 195 - ], - [ - 22710, - 90 - ], - [ - 22805, - 194 - ], - [ - 23010, - 90 - ], - [ - 23105, - 193 - ], - [ - 23309, - 91 - ], - [ - 23406, - 189 - ], - [ - 23609, - 91 - ], - [ - 23707, - 185 - ], - [ - 23909, - 91 - ], - [ - 24007, - 183 - ], - [ - 24211, - 89 - ], - [ - 24308, - 180 - ], - [ - 24512, - 88 - ], - [ - 24608, - 178 - ], - [ - 24813, - 87 - ], - [ - 24909, - 176 - ], - [ - 25114, - 86 - ], - [ - 25210, - 174 - ], - [ - 25415, - 85 - ], - [ - 25510, - 173 - ], - [ - 25716, - 84 - ], - [ - 25811, - 171 - ], - [ - 26018, - 82 - ], - [ - 26110, - 171 - ], - [ - 26319, - 81 - ], - [ - 26409, - 172 - ], - [ - 26619, - 81 - ], - [ - 26710, - 171 - ], - [ - 26919, - 81 - ], - [ - 27010, - 171 - ], - [ - 27220, - 80 - ], - [ - 27310, - 171 - ], - [ - 27520, - 80 - ], - [ - 27609, - 171 - ], - [ - 27821, - 9 - ], - [ - 27899, - 1 - ], - [ - 27908, - 172 - ], - [ - 28121, - 9 - ], - [ - 28207, - 173 - ], - [ - 28421, - 8 - ], - [ - 28506, - 174 - ], - [ - 28721, - 8 - ], - [ - 28805, - 175 - ], - [ - 29021, - 8 - ], - [ - 29103, - 177 - ], - [ - 29321, - 8 - ], - [ - 29402, - 179 - ], - [ - 29621, - 8 - ], - [ - 29701, - 180 - ], - [ - 29921, - 9 - ], - [ - 30000, - 181 - ], - [ - 30220, - 10 - ], - [ - 30300, - 182 - ], - [ - 30520, - 10 - ], - [ - 30600, - 183 - ], - [ - 30819, - 11 - ], - [ - 30900, - 184 - ], - [ - 31119, - 11 - ], - [ - 31200, - 185 - ], - [ - 31418, - 13 - ], - [ - 31500, - 186 - ], - [ - 31717, - 14 - ], - [ - 31800, - 186 - ], - [ - 32017, - 14 - ], - [ - 32100, - 188 - ], - [ - 32315, - 16 - ], - [ - 32400, - 190 - ], - [ - 32613, - 18 - ], - [ - 32700, - 192 - ], - [ - 32912, - 20 - ], - [ - 33000, - 195 - ], - [ - 33209, - 23 - ], - [ - 33300, - 201 - ], - [ - 33503, - 29 - ], - [ - 33600, - 232 - ], - [ - 33900, - 232 - ], - [ - 34200, - 233 - ], - [ - 34500, - 233 - ], - [ - 34800, - 233 - ], - [ - 35100, - 233 - ], - [ - 35400, - 233 - ], - [ - 35700, - 234 - ], - [ - 36000, - 234 - ], - [ - 36300, - 234 - ], - [ - 36600, - 234 - ], - [ - 36900, - 234 - ], - [ - 37200, - 235 - ], - [ - 37500, - 235 - ], - [ - 37800, - 235 - ], - [ - 38100, - 235 - ], - [ - 38400, - 235 - ], - [ - 38700, - 236 - ], - [ - 39000, - 236 - ], - [ - 39300, - 236 - ], - [ - 39600, - 236 - ], - [ - 39900, - 236 - ], - [ - 40200, - 237 - ], - [ - 40500, - 237 - ], - [ - 40800, - 237 - ], - [ - 41100, - 6900 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 55638, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 98 - ], - [ - 62611, - 186 - ], - [ - 62911, - 186 - ], - [ - 63211, - 89 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 9.5, - "y": 0.9028512, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 14.2333994, - "y": 0.7585794, - "z": 1.04213476 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 10.8453035, - "y": 0.591272652, - "z": 1.14258671 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 14.4286013, - "y": 0.752172649, - "z": 1.56446457 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 11.42627, - "y": 0.5914519, - "z": 0.9568539 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 8.273744, - "y": 0.399205565, - "z": -0.08297086 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 10.4579926, - "y": 0.590995967, - "z": 0.771121144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 9.499, - "y": 0.429995984, - "z": 3.216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 9.208518, - "y": 0.429995984, - "z": 3.36050129 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.6615791, - "y": 0.706692755, - "z": 3.23020744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 11.2344208, - "y": 0.528624356, - "z": 3.15594339 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.1357975, - "y": 0.7523519, - "z": 0.780969739 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 10.8072624, - "y": 0.706692755, - "z": 3.23020744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 8.219949, - "y": 0.396496, - "z": 0.708962142 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 11.0208416, - "y": 0.457835734, - "z": 2.93315077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 12.0487576, - "y": 0.52, - "z": 3.22808361 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.6516485, - "y": 0.5976794, - "z": 1.04972029 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 14.24, - "y": 0.747655, - "z": 2.067 - }, - "rotation": { - "x": 0.0, - "y": 300.000061, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 14.6238041, - "y": 0.7573622, - "z": 1.56446457 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 14.4286013, - "y": 0.754927635, - "z": 1.82562959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 864997224, - "scene_num": 213 - }, - "task_id": "trial_T20190908_174345_546124", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AD0NVUGLDYDYN_3DUZQ9U6SP55DDD404DWEQTY3PYVSY", - "high_descs": [ - "turn around, walk to the sofa chair", - "grab the credit car on the chair", - "turn right, walk to the sofa ", - "put the credit card in the box on the sofa", - "grab the box on the sofa", - "turn around, walk to the tv cabinet", - "put the box on the cabinet" - ], - "task_desc": "put the credit card in the box, move it to the tv cabinet", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2871R3LEPWMMK_3MMN5BL1W2LI39YGWXB4JM29KFL3MT", - "high_descs": [ - "Turn around and walk to the red chair ahead.", - "Pick up the red credit card from the middle of the chair cushion.", - "Turn right, cross the room and turn left before the end of the red couch to face it.", - "Put the credit card in the box in between two yellow pillows on the couch.", - "Pick up the box with the credit card inside from the couch.", - "Turn around, hang a left at the coffee table and walk to the television.", - "Put the box with the credit card to the left of the statue on the desk near the television." - ], - "task_desc": "Place a box and a credit card on a desk.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3WR9XG3T66SK02AXS5EYA9XP3R674T", - "high_descs": [ - "Turn around and go to the pink arm chair behind to the left of the couch. ", - "Pick up the credit card in the center of the cushion, on the pink chair. ", - "Turn to your right and walk to the end of the pink couch. ", - "Place the credit card in the cardboard box, on the couch, between the two pillows. ", - "Pick up the card board box containing the credit card that is on the couch, between the two pillows. ", - "Turn to your right and go to the middle of the dresser across from you. ", - "Place the box containing the credit card on the dresser, to the left of the trophy, in front of the TV. " - ], - "task_desc": "Place a cardboard box, containing a credit card box, on the dresser, by the trophy. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_021552_669816/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_021552_669816/traj_data.json deleted file mode 100644 index 235d9c572..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_021552_669816/traj_data.json +++ /dev/null @@ -1,4230 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 15 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 32 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 56 - } - ], - "pddl_params": { - "mrecep_target": "Box", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|43|7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 43.381214, - 43.381214, - 4.57034684, - 4.57034684, - 2.367342948, - 2.367342948 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - 43.29548, - 43.29548, - 3.789484, - 3.789484, - 0.052, - 0.052 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+10.85|+00.59|+01.14" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "box" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|46|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "box" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 43.381214, - 43.381214, - 4.57034684, - 4.57034684, - 2.367342948, - 2.367342948 - ] - ], - "coordinateReceptacleObjectId": [ - "Box", - [ - 45.70508, - 45.70508, - 3.45595026, - 3.45595026, - 3.362771036, - 3.362771036 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+10.85|+00.59|+01.14", - "receptacleObjectId": "Box|+11.43|+00.84|+00.86" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - 45.70508, - 45.70508, - 3.45595026, - 3.45595026, - 3.362771036, - 3.362771036 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - 43.29548, - 43.29548, - 3.789484, - 3.789484, - 0.052, - 0.052 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.43|+00.84|+00.86" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - 45.70508, - 45.70508, - 3.45595026, - 3.45595026, - 3.362771036, - 3.362771036 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.43|+00.84|+00.86", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "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": "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": "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": "KeyChain|+10.85|+00.59|+01.14" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 122, - 140, - 149, - 152 - ], - "mask": [ - [ - 41835, - 9 - ], - [ - 42122, - 20 - ], - [ - 42422, - 1 - ], - [ - 42430, - 2 - ], - [ - 42433, - 6 - ], - [ - 42722, - 1 - ], - [ - 42731, - 2 - ], - [ - 42734, - 1 - ], - [ - 42736, - 2 - ], - [ - 43022, - 1 - ], - [ - 43030, - 4 - ], - [ - 43039, - 1 - ], - [ - 43322, - 1 - ], - [ - 43330, - 3 - ], - [ - 43334, - 1 - ], - [ - 43340, - 1 - ], - [ - 43622, - 6 - ], - [ - 43630, - 1 - ], - [ - 43641, - 4 - ], - [ - 43927, - 4 - ], - [ - 43941, - 4 - ], - [ - 44226, - 6 - ], - [ - 44241, - 5 - ], - [ - 44526, - 7 - ], - [ - 44542, - 5 - ], - [ - 44826, - 7 - ], - [ - 44846, - 3 - ], - [ - 45126, - 7 - ], - [ - 45148, - 2 - ], - [ - 45427, - 5 - ] - ], - "point": [ - 134, - 144 - ] - } - }, - "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": "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": "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": "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": "KeyChain|+10.85|+00.59|+01.14", - "placeStationary": true, - "receptacleObjectId": "Box|+11.43|+00.84|+00.86" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 72, - 77, - 183, - 182 - ], - "mask": [ - [ - 22908, - 47 - ], - [ - 23208, - 47 - ], - [ - 23508, - 47 - ], - [ - 23808, - 47 - ], - [ - 24108, - 47 - ], - [ - 24408, - 47 - ], - [ - 24708, - 47 - ], - [ - 25008, - 47 - ], - [ - 25308, - 47 - ], - [ - 25378, - 1 - ], - [ - 25608, - 47 - ], - [ - 25675, - 4 - ], - [ - 25908, - 47 - ], - [ - 25972, - 7 - ], - [ - 26208, - 47 - ], - [ - 26269, - 10 - ], - [ - 26508, - 47 - ], - [ - 26566, - 14 - ], - [ - 26808, - 47 - ], - [ - 26863, - 17 - ], - [ - 27082, - 4 - ], - [ - 27108, - 47 - ], - [ - 27160, - 20 - ], - [ - 27381, - 22 - ], - [ - 27408, - 47 - ], - [ - 27456, - 24 - ], - [ - 27681, - 99 - ], - [ - 27981, - 99 - ], - [ - 28281, - 99 - ], - [ - 28581, - 99 - ], - [ - 28881, - 99 - ], - [ - 29180, - 100 - ], - [ - 29480, - 100 - ], - [ - 29780, - 100 - ], - [ - 30080, - 100 - ], - [ - 30380, - 101 - ], - [ - 30679, - 102 - ], - [ - 30979, - 102 - ], - [ - 31279, - 102 - ], - [ - 31579, - 102 - ], - [ - 31879, - 102 - ], - [ - 32179, - 102 - ], - [ - 32478, - 103 - ], - [ - 32778, - 103 - ], - [ - 33078, - 103 - ], - [ - 33378, - 103 - ], - [ - 33678, - 103 - ], - [ - 33978, - 103 - ], - [ - 34277, - 105 - ], - [ - 34577, - 105 - ], - [ - 34877, - 105 - ], - [ - 35177, - 105 - ], - [ - 35477, - 105 - ], - [ - 35777, - 105 - ], - [ - 36076, - 106 - ], - [ - 36376, - 106 - ], - [ - 36676, - 106 - ], - [ - 36976, - 106 - ], - [ - 37276, - 106 - ], - [ - 37575, - 107 - ], - [ - 37875, - 107 - ], - [ - 38175, - 108 - ], - [ - 38475, - 108 - ], - [ - 38775, - 108 - ], - [ - 39075, - 108 - ], - [ - 39374, - 109 - ], - [ - 39674, - 109 - ], - [ - 39974, - 41 - ], - [ - 40016, - 67 - ], - [ - 40274, - 109 - ], - [ - 40574, - 109 - ], - [ - 40874, - 109 - ], - [ - 41173, - 110 - ], - [ - 41473, - 110 - ], - [ - 41773, - 110 - ], - [ - 42073, - 111 - ], - [ - 42373, - 111 - ], - [ - 42672, - 112 - ], - [ - 42972, - 108 - ], - [ - 43272, - 104 - ], - [ - 43572, - 100 - ], - [ - 43872, - 62 - ], - [ - 43935, - 33 - ], - [ - 44172, - 62 - ], - [ - 44235, - 28 - ], - [ - 44487, - 47 - ], - [ - 44535, - 24 - ], - [ - 44800, - 57 - ], - [ - 45101, - 56 - ], - [ - 45401, - 56 - ], - [ - 45700, - 57 - ], - [ - 46000, - 57 - ], - [ - 46300, - 57 - ], - [ - 46599, - 58 - ], - [ - 46899, - 58 - ], - [ - 47199, - 58 - ], - [ - 47498, - 59 - ], - [ - 47804, - 53 - ], - [ - 48104, - 53 - ], - [ - 48404, - 53 - ], - [ - 48705, - 51 - ], - [ - 49005, - 51 - ], - [ - 49305, - 51 - ], - [ - 49605, - 51 - ], - [ - 49906, - 50 - ], - [ - 50206, - 50 - ], - [ - 50506, - 50 - ], - [ - 50807, - 49 - ], - [ - 51107, - 49 - ], - [ - 51407, - 49 - ], - [ - 51708, - 48 - ], - [ - 52008, - 48 - ], - [ - 52308, - 48 - ], - [ - 52609, - 47 - ], - [ - 52909, - 47 - ], - [ - 53209, - 47 - ], - [ - 53510, - 46 - ], - [ - 53810, - 46 - ], - [ - 54110, - 46 - ], - [ - 54411, - 45 - ] - ], - "point": [ - 127, - 128 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|+11.43|+00.84|+00.86" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 72, - 77, - 183, - 182 - ], - "mask": [ - [ - 22908, - 47 - ], - [ - 23208, - 47 - ], - [ - 23508, - 47 - ], - [ - 23808, - 47 - ], - [ - 24108, - 47 - ], - [ - 24408, - 47 - ], - [ - 24708, - 47 - ], - [ - 25008, - 47 - ], - [ - 25308, - 47 - ], - [ - 25378, - 1 - ], - [ - 25608, - 47 - ], - [ - 25675, - 4 - ], - [ - 25908, - 47 - ], - [ - 25972, - 7 - ], - [ - 26208, - 47 - ], - [ - 26269, - 10 - ], - [ - 26508, - 47 - ], - [ - 26566, - 14 - ], - [ - 26808, - 47 - ], - [ - 26863, - 17 - ], - [ - 27082, - 4 - ], - [ - 27108, - 47 - ], - [ - 27160, - 20 - ], - [ - 27381, - 22 - ], - [ - 27408, - 47 - ], - [ - 27456, - 24 - ], - [ - 27681, - 99 - ], - [ - 27981, - 99 - ], - [ - 28281, - 99 - ], - [ - 28581, - 99 - ], - [ - 28881, - 99 - ], - [ - 29180, - 100 - ], - [ - 29480, - 100 - ], - [ - 29780, - 100 - ], - [ - 30080, - 100 - ], - [ - 30380, - 101 - ], - [ - 30679, - 102 - ], - [ - 30979, - 102 - ], - [ - 31279, - 102 - ], - [ - 31579, - 102 - ], - [ - 31879, - 102 - ], - [ - 32179, - 102 - ], - [ - 32478, - 103 - ], - [ - 32778, - 103 - ], - [ - 33078, - 103 - ], - [ - 33378, - 103 - ], - [ - 33678, - 103 - ], - [ - 33978, - 103 - ], - [ - 34277, - 105 - ], - [ - 34577, - 105 - ], - [ - 34877, - 105 - ], - [ - 35177, - 105 - ], - [ - 35477, - 105 - ], - [ - 35777, - 105 - ], - [ - 36076, - 106 - ], - [ - 36376, - 106 - ], - [ - 36676, - 106 - ], - [ - 36976, - 106 - ], - [ - 37276, - 106 - ], - [ - 37575, - 107 - ], - [ - 37875, - 107 - ], - [ - 38175, - 108 - ], - [ - 38475, - 108 - ], - [ - 38775, - 108 - ], - [ - 39075, - 108 - ], - [ - 39374, - 109 - ], - [ - 39674, - 109 - ], - [ - 39974, - 41 - ], - [ - 40016, - 67 - ], - [ - 40274, - 109 - ], - [ - 40574, - 109 - ], - [ - 40874, - 109 - ], - [ - 41173, - 69 - ], - [ - 41247, - 36 - ], - [ - 41473, - 68 - ], - [ - 41542, - 5 - ], - [ - 41548, - 35 - ], - [ - 41773, - 68 - ], - [ - 41842, - 41 - ], - [ - 42073, - 68 - ], - [ - 42142, - 5 - ], - [ - 42148, - 36 - ], - [ - 42373, - 62 - ], - [ - 42440, - 1 - ], - [ - 42442, - 5 - ], - [ - 42448, - 36 - ], - [ - 42672, - 62 - ], - [ - 42742, - 5 - ], - [ - 42748, - 36 - ], - [ - 42972, - 62 - ], - [ - 43041, - 6 - ], - [ - 43048, - 32 - ], - [ - 43272, - 62 - ], - [ - 43341, - 1 - ], - [ - 43343, - 1 - ], - [ - 43348, - 28 - ], - [ - 43572, - 62 - ], - [ - 43641, - 1 - ], - [ - 43648, - 24 - ], - [ - 43872, - 62 - ], - [ - 43940, - 3 - ], - [ - 43945, - 2 - ], - [ - 43948, - 20 - ], - [ - 44172, - 62 - ], - [ - 44235, - 8 - ], - [ - 44244, - 2 - ], - [ - 44247, - 16 - ], - [ - 44487, - 47 - ], - [ - 44535, - 7 - ], - [ - 44543, - 3 - ], - [ - 44549, - 10 - ], - [ - 44800, - 57 - ], - [ - 45101, - 56 - ], - [ - 45401, - 56 - ], - [ - 45700, - 57 - ], - [ - 46000, - 57 - ], - [ - 46300, - 57 - ], - [ - 46599, - 58 - ], - [ - 46899, - 58 - ], - [ - 47199, - 58 - ], - [ - 47498, - 59 - ], - [ - 47804, - 53 - ], - [ - 48104, - 53 - ], - [ - 48404, - 53 - ], - [ - 48705, - 51 - ], - [ - 49005, - 51 - ], - [ - 49305, - 51 - ], - [ - 49605, - 51 - ], - [ - 49906, - 50 - ], - [ - 50206, - 50 - ], - [ - 50506, - 50 - ], - [ - 50807, - 49 - ], - [ - 51107, - 49 - ], - [ - 51407, - 49 - ], - [ - 51708, - 48 - ], - [ - 52008, - 48 - ], - [ - 52308, - 48 - ], - [ - 52609, - 47 - ], - [ - 52909, - 47 - ], - [ - 53209, - 47 - ], - [ - 53510, - 46 - ], - [ - 53810, - 46 - ], - [ - 54110, - 46 - ], - [ - 54411, - 45 - ] - ], - "point": [ - 127, - 128 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Box|+11.43|+00.84|+00.86", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 95 - ], - [ - 8100, - 99 - ], - [ - 8400, - 108 - ], - [ - 8526, - 1 - ], - [ - 8700, - 167 - ], - [ - 8983, - 185 - ], - [ - 9282, - 186 - ], - [ - 9582, - 186 - ], - [ - 9881, - 187 - ], - [ - 10181, - 187 - ], - [ - 10481, - 187 - ], - [ - 10780, - 188 - ], - [ - 11080, - 188 - ], - [ - 11380, - 188 - ], - [ - 11679, - 189 - ], - [ - 11979, - 189 - ], - [ - 12278, - 191 - ], - [ - 12578, - 191 - ], - [ - 12878, - 191 - ], - [ - 13177, - 192 - ], - [ - 13477, - 192 - ], - [ - 13776, - 193 - ], - [ - 14076, - 23 - ], - [ - 14100, - 169 - ], - [ - 14376, - 23 - ], - [ - 14400, - 169 - ], - [ - 14675, - 24 - ], - [ - 14700, - 169 - ], - [ - 14976, - 23 - ], - [ - 15000, - 169 - ], - [ - 15276, - 193 - ], - [ - 15576, - 193 - ], - [ - 15876, - 193 - ], - [ - 16176, - 193 - ], - [ - 16476, - 193 - ], - [ - 16776, - 193 - ], - [ - 17076, - 193 - ], - [ - 17376, - 193 - ], - [ - 17676, - 193 - ], - [ - 17976, - 193 - ], - [ - 18276, - 193 - ], - [ - 18576, - 193 - ], - [ - 18876, - 193 - ], - [ - 19176, - 193 - ], - [ - 19476, - 193 - ], - [ - 19776, - 193 - ], - [ - 20077, - 192 - ], - [ - 20377, - 192 - ], - [ - 20677, - 192 - ], - [ - 20976, - 193 - ], - [ - 21276, - 26724 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 55638, - 1 - ], - [ - 55938, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 95 - ], - [ - 62614, - 181 - ], - [ - 62914, - 181 - ], - [ - 63214, - 86 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 9.5, - "y": 0.9028512, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 14.5262032, - "y": 0.754927635, - "z": 0.5198047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 12.156126, - "y": 0.6065493, - "z": -1.3013891 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.0208416, - "y": 0.706692755, - "z": 3.30447173 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.2526388, - "y": 0.553973854, - "z": 1.10438955 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.42627, - "y": 0.840692759, - "z": 0.863987565 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 14.5262032, - "y": 0.751895964, - "z": 0.780969739 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 10.8453035, - "y": 0.591835737, - "z": 1.14258671 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 11.448, - "y": 0.528624356, - "z": 3.08167934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 9.692654, - "y": 0.4366794, - "z": 3.216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 10.8453035, - "y": 0.5889999, - "z": 0.771121144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 10.8072624, - "y": 0.4597072, - "z": 3.15594339 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 14.1993713, - "y": 0.5530765, - "z": 0.7089687 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2837564681, - "scene_num": 213 - }, - "task_id": "trial_T20190908_021552_669816", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A38Z99XF4NDNH0_3L70J4KAZJ3FJ0ROSJRBN4TLHLHDAX", - "high_descs": [ - "Move to the front of the coffee table across the room", - "Pick up the keys on top of the coffee table in front of the laptop", - "Carry the keys over to the empty box on top of the coffee table", - "Place the keys inside of the empty box on the table", - "Pick up the box with the keys inside of it", - "Carry the box with the keys in it over to the wooden TV stand", - "Place the box with the keys in it on the far left side of the TV stand in front of the TV" - ], - "task_desc": "move an empty box with keys in it to the TV stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AU34T9OMHN4Z4_3NVC2EB65TGIXQNUF0ZFDHPGTZI3YM", - "high_descs": [ - "Turn around and go towards the red chairs and turn right between the red chair and the table, turn right towards the table", - "Pick up the keys on the table", - "Go around behind the table", - "Place the keys in the white box on the table", - "Pick up the box with the keys", - "Turn right and go to the counter with the television", - "Place the box with the keys on the counter" - ], - "task_desc": "Moving the keys to a counter", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2BLQ1GVEHJR8T_3ZY8KE4ISMKT0XYR80ORJQEXLBIVQY", - "high_descs": [ - "Turn right and go between the red sofa and the coffee table, then turn right to face the laptop on the coffee table.", - "Pick up the keys that are in front of the laptop.", - "Turn to your left and go clockwise around to the opposite side of the coffee table, then turn right to face the right end of the coffee table.", - "Drop the keys into the cardboard box at the end of the coffee table.", - "Pick up the box of keys.", - "Turn to your right and go to the center of the dresser holding the TV screen.", - "Put the box on the top of the dresser, in front of the left side of the TV screen." - ], - "task_desc": "Put a box of keys in front of a TV screen.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_081801_821508/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_081801_821508/traj_data.json deleted file mode 100644 index 435cfc51c..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_081801_821508/traj_data.json +++ /dev/null @@ -1,4717 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 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": 15 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 16 - }, - { - "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": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "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": 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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 40 - }, - { - "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": 47 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 47 - }, - { - "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": 48 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000346.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000347.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000348.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000349.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000350.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000351.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000352.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000353.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000354.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000355.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000356.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000357.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000358.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000359.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 84 - } - ], - "pddl_params": { - "mrecep_target": "Box", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|6|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 56.54319, - 56.54319, - 6.25785828, - 6.25785828, - 3.010942936, - 3.010942936 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+14.14|+00.75|+01.56" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "box" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|35|13|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "box" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 56.54319, - 56.54319, - 6.25785828, - 6.25785828, - 3.010942936, - 3.010942936 - ] - ], - "coordinateReceptacleObjectId": [ - "Box", - [ - 37.221384, - 37.221384, - 13.15300272, - 13.15300272, - 2.71877098, - 2.71877098 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+14.14|+00.75|+01.56", - "receptacleObjectId": "Box|+09.31|+00.68|+03.29" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - 37.221384, - 37.221384, - 13.15300272, - 13.15300272, - 2.71877098, - 2.71877098 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 37.996, - 37.996, - 13.064, - 13.064, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Box|+09.31|+00.68|+03.29" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - 37.221384, - 37.221384, - 13.15300272, - 13.15300272, - 2.71877098, - 2.71877098 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Box|+09.31|+00.68|+03.29", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+14.14|+00.75|+01.56" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 122, - 110, - 139, - 136 - ], - "mask": [ - [ - 32832, - 5 - ], - [ - 33130, - 1 - ], - [ - 33137, - 1 - ], - [ - 33430, - 1 - ], - [ - 33737, - 1 - ], - [ - 34024, - 5 - ], - [ - 34037, - 1 - ], - [ - 34323, - 7 - ], - [ - 34337, - 1 - ], - [ - 34622, - 8 - ], - [ - 34631, - 1 - ], - [ - 34637, - 1 - ], - [ - 34922, - 8 - ], - [ - 34931, - 1 - ], - [ - 34934, - 3 - ], - [ - 35222, - 8 - ], - [ - 35231, - 7 - ], - [ - 35523, - 7 - ], - [ - 35532, - 1 - ], - [ - 35537, - 1 - ], - [ - 35824, - 4 - ], - [ - 35832, - 1 - ], - [ - 35835, - 2 - ], - [ - 36133, - 5 - ], - [ - 36432, - 1 - ], - [ - 36435, - 4 - ], - [ - 36733, - 7 - ], - [ - 37034, - 6 - ], - [ - 37334, - 5 - ], - [ - 37633, - 1 - ], - [ - 37637, - 2 - ], - [ - 37932, - 1 - ], - [ - 37937, - 3 - ], - [ - 38227, - 5 - ], - [ - 38237, - 3 - ], - [ - 38526, - 5 - ], - [ - 38538, - 2 - ], - [ - 38826, - 5 - ], - [ - 38838, - 2 - ], - [ - 39125, - 6 - ], - [ - 39425, - 3 - ], - [ - 39724, - 3 - ], - [ - 40023, - 3 - ], - [ - 40322, - 3 - ], - [ - 40623, - 1 - ] - ], - "point": [ - 132, - 121 - ] - } - }, - "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": "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": "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": "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": "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": "KeyChain|+14.14|+00.75|+01.56", - "placeStationary": true, - "receptacleObjectId": "Box|+09.31|+00.68|+03.29" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 115, - 99, - 206, - 185 - ], - "mask": [ - [ - 29532, - 57 - ], - [ - 29832, - 57 - ], - [ - 30132, - 57 - ], - [ - 30432, - 57 - ], - [ - 30732, - 57 - ], - [ - 31032, - 57 - ], - [ - 31332, - 57 - ], - [ - 31632, - 57 - ], - [ - 31932, - 57 - ], - [ - 32232, - 57 - ], - [ - 32532, - 57 - ], - [ - 32832, - 57 - ], - [ - 33132, - 57 - ], - [ - 33432, - 57 - ], - [ - 33732, - 57 - ], - [ - 34032, - 57 - ], - [ - 34332, - 57 - ], - [ - 34618, - 1 - ], - [ - 34632, - 57 - ], - [ - 34702, - 1 - ], - [ - 34918, - 4 - ], - [ - 34932, - 57 - ], - [ - 34999, - 4 - ], - [ - 35218, - 7 - ], - [ - 35232, - 57 - ], - [ - 35296, - 7 - ], - [ - 35518, - 10 - ], - [ - 35532, - 57 - ], - [ - 35593, - 10 - ], - [ - 35818, - 12 - ], - [ - 35831, - 58 - ], - [ - 35890, - 13 - ], - [ - 36118, - 85 - ], - [ - 36418, - 85 - ], - [ - 36718, - 86 - ], - [ - 37018, - 86 - ], - [ - 37318, - 86 - ], - [ - 37617, - 87 - ], - [ - 37917, - 87 - ], - [ - 38217, - 87 - ], - [ - 38517, - 87 - ], - [ - 38817, - 87 - ], - [ - 39117, - 88 - ], - [ - 39417, - 88 - ], - [ - 39717, - 88 - ], - [ - 40017, - 88 - ], - [ - 40317, - 88 - ], - [ - 40617, - 88 - ], - [ - 40917, - 88 - ], - [ - 41217, - 88 - ], - [ - 41516, - 90 - ], - [ - 41816, - 90 - ], - [ - 42116, - 90 - ], - [ - 42416, - 90 - ], - [ - 42716, - 90 - ], - [ - 43016, - 90 - ], - [ - 43316, - 90 - ], - [ - 43616, - 90 - ], - [ - 43916, - 91 - ], - [ - 44216, - 91 - ], - [ - 44516, - 91 - ], - [ - 44816, - 91 - ], - [ - 45116, - 91 - ], - [ - 45415, - 92 - ], - [ - 45715, - 92 - ], - [ - 46019, - 85 - ], - [ - 46322, - 78 - ], - [ - 46626, - 70 - ], - [ - 46930, - 62 - ], - [ - 47230, - 63 - ], - [ - 47530, - 63 - ], - [ - 47830, - 63 - ], - [ - 48130, - 63 - ], - [ - 48430, - 63 - ], - [ - 48730, - 63 - ], - [ - 49029, - 64 - ], - [ - 49329, - 64 - ], - [ - 49629, - 64 - ], - [ - 49929, - 65 - ], - [ - 50229, - 65 - ], - [ - 50529, - 65 - ], - [ - 50829, - 65 - ], - [ - 51129, - 65 - ], - [ - 51429, - 65 - ], - [ - 51729, - 65 - ], - [ - 52029, - 65 - ], - [ - 52329, - 65 - ], - [ - 52629, - 66 - ], - [ - 52929, - 66 - ], - [ - 53229, - 66 - ], - [ - 53533, - 53 - ], - [ - 53833, - 53 - ], - [ - 54133, - 53 - ], - [ - 54433, - 52 - ], - [ - 54733, - 52 - ], - [ - 55033, - 52 - ], - [ - 55334, - 50 - ] - ], - "point": [ - 160, - 141 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|+09.31|+00.68|+03.29" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 115, - 99, - 206, - 185 - ], - "mask": [ - [ - 29532, - 57 - ], - [ - 29832, - 57 - ], - [ - 30132, - 57 - ], - [ - 30432, - 57 - ], - [ - 30732, - 57 - ], - [ - 31032, - 57 - ], - [ - 31332, - 57 - ], - [ - 31632, - 57 - ], - [ - 31932, - 57 - ], - [ - 32232, - 57 - ], - [ - 32532, - 57 - ], - [ - 32832, - 57 - ], - [ - 33132, - 57 - ], - [ - 33432, - 57 - ], - [ - 33732, - 57 - ], - [ - 34032, - 57 - ], - [ - 34332, - 57 - ], - [ - 34618, - 1 - ], - [ - 34632, - 57 - ], - [ - 34702, - 1 - ], - [ - 34918, - 4 - ], - [ - 34932, - 57 - ], - [ - 34999, - 4 - ], - [ - 35218, - 7 - ], - [ - 35232, - 57 - ], - [ - 35296, - 7 - ], - [ - 35518, - 10 - ], - [ - 35532, - 57 - ], - [ - 35593, - 10 - ], - [ - 35818, - 12 - ], - [ - 35831, - 58 - ], - [ - 35890, - 13 - ], - [ - 36118, - 85 - ], - [ - 36418, - 85 - ], - [ - 36718, - 86 - ], - [ - 37018, - 86 - ], - [ - 37318, - 86 - ], - [ - 37617, - 87 - ], - [ - 37917, - 87 - ], - [ - 38217, - 87 - ], - [ - 38517, - 87 - ], - [ - 38817, - 87 - ], - [ - 39117, - 88 - ], - [ - 39417, - 88 - ], - [ - 39717, - 88 - ], - [ - 40017, - 88 - ], - [ - 40317, - 88 - ], - [ - 40617, - 88 - ], - [ - 40917, - 88 - ], - [ - 41217, - 88 - ], - [ - 41516, - 90 - ], - [ - 41816, - 90 - ], - [ - 42116, - 90 - ], - [ - 42416, - 90 - ], - [ - 42716, - 90 - ], - [ - 43016, - 90 - ], - [ - 43316, - 90 - ], - [ - 43616, - 90 - ], - [ - 43916, - 91 - ], - [ - 44216, - 91 - ], - [ - 44516, - 91 - ], - [ - 44816, - 91 - ], - [ - 45116, - 91 - ], - [ - 45415, - 92 - ], - [ - 45715, - 92 - ], - [ - 46019, - 41 - ], - [ - 46061, - 43 - ], - [ - 46322, - 30 - ], - [ - 46361, - 39 - ], - [ - 46626, - 15 - ], - [ - 46642, - 2 - ], - [ - 46658, - 38 - ], - [ - 46930, - 18 - ], - [ - 46950, - 1 - ], - [ - 46956, - 36 - ], - [ - 47230, - 63 - ], - [ - 47530, - 63 - ], - [ - 47830, - 63 - ], - [ - 48130, - 63 - ], - [ - 48430, - 63 - ], - [ - 48730, - 63 - ], - [ - 49029, - 64 - ], - [ - 49329, - 64 - ], - [ - 49629, - 64 - ], - [ - 49929, - 65 - ], - [ - 50229, - 65 - ], - [ - 50529, - 65 - ], - [ - 50829, - 65 - ], - [ - 51129, - 65 - ], - [ - 51429, - 65 - ], - [ - 51729, - 65 - ], - [ - 52029, - 65 - ], - [ - 52329, - 65 - ], - [ - 52629, - 66 - ], - [ - 52929, - 66 - ], - [ - 53229, - 66 - ], - [ - 53533, - 53 - ], - [ - 53833, - 53 - ], - [ - 54133, - 53 - ], - [ - 54433, - 52 - ], - [ - 54733, - 52 - ], - [ - 55033, - 52 - ], - [ - 55334, - 50 - ] - ], - "point": [ - 160, - 141 - ] - } - }, - "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": "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Box|+09.31|+00.68|+03.29", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 95 - ], - [ - 8100, - 99 - ], - [ - 8400, - 108 - ], - [ - 8526, - 1 - ], - [ - 8700, - 167 - ], - [ - 8983, - 30 - ], - [ - 9037, - 131 - ], - [ - 9282, - 30 - ], - [ - 9349, - 119 - ], - [ - 9582, - 30 - ], - [ - 9655, - 113 - ], - [ - 9881, - 30 - ], - [ - 9955, - 113 - ], - [ - 10181, - 30 - ], - [ - 10255, - 113 - ], - [ - 10481, - 29 - ], - [ - 10555, - 113 - ], - [ - 10780, - 30 - ], - [ - 10854, - 114 - ], - [ - 11080, - 29 - ], - [ - 11154, - 114 - ], - [ - 11380, - 29 - ], - [ - 11454, - 114 - ], - [ - 11679, - 31 - ], - [ - 11746, - 122 - ], - [ - 11979, - 32 - ], - [ - 12033, - 135 - ], - [ - 12278, - 191 - ], - [ - 12578, - 191 - ], - [ - 12878, - 191 - ], - [ - 13177, - 192 - ], - [ - 13477, - 192 - ], - [ - 13776, - 193 - ], - [ - 14076, - 193 - ], - [ - 14376, - 193 - ], - [ - 14675, - 194 - ], - [ - 14976, - 193 - ], - [ - 15276, - 193 - ], - [ - 15576, - 193 - ], - [ - 15876, - 193 - ], - [ - 16176, - 193 - ], - [ - 16476, - 193 - ], - [ - 16776, - 193 - ], - [ - 17076, - 193 - ], - [ - 17376, - 193 - ], - [ - 17676, - 193 - ], - [ - 17976, - 193 - ], - [ - 18276, - 193 - ], - [ - 18576, - 193 - ], - [ - 18876, - 193 - ], - [ - 19176, - 193 - ], - [ - 19476, - 193 - ], - [ - 19776, - 193 - ], - [ - 20077, - 192 - ], - [ - 20377, - 192 - ], - [ - 20677, - 192 - ], - [ - 20976, - 193 - ], - [ - 21276, - 26724 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 55638, - 1 - ], - [ - 55938, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 95 - ], - [ - 62614, - 181 - ], - [ - 62914, - 181 - ], - [ - 63214, - 86 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 11.25, - "y": 0.9028512, - "z": 2.0 - }, - "object_poses": [ - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 14.0928373, - "y": 0.142876357, - "z": 1.44802094 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 14.1357975, - "y": 0.752735734, - "z": 1.56446457 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 10.6516485, - "y": 0.591835737, - "z": 0.771121144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 8.21295, - "y": 0.396496, - "z": -0.203100756 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 11.0208416, - "y": 0.528624356, - "z": 3.08167934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 11.448, - "y": 0.528624356, - "z": 3.15594339 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 9.692654, - "y": 0.4304519, - "z": 3.28825068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 9.305346, - "y": 0.679692745, - "z": 3.28825068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 12.3823919, - "y": 0.604296, - "z": -1.13911843 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 14.4286013, - "y": 0.752735734, - "z": 0.5198047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 12.0487576, - "y": 0.52, - "z": 3.22808361 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 14.2333994, - "y": 0.76133436, - "z": 2.08679461 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 11.2326145, - "y": 0.5889999, - "z": 0.9568539 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 14.6238041, - "y": 0.7573622, - "z": 1.82562959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 12.3069706, - "y": 0.6065493, - "z": -1.30138874 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1682128712, - "scene_num": 213 - }, - "task_id": "trial_T20190908_081801_821508", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1NWXL4QO30M8U_3LKC68YZ3DK3UALGJX1JGN2BDHZOWM", - "high_descs": [ - "Turn around and take one step, then turn left and walk across the room", - "Pick up the keys on the edge of the table. ", - "Turn around and walk across the room, then turn right and walk across the room, then turn right. ", - "Place the keys in the empty box on the couch. ", - "Pick up the box on the couch. ", - "Turn right and take two steps, then turn left and walk to the end of the coffee table, then turn left and walk across the room. ", - "Put the box down on the table in front of the television. " - ], - "task_desc": "To put the keys in a box. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3RWE2M8QWKRS4ZKJPB8LU3T2M3IN09", - "high_descs": [ - "move to the TV stand to the right of the door", - "pick up keys from the stand", - "move to the left couch to the left of the door", - "put the keys in a box", - "pick up the box from the couch", - "move to the TV stand to the right of the door", - "put the box on the TV stand" - ], - "task_desc": "Put a box with keys on the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3SFPSMFRSRTB3_3RXCAC0YIU64CW80XB85XYQN4P78G8", - "high_descs": [ - "Turn right, proceed to dresser.", - "Pick up keys from dresser.", - "Turn around, proceed across room. Turn right, proceed to wall. Turn right, face couch.", - "Place keys in empty box on couch.", - "Pick up box with keys in them from the couch.", - "Turn right, turn left, proceed to dresser across room.", - "Place box with keys on dresser in front of television." - ], - "task_desc": "Put keys in box, move keys and box to dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_190207_387917/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_190207_387917/traj_data.json deleted file mode 100644 index 88f274e60..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-KeyChain-Box-Dresser-213/trial_T20190908_190207_387917/traj_data.json +++ /dev/null @@ -1,3914 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 7 - }, - { - "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": 12 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 3, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000097.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000098.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000099.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000100.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000101.png", - "low_idx": 15 - }, - { - "high_idx": 3, - "image_name": "000000102.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000108.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000109.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000119.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000120.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000121.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000122.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000123.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000124.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000125.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000126.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000127.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000129.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000132.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000134.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 18 - }, - { - "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": 22 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "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": 24 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000157.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000158.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "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 - } - ], - "pddl_params": { - "mrecep_target": "Box", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sofa" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|48|10|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 47.5006332, - 47.5006332, - 11.73260308, - 11.73260308, - 1.831342936, - 1.831342936 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - 45.792, - 45.792, - 12.812, - 12.812, - -0.264, - -0.264 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+11.88|+00.46|+02.93" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "box" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|48|10|0|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "box" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 47.5006332, - 47.5006332, - 11.73260308, - 11.73260308, - 1.831342936, - 1.831342936 - ] - ], - "coordinateReceptacleObjectId": [ - "Box", - [ - 47.5006332, - 47.5006332, - 13.21788692, - 13.21788692, - 2.82677102, - 2.82677102 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+11.88|+00.46|+02.93", - "receptacleObjectId": "Box|+11.88|+00.71|+03.30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - 47.5006332, - 47.5006332, - 13.21788692, - 13.21788692, - 2.82677102, - 2.82677102 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - 45.792, - 45.792, - 12.812, - 12.812, - -0.264, - -0.264 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.88|+00.71|+03.30" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - 47.5006332, - 47.5006332, - 13.21788692, - 13.21788692, - 2.82677102, - 2.82677102 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Box|+11.88|+00.71|+03.30", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+11.88|+00.46|+02.93" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 103, - 183, - 129, - 197 - ], - "mask": [ - [ - 54720, - 5 - ], - [ - 55003, - 2 - ], - [ - 55019, - 6 - ], - [ - 55303, - 4 - ], - [ - 55319, - 7 - ], - [ - 55605, - 5 - ], - [ - 55619, - 7 - ], - [ - 55906, - 5 - ], - [ - 55919, - 7 - ], - [ - 56207, - 4 - ], - [ - 56220, - 5 - ], - [ - 56507, - 4 - ], - [ - 56522, - 1 - ], - [ - 56524, - 5 - ], - [ - 56810, - 1 - ], - [ - 56820, - 3 - ], - [ - 57111, - 1 - ], - [ - 57118, - 3 - ], - [ - 57129, - 1 - ], - [ - 57412, - 1 - ], - [ - 57415, - 1 - ], - [ - 57417, - 1 - ], - [ - 57420, - 2 - ], - [ - 57429, - 1 - ], - [ - 57713, - 6 - ], - [ - 57720, - 2 - ], - [ - 57729, - 1 - ], - [ - 58013, - 6 - ], - [ - 58020, - 3 - ], - [ - 58310, - 7 - ], - [ - 58324, - 5 - ], - [ - 58607, - 9 - ], - [ - 58908, - 1 - ] - ], - "point": [ - 118, - 190 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+11.88|+00.46|+02.93", - "placeStationary": true, - "receptacleObjectId": "Box|+11.88|+00.71|+03.30" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 74, - 139, - 162, - 227 - ], - "mask": [ - [ - 41506, - 37 - ], - [ - 41806, - 37 - ], - [ - 42106, - 37 - ], - [ - 42406, - 37 - ], - [ - 42706, - 37 - ], - [ - 43006, - 37 - ], - [ - 43306, - 37 - ], - [ - 43359, - 2 - ], - [ - 43606, - 37 - ], - [ - 43656, - 5 - ], - [ - 43906, - 37 - ], - [ - 43954, - 8 - ], - [ - 44206, - 37 - ], - [ - 44251, - 11 - ], - [ - 44506, - 37 - ], - [ - 44548, - 14 - ], - [ - 44785, - 13 - ], - [ - 44805, - 38 - ], - [ - 44845, - 17 - ], - [ - 45085, - 77 - ], - [ - 45384, - 78 - ], - [ - 45684, - 78 - ], - [ - 45984, - 78 - ], - [ - 46284, - 78 - ], - [ - 46583, - 79 - ], - [ - 46883, - 79 - ], - [ - 47183, - 79 - ], - [ - 47483, - 79 - ], - [ - 47782, - 80 - ], - [ - 48082, - 80 - ], - [ - 48382, - 80 - ], - [ - 48682, - 80 - ], - [ - 48981, - 81 - ], - [ - 49281, - 81 - ], - [ - 49581, - 81 - ], - [ - 49881, - 81 - ], - [ - 50180, - 82 - ], - [ - 50480, - 83 - ], - [ - 50780, - 83 - ], - [ - 51080, - 83 - ], - [ - 51379, - 84 - ], - [ - 51679, - 84 - ], - [ - 51979, - 84 - ], - [ - 52279, - 84 - ], - [ - 52578, - 85 - ], - [ - 52878, - 85 - ], - [ - 53178, - 85 - ], - [ - 53478, - 85 - ], - [ - 53777, - 86 - ], - [ - 54077, - 86 - ], - [ - 54377, - 86 - ], - [ - 54677, - 86 - ], - [ - 54976, - 87 - ], - [ - 55276, - 87 - ], - [ - 55576, - 87 - ], - [ - 55876, - 87 - ], - [ - 56175, - 87 - ], - [ - 56475, - 84 - ], - [ - 56775, - 80 - ], - [ - 57075, - 77 - ], - [ - 57374, - 74 - ], - [ - 57684, - 61 - ], - [ - 57997, - 47 - ], - [ - 58297, - 47 - ], - [ - 58597, - 47 - ], - [ - 58896, - 48 - ], - [ - 59196, - 48 - ], - [ - 59495, - 49 - ], - [ - 59795, - 49 - ], - [ - 60099, - 45 - ], - [ - 60399, - 45 - ], - [ - 60699, - 45 - ], - [ - 61000, - 44 - ], - [ - 61300, - 44 - ], - [ - 61600, - 44 - ], - [ - 61900, - 44 - ], - [ - 62200, - 44 - ], - [ - 62501, - 43 - ], - [ - 62801, - 43 - ], - [ - 63101, - 43 - ], - [ - 63401, - 43 - ], - [ - 63702, - 42 - ], - [ - 64002, - 42 - ], - [ - 64302, - 42 - ], - [ - 64602, - 42 - ], - [ - 64903, - 41 - ], - [ - 65203, - 41 - ], - [ - 65503, - 41 - ], - [ - 65803, - 41 - ], - [ - 66104, - 40 - ], - [ - 66404, - 40 - ], - [ - 66704, - 40 - ], - [ - 67004, - 40 - ], - [ - 67305, - 39 - ], - [ - 67605, - 39 - ], - [ - 67905, - 39 - ] - ], - "point": [ - 118, - 182 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|+11.88|+00.71|+03.30" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 74, - 139, - 162, - 227 - ], - "mask": [ - [ - 41506, - 37 - ], - [ - 41806, - 37 - ], - [ - 42106, - 37 - ], - [ - 42406, - 37 - ], - [ - 42706, - 37 - ], - [ - 43006, - 37 - ], - [ - 43306, - 37 - ], - [ - 43359, - 2 - ], - [ - 43606, - 37 - ], - [ - 43656, - 5 - ], - [ - 43906, - 37 - ], - [ - 43954, - 8 - ], - [ - 44206, - 37 - ], - [ - 44251, - 11 - ], - [ - 44506, - 37 - ], - [ - 44548, - 14 - ], - [ - 44785, - 13 - ], - [ - 44805, - 38 - ], - [ - 44845, - 17 - ], - [ - 45085, - 77 - ], - [ - 45384, - 78 - ], - [ - 45684, - 78 - ], - [ - 45984, - 78 - ], - [ - 46284, - 78 - ], - [ - 46583, - 79 - ], - [ - 46883, - 79 - ], - [ - 47183, - 79 - ], - [ - 47483, - 79 - ], - [ - 47782, - 80 - ], - [ - 48082, - 80 - ], - [ - 48382, - 80 - ], - [ - 48682, - 80 - ], - [ - 48981, - 81 - ], - [ - 49281, - 81 - ], - [ - 49581, - 81 - ], - [ - 49881, - 81 - ], - [ - 50180, - 82 - ], - [ - 50480, - 83 - ], - [ - 50780, - 83 - ], - [ - 51080, - 83 - ], - [ - 51379, - 84 - ], - [ - 51679, - 84 - ], - [ - 51979, - 84 - ], - [ - 52279, - 84 - ], - [ - 52578, - 85 - ], - [ - 52878, - 85 - ], - [ - 53178, - 85 - ], - [ - 53478, - 85 - ], - [ - 53777, - 86 - ], - [ - 54077, - 86 - ], - [ - 54377, - 86 - ], - [ - 54677, - 86 - ], - [ - 54976, - 87 - ], - [ - 55276, - 87 - ], - [ - 55576, - 87 - ], - [ - 55876, - 87 - ], - [ - 56175, - 87 - ], - [ - 56475, - 84 - ], - [ - 56775, - 58 - ], - [ - 56835, - 2 - ], - [ - 56839, - 16 - ], - [ - 57075, - 57 - ], - [ - 57133, - 5 - ], - [ - 57139, - 13 - ], - [ - 57374, - 64 - ], - [ - 57439, - 9 - ], - [ - 57684, - 43 - ], - [ - 57731, - 14 - ], - [ - 57997, - 47 - ], - [ - 58297, - 47 - ], - [ - 58597, - 47 - ], - [ - 58896, - 48 - ], - [ - 59196, - 48 - ], - [ - 59495, - 49 - ], - [ - 59795, - 49 - ], - [ - 60099, - 45 - ], - [ - 60399, - 45 - ], - [ - 60699, - 45 - ], - [ - 61000, - 44 - ], - [ - 61300, - 44 - ], - [ - 61600, - 44 - ], - [ - 61900, - 44 - ], - [ - 62200, - 44 - ], - [ - 62501, - 43 - ], - [ - 62801, - 43 - ], - [ - 63101, - 43 - ], - [ - 63401, - 43 - ], - [ - 63702, - 42 - ], - [ - 64002, - 42 - ], - [ - 64302, - 42 - ], - [ - 64602, - 42 - ], - [ - 64903, - 41 - ], - [ - 65203, - 41 - ], - [ - 65503, - 41 - ], - [ - 65803, - 41 - ], - [ - 66104, - 40 - ], - [ - 66404, - 40 - ], - [ - 66704, - 40 - ], - [ - 67004, - 40 - ], - [ - 67305, - 39 - ], - [ - 67605, - 39 - ], - [ - 67905, - 39 - ] - ], - "point": [ - 118, - 182 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Box|+11.88|+00.71|+03.30", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 95 - ], - [ - 8100, - 99 - ], - [ - 8400, - 108 - ], - [ - 8526, - 1 - ], - [ - 8700, - 167 - ], - [ - 8983, - 185 - ], - [ - 9282, - 20 - ], - [ - 9360, - 108 - ], - [ - 9582, - 20 - ], - [ - 9661, - 107 - ], - [ - 9881, - 20 - ], - [ - 9961, - 107 - ], - [ - 10181, - 20 - ], - [ - 10261, - 107 - ], - [ - 10481, - 19 - ], - [ - 10561, - 107 - ], - [ - 10780, - 20 - ], - [ - 10861, - 107 - ], - [ - 11080, - 20 - ], - [ - 11161, - 107 - ], - [ - 11380, - 20 - ], - [ - 11461, - 107 - ], - [ - 11679, - 21 - ], - [ - 11760, - 108 - ], - [ - 11979, - 21 - ], - [ - 12060, - 108 - ], - [ - 12278, - 22 - ], - [ - 12360, - 109 - ], - [ - 12578, - 22 - ], - [ - 12660, - 109 - ], - [ - 12878, - 22 - ], - [ - 12959, - 110 - ], - [ - 13177, - 23 - ], - [ - 13259, - 110 - ], - [ - 13477, - 23 - ], - [ - 13559, - 110 - ], - [ - 13776, - 24 - ], - [ - 13859, - 110 - ], - [ - 14076, - 24 - ], - [ - 14158, - 111 - ], - [ - 14376, - 24 - ], - [ - 14458, - 111 - ], - [ - 14675, - 25 - ], - [ - 14758, - 111 - ], - [ - 14976, - 24 - ], - [ - 15058, - 111 - ], - [ - 15276, - 24 - ], - [ - 15357, - 112 - ], - [ - 15576, - 24 - ], - [ - 15657, - 112 - ], - [ - 15876, - 24 - ], - [ - 15957, - 112 - ], - [ - 16176, - 24 - ], - [ - 16256, - 113 - ], - [ - 16476, - 24 - ], - [ - 16556, - 113 - ], - [ - 16776, - 24 - ], - [ - 16856, - 113 - ], - [ - 17076, - 24 - ], - [ - 17156, - 113 - ], - [ - 17376, - 24 - ], - [ - 17455, - 114 - ], - [ - 17676, - 24 - ], - [ - 17755, - 114 - ], - [ - 17976, - 6 - ], - [ - 18055, - 114 - ], - [ - 18276, - 5 - ], - [ - 18355, - 114 - ], - [ - 18576, - 5 - ], - [ - 18654, - 115 - ], - [ - 18876, - 4 - ], - [ - 18954, - 115 - ], - [ - 19176, - 4 - ], - [ - 19200, - 26 - ], - [ - 19247, - 122 - ], - [ - 19476, - 4 - ], - [ - 19500, - 26 - ], - [ - 19548, - 121 - ], - [ - 19776, - 5 - ], - [ - 19800, - 26 - ], - [ - 19847, - 122 - ], - [ - 20077, - 4 - ], - [ - 20100, - 26 - ], - [ - 20143, - 1 - ], - [ - 20147, - 122 - ], - [ - 20377, - 4 - ], - [ - 20400, - 26 - ], - [ - 20444, - 125 - ], - [ - 20677, - 5 - ], - [ - 20700, - 26 - ], - [ - 20744, - 125 - ], - [ - 20976, - 6 - ], - [ - 21001, - 24 - ], - [ - 21044, - 125 - ], - [ - 21276, - 6 - ], - [ - 21301, - 24 - ], - [ - 21344, - 239 - ], - [ - 21602, - 23 - ], - [ - 21644, - 239 - ], - [ - 21903, - 22 - ], - [ - 21945, - 239 - ], - [ - 22203, - 22 - ], - [ - 22245, - 239 - ], - [ - 22504, - 21 - ], - [ - 22546, - 238 - ], - [ - 22805, - 20 - ], - [ - 22847, - 238 - ], - [ - 23105, - 20 - ], - [ - 23148, - 237 - ], - [ - 23406, - 19 - ], - [ - 23450, - 235 - ], - [ - 23707, - 19 - ], - [ - 23751, - 235 - ], - [ - 24007, - 20 - ], - [ - 24052, - 234 - ], - [ - 24308, - 20 - ], - [ - 24352, - 234 - ], - [ - 24608, - 21 - ], - [ - 24653, - 234 - ], - [ - 24909, - 20 - ], - [ - 24953, - 234 - ], - [ - 25210, - 20 - ], - [ - 25254, - 233 - ], - [ - 25510, - 20 - ], - [ - 25554, - 234 - ], - [ - 25811, - 20 - ], - [ - 25854, - 234 - ], - [ - 26110, - 21 - ], - [ - 26155, - 234 - ], - [ - 26409, - 23 - ], - [ - 26455, - 234 - ], - [ - 26710, - 22 - ], - [ - 26755, - 234 - ], - [ - 27010, - 22 - ], - [ - 27054, - 236 - ], - [ - 27310, - 23 - ], - [ - 27354, - 236 - ], - [ - 27609, - 24 - ], - [ - 27655, - 235 - ], - [ - 27908, - 26 - ], - [ - 27955, - 236 - ], - [ - 28207, - 27 - ], - [ - 28255, - 236 - ], - [ - 28506, - 29 - ], - [ - 28556, - 235 - ], - [ - 28805, - 30 - ], - [ - 28856, - 236 - ], - [ - 29103, - 32 - ], - [ - 29156, - 244 - ], - [ - 29402, - 34 - ], - [ - 29457, - 243 - ], - [ - 29701, - 35 - ], - [ - 29757, - 279 - ], - [ - 30057, - 280 - ], - [ - 30357, - 280 - ], - [ - 30648, - 1 - ], - [ - 30658, - 279 - ], - [ - 30948, - 2 - ], - [ - 30959, - 278 - ], - [ - 31248, - 2 - ], - [ - 31260, - 277 - ], - [ - 31548, - 3 - ], - [ - 31561, - 276 - ], - [ - 31848, - 4 - ], - [ - 31862, - 274 - ], - [ - 32148, - 6 - ], - [ - 32163, - 273 - ], - [ - 32449, - 6 - ], - [ - 32463, - 274 - ], - [ - 32749, - 7 - ], - [ - 32764, - 273 - ], - [ - 33051, - 6 - ], - [ - 33064, - 272 - ], - [ - 33352, - 5 - ], - [ - 33365, - 271 - ], - [ - 33654, - 4 - ], - [ - 33665, - 271 - ], - [ - 33955, - 4 - ], - [ - 33966, - 270 - ], - [ - 34256, - 3 - ], - [ - 34266, - 270 - ], - [ - 34556, - 4 - ], - [ - 34572, - 264 - ], - [ - 34857, - 2 - ], - [ - 34877, - 260 - ], - [ - 35179, - 259 - ], - [ - 35481, - 259 - ], - [ - 35751, - 1 - ], - [ - 35782, - 258 - ], - [ - 36084, - 256 - ], - [ - 36384, - 256 - ], - [ - 36685, - 256 - ], - [ - 36986, - 255 - ], - [ - 37286, - 255 - ], - [ - 37587, - 254 - ], - [ - 37888, - 254 - ], - [ - 38188, - 212 - ], - [ - 38409, - 33 - ], - [ - 38488, - 212 - ], - [ - 38720, - 22 - ], - [ - 38788, - 212 - ], - [ - 39027, - 15 - ], - [ - 39088, - 212 - ], - [ - 39327, - 16 - ], - [ - 39388, - 212 - ], - [ - 39627, - 16 - ], - [ - 39688, - 212 - ], - [ - 39927, - 16 - ], - [ - 39989, - 211 - ], - [ - 40226, - 17 - ], - [ - 40289, - 211 - ], - [ - 40526, - 17 - ], - [ - 40589, - 211 - ], - [ - 40826, - 17 - ], - [ - 40888, - 212 - ], - [ - 41125, - 18 - ], - [ - 41188, - 212 - ], - [ - 41425, - 18 - ], - [ - 41487, - 213 - ], - [ - 41725, - 18 - ], - [ - 41787, - 213 - ], - [ - 42024, - 19 - ], - [ - 42087, - 213 - ], - [ - 42317, - 26 - ], - [ - 42386, - 214 - ], - [ - 42606, - 38 - ], - [ - 42686, - 259 - ], - [ - 42985, - 260 - ], - [ - 43284, - 262 - ], - [ - 43583, - 263 - ], - [ - 43882, - 265 - ], - [ - 44181, - 266 - ], - [ - 44480, - 269 - ], - [ - 44778, - 272 - ], - [ - 45077, - 275 - ], - [ - 45375, - 278 - ], - [ - 45673, - 284 - ], - [ - 45969, - 293 - ], - [ - 46263, - 1737 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 55638, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 98 - ], - [ - 62611, - 186 - ], - [ - 62911, - 186 - ], - [ - 63211, - 89 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 13.25, - "y": 0.9028512, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 8.212948, - "y": 0.397335768, - "z": 0.09721376 - }, - "rotation": { - "x": 0.0, - "y": 179.999832, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 11.42627, - "y": 0.591835737, - "z": 1.04972029 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 11.8751583, - "y": 0.457835734, - "z": 2.93315077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.331, - "y": 0.7523519, - "z": 0.5198047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.5262032, - "y": 0.7523519, - "z": 1.82562959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 12.4442148, - "y": 0.6089839, - "z": -1.25744843 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 11.42627, - "y": 0.5937072, - "z": 0.863987565 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 9.595827, - "y": 0.427999943, - "z": 3.216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 10.6516485, - "y": 0.5914519, - "z": 1.04972029 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.8751583, - "y": 0.706692755, - "z": 3.30447173 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 12.2315474, - "y": 0.604296, - "z": -0.976848662 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 14.1357975, - "y": 0.752735734, - "z": 0.5198047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 11.448, - "y": 0.528624356, - "z": 3.08167934 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 14.0381966, - "y": 0.7585794, - "z": 1.56446457 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 14.24, - "y": 0.747655, - "z": 2.067 - }, - "rotation": { - "x": 0.0, - "y": 300.000061, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 14.0381966, - "y": 0.7573622, - "z": 1.82562959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 14.0928373, - "y": 0.139776364, - "z": 0.708768666 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2699722431, - "scene_num": 213 - }, - "task_id": "trial_T20190908_190207_387917", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A24RGLS3BRZ60J_3NL0RFNU0I48VHHHBZ37EE2B9JWK4I", - "high_descs": [ - "Turn around and face the red couch on the right.", - "Pick up the keys from the edge of the right side of the couch.", - "Raise the keys in the air.", - "Place the keys inside the box on the right side of the couch.", - "Pick up the box from the right side of the couch.", - "Carry the box and turn around, then to the left to find the TV.", - "Place the box on the table in front of the TV, to the left side." - ], - "task_desc": "Move keys and a box to a table.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A6U2C66WQ7QQN_3YOH7BII0CO7PU0WVV4UN42OM31KV2", - "high_descs": [ - "Turn to the left", - "Head to the pink couch", - "Take the keys from the couch", - "Put the keys in the white box on the couch", - "Take the white box from the couch", - "Turn around, head to the entertainment center", - "Put the box on the entertainment center in front of the TV" - ], - "task_desc": "Put the keys from the couch in the white box, put the box in front of the TV", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AIICJA0A5J8NF_33LK57MYLWMMMXIE112ZZW6UR8DSZK", - "high_descs": [ - "Walk to the pink sofa. ", - "Pick up the keys on the sofa. ", - "Look at the box on the sofa. ", - "Place the keys in the box on the sofa. ", - "Pick up the box off of the sofa. ", - "Turn to the right, walk to the entertainment center. ", - "Place the box next to the statue on the entertainment center. " - ], - "task_desc": "Put the keys in the box on the entertainment center. ", - "votes": [ - 1, - 1, - 0 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-305/trial_T20190909_012047_412780/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-305/trial_T20190909_012047_412780/traj_data.json deleted file mode 100644 index dfee8ef45..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-305/trial_T20190909_012047_412780/traj_data.json +++ /dev/null @@ -1,3706 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 6 - }, - { - "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": 7 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 7 - }, - { - "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": 8 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 8 - }, - { - "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": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 11 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 13 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000141.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000157.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000158.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000224.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 32 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 4.33898448, - 4.33898448, - 3.6046496, - 3.6046496, - 2.9386112, - 2.9386112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.08|+00.73|+00.90" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|6|1|30" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 4.33898448, - 4.33898448, - 3.6046496, - 3.6046496, - 2.9386112, - 2.9386112 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 5.36799908, - 5.36799908, - 6.23518084, - 6.23518084, - 4.55576228, - 4.55576228 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.08|+00.73|+00.90", - "receptacleObjectId": "Bowl|+01.34|+01.14|+01.56" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.36799908, - 5.36799908, - 6.23518084, - 6.23518084, - 4.55576228, - 4.55576228 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.368, - 5.368, - 5.52000044, - 5.52000044, - 4.52544688, - 4.52544688 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.34|+01.14|+01.56" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.36799908, - 5.36799908, - 6.23518084, - 6.23518084, - 4.55576228, - 4.55576228 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.34|+01.14|+01.56", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.08|+00.73|+00.90" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 175, - 118, - 179, - 147 - ], - "mask": [ - [ - 35275, - 2 - ], - [ - 35575, - 2 - ], - [ - 35875, - 3 - ], - [ - 36175, - 3 - ], - [ - 36476, - 2 - ], - [ - 36776, - 2 - ], - [ - 37076, - 2 - ], - [ - 37376, - 2 - ], - [ - 37676, - 2 - ], - [ - 37976, - 2 - ], - [ - 38276, - 2 - ], - [ - 38576, - 3 - ], - [ - 38876, - 3 - ], - [ - 39177, - 2 - ], - [ - 39477, - 2 - ], - [ - 39777, - 2 - ], - [ - 40077, - 2 - ], - [ - 40377, - 2 - ], - [ - 40677, - 2 - ], - [ - 40977, - 3 - ], - [ - 41277, - 3 - ], - [ - 41577, - 3 - ], - [ - 41877, - 3 - ], - [ - 42177, - 3 - ], - [ - 42478, - 2 - ], - [ - 42778, - 2 - ], - [ - 43078, - 2 - ], - [ - 43379, - 1 - ], - [ - 43679, - 1 - ], - [ - 43979, - 1 - ] - ], - "point": [ - 177, - 131 - ] - } - }, - "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": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.08|+00.73|+00.90", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.34|+01.14|+01.56" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 107, - 112, - 158, - 145 - ], - "mask": [ - [ - 33424, - 21 - ], - [ - 33720, - 29 - ], - [ - 34016, - 36 - ], - [ - 34314, - 40 - ], - [ - 34612, - 44 - ], - [ - 34910, - 47 - ], - [ - 35209, - 49 - ], - [ - 35508, - 51 - ], - [ - 35808, - 51 - ], - [ - 36107, - 52 - ], - [ - 36407, - 52 - ], - [ - 36707, - 52 - ], - [ - 37007, - 52 - ], - [ - 37308, - 51 - ], - [ - 37608, - 50 - ], - [ - 37908, - 50 - ], - [ - 38208, - 50 - ], - [ - 38509, - 49 - ], - [ - 38809, - 48 - ], - [ - 39109, - 48 - ], - [ - 39410, - 47 - ], - [ - 39710, - 46 - ], - [ - 40011, - 45 - ], - [ - 40311, - 45 - ], - [ - 40612, - 43 - ], - [ - 40912, - 42 - ], - [ - 41213, - 40 - ], - [ - 41514, - 38 - ], - [ - 41815, - 36 - ], - [ - 42116, - 34 - ], - [ - 42418, - 31 - ], - [ - 42719, - 28 - ], - [ - 43022, - 22 - ], - [ - 43326, - 14 - ] - ], - "point": [ - 132, - 127 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.34|+01.14|+01.56" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 107, - 112, - 158, - 145 - ], - "mask": [ - [ - 33424, - 21 - ], - [ - 33723, - 26 - ], - [ - 34016, - 4 - ], - [ - 34023, - 29 - ], - [ - 34314, - 6 - ], - [ - 34323, - 31 - ], - [ - 34612, - 9 - ], - [ - 34623, - 33 - ], - [ - 34910, - 11 - ], - [ - 34923, - 34 - ], - [ - 35209, - 12 - ], - [ - 35223, - 35 - ], - [ - 35508, - 13 - ], - [ - 35523, - 36 - ], - [ - 35808, - 13 - ], - [ - 35823, - 36 - ], - [ - 36107, - 14 - ], - [ - 36124, - 35 - ], - [ - 36407, - 14 - ], - [ - 36424, - 35 - ], - [ - 36707, - 14 - ], - [ - 36724, - 35 - ], - [ - 37007, - 14 - ], - [ - 37024, - 35 - ], - [ - 37308, - 13 - ], - [ - 37324, - 35 - ], - [ - 37608, - 13 - ], - [ - 37624, - 34 - ], - [ - 37908, - 13 - ], - [ - 37924, - 34 - ], - [ - 38208, - 13 - ], - [ - 38224, - 34 - ], - [ - 38509, - 12 - ], - [ - 38524, - 34 - ], - [ - 38809, - 12 - ], - [ - 38824, - 33 - ], - [ - 39109, - 14 - ], - [ - 39124, - 33 - ], - [ - 39410, - 47 - ], - [ - 39710, - 46 - ], - [ - 40011, - 45 - ], - [ - 40311, - 45 - ], - [ - 40612, - 43 - ], - [ - 40912, - 42 - ], - [ - 41213, - 40 - ], - [ - 41514, - 38 - ], - [ - 41815, - 36 - ], - [ - 42116, - 34 - ], - [ - 42418, - 31 - ], - [ - 42719, - 28 - ], - [ - 43022, - 22 - ], - [ - 43326, - 14 - ] - ], - "point": [ - 132, - 127 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "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": "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": "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": "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": "Bowl|+01.34|+01.14|+01.56", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 162 - ], - [ - 26169, - 164 - ], - [ - 26469, - 165 - ], - [ - 26769, - 166 - ], - [ - 27068, - 168 - ], - [ - 27368, - 168 - ], - [ - 27668, - 166 - ], - [ - 27968, - 165 - ], - [ - 28268, - 165 - ], - [ - 28567, - 165 - ], - [ - 28867, - 164 - ], - [ - 29167, - 163 - ], - [ - 29467, - 162 - ], - [ - 29767, - 162 - ], - [ - 30066, - 162 - ], - [ - 30366, - 161 - ], - [ - 30666, - 160 - ], - [ - 30966, - 160 - ], - [ - 31266, - 159 - ], - [ - 31565, - 159 - ], - [ - 31775, - 2 - ], - [ - 31865, - 159 - ], - [ - 32072, - 6 - ], - [ - 32165, - 158 - ], - [ - 32372, - 6 - ], - [ - 32465, - 158 - ], - [ - 32672, - 6 - ], - [ - 32765, - 158 - ], - [ - 32972, - 7 - ], - [ - 33064, - 159 - ], - [ - 33272, - 7 - ], - [ - 33364, - 159 - ], - [ - 33572, - 7 - ], - [ - 33664, - 159 - ], - [ - 33871, - 8 - ], - [ - 33964, - 158 - ], - [ - 34171, - 9 - ], - [ - 34263, - 159 - ], - [ - 34471, - 9 - ], - [ - 34563, - 159 - ], - [ - 34771, - 9 - ], - [ - 34863, - 160 - ], - [ - 35070, - 11 - ], - [ - 35163, - 137 - ], - [ - 35301, - 22 - ], - [ - 35370, - 11 - ], - [ - 35463, - 132 - ], - [ - 35606, - 17 - ], - [ - 35670, - 11 - ], - [ - 35762, - 131 - ], - [ - 35908, - 16 - ], - [ - 35969, - 13 - ], - [ - 36062, - 129 - ], - [ - 36210, - 14 - ], - [ - 36269, - 13 - ], - [ - 36362, - 117 - ], - [ - 36480, - 10 - ], - [ - 36511, - 14 - ], - [ - 36569, - 13 - ], - [ - 36662, - 116 - ], - [ - 36781, - 9 - ], - [ - 36812, - 13 - ], - [ - 36868, - 15 - ], - [ - 36962, - 116 - ], - [ - 37081, - 8 - ], - [ - 37113, - 13 - ], - [ - 37168, - 15 - ], - [ - 37261, - 117 - ], - [ - 37381, - 8 - ], - [ - 37414, - 13 - ], - [ - 37467, - 16 - ], - [ - 37561, - 117 - ], - [ - 37681, - 7 - ], - [ - 37714, - 14 - ], - [ - 37767, - 17 - ], - [ - 37861, - 116 - ], - [ - 37981, - 7 - ], - [ - 38014, - 15 - ], - [ - 38066, - 18 - ], - [ - 38161, - 11 - ], - [ - 38203, - 74 - ], - [ - 38281, - 7 - ], - [ - 38299, - 4 - ], - [ - 38315, - 15 - ], - [ - 38366, - 18 - ], - [ - 38461, - 13 - ], - [ - 38503, - 74 - ], - [ - 38581, - 7 - ], - [ - 38599, - 5 - ], - [ - 38615, - 16 - ], - [ - 38664, - 21 - ], - [ - 38760, - 116 - ], - [ - 38882, - 6 - ], - [ - 38900, - 3 - ], - [ - 38915, - 17 - ], - [ - 38964, - 21 - ], - [ - 39060, - 116 - ], - [ - 39182, - 7 - ], - [ - 39215, - 19 - ], - [ - 39262, - 23 - ], - [ - 39360, - 116 - ], - [ - 39482, - 7 - ], - [ - 39515, - 21 - ], - [ - 39560, - 25 - ], - [ - 39660, - 116 - ], - [ - 39782, - 7 - ], - [ - 39815, - 23 - ], - [ - 39859, - 27 - ], - [ - 39960, - 115 - ], - [ - 40082, - 8 - ], - [ - 40114, - 27 - ], - [ - 40157, - 29 - ], - [ - 40259, - 116 - ], - [ - 40382, - 9 - ], - [ - 40413, - 34 - ], - [ - 40451, - 35 - ], - [ - 40559, - 116 - ], - [ - 40682, - 10 - ], - [ - 40713, - 74 - ], - [ - 40859, - 116 - ], - [ - 40982, - 11 - ], - [ - 41012, - 75 - ], - [ - 41159, - 116 - ], - [ - 41282, - 13 - ], - [ - 41310, - 77 - ], - [ - 41458, - 117 - ], - [ - 41582, - 15 - ], - [ - 41609, - 79 - ], - [ - 41758, - 117 - ], - [ - 41882, - 19 - ], - [ - 41905, - 83 - ], - [ - 42058, - 117 - ], - [ - 42182, - 106 - ], - [ - 42358, - 117 - ], - [ - 42482, - 107 - ], - [ - 42658, - 117 - ], - [ - 42782, - 107 - ], - [ - 42957, - 118 - ], - [ - 43082, - 107 - ], - [ - 43257, - 118 - ], - [ - 43382, - 108 - ], - [ - 43557, - 117 - ], - [ - 43682, - 108 - ], - [ - 43857, - 117 - ], - [ - 43982, - 108 - ], - [ - 44157, - 117 - ], - [ - 44281, - 109 - ], - [ - 44458, - 116 - ], - [ - 44581, - 108 - ], - [ - 44758, - 116 - ], - [ - 44881, - 107 - ], - [ - 45059, - 115 - ], - [ - 45181, - 106 - ], - [ - 45360, - 114 - ], - [ - 45481, - 105 - ], - [ - 45662, - 112 - ], - [ - 45781, - 102 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 10 - ], - [ - 58138, - 8 - ], - [ - 58287, - 9 - ], - [ - 58437, - 8 - ], - [ - 58588, - 9 - ], - [ - 58736, - 8 - ], - [ - 58888, - 9 - ], - [ - 59035, - 9 - ], - [ - 59189, - 9 - ], - [ - 59335, - 8 - ], - [ - 59489, - 9 - ], - [ - 59634, - 8 - ], - [ - 59790, - 8 - ], - [ - 59933, - 8 - ], - [ - 60091, - 6 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.25, - "y": 0.9009992, - "z": 0.75 - }, - "object_poses": [ - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.098079, - "y": 0.07523658, - "z": 1.95091677 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 0.704930544, - "y": 0.7821378, - "z": -0.4405536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.02264738, - "y": 0.3216827, - "z": 1.87976277 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.098079, - "y": 0.319321036, - "z": 1.87976277 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 0.255929768, - "y": 0.693491161, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.40524685, - "y": 1.13882124, - "z": 0.933637142 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.34200025, - "y": 1.139661, - "z": 1.24621618 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.342, - "y": 1.139661, - "z": 1.40250564 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.31037712, - "y": 1.13931763, - "z": 1.08992648 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.20506942, - "y": 0.7802308, - "z": -0.714678645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.17351043, - "y": 0.3193348, - "z": 1.80860865 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.34199977, - "y": 1.13894057, - "z": 1.55879521 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.223, - "y": 0.721387863, - "z": 1.342 - }, - "rotation": { - "x": 0.0, - "y": 255.000214, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.24713027, - "y": 1.13882124, - "z": 1.4025054 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.42382717, - "y": 0.729835749, - "z": 1.72741032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.22037852, - "y": 0.7294924, - "z": 0.9011624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.22037852, - "y": 0.732291162, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8728, - "y": 0.816, - "z": -1.513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": -0.213294759, - "y": 0.6898067, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.08474612, - "y": 0.7346528, - "z": 0.9011624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.35601091, - "y": 0.727, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 768702169, - "scene_num": 305 - }, - "task_id": "trial_T20190909_012047_412780", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3T9K2RY06UO14_317HQ483IAJBWJNXP9M81TD02HRNIX", - "high_descs": [ - "Turn and go to the desk.", - "Pick up a pen on the desk. ", - "Turn left and go to the desk.", - "Put the pen in a bowl on the desk.", - "Pick up the bowl on the desk. ", - "Turn and go to the nightstand by the bed. ", - "Put the bowl on the nightstand by the bed. " - ], - "task_desc": "Move a bowl with a pen to the nightstand by the bed. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3OHYZ19UGFWE8M4BE0U8ZKPMFKPAOV", - "high_descs": [ - "Turn left and walk towards the door, then turn right and walk up to the wooden desk.", - "Pick up the black pen off of the desk.", - "Turn left and walk towards the wall, then turn right to face the wooden desk.", - "Put the black pen in the glass bowl on the wooden desk.", - "Pick up the glass bowl with the pen in it off of the desk.", - "Turn around and walk towards the wall, then hang a left and walk up to the nightstand next to the bed.", - "Put the glass bowl with the pen in it on the wooden nightstand." - ], - "task_desc": "Put a glass bowl with a pen in it on a nightstand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A24RGLS3BRZ60J_3UN61F00HZGKZTKABWKVL4E5YTXR54", - "high_descs": [ - "Take a step to the left and face the desk.", - "Pick up the pencil from the right side of the desk.", - "Hold the pencil and take a step to the left.", - "Take the pencil and place it in the bowl on top of the desk.", - "Pick up the bowl from the top of the desk.", - "Carry the bowl and turn around. Then turn left to go back to the small dresser.", - "Place the bowl on the center of the small dresser." - ], - "task_desc": "Move a bowl and pencil to a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-305/trial_T20190909_012128_375274/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-305/trial_T20190909_012128_375274/traj_data.json deleted file mode 100644 index 3677f1ae9..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-305/trial_T20190909_012128_375274/traj_data.json +++ /dev/null @@ -1,3308 +0,0 @@ -{ - "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": 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": 3, - "image_name": "000000073.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000074.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000075.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000084.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000085.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000086.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000087.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000095.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000096.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000097.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000098.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000099.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000100.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000101.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000102.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000106.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000107.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000108.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000109.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000110.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000111.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000112.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000113.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000114.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000117.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000118.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000119.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000120.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000121.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000122.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000123.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000124.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000125.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000126.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000127.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000129.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000132.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000134.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 18 - }, - { - "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": 22 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "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": 27 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 6, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000169.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000170.png", - "low_idx": 28 - }, - { - "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": 28 - }, - { - "high_idx": 6, - "image_name": "000000174.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000175.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000176.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000177.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000178.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000179.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000180.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000181.png", - "low_idx": 28 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 5.49449396, - 5.49449396, - 4.35970688, - 4.35970688, - 4.57791232, - 4.57791232 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.368, - 5.368, - 5.52000044, - 5.52000044, - 4.52544688, - 4.52544688 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.37|+01.14|+01.09" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 5.49449396, - 5.49449396, - 4.35970688, - 4.35970688, - 4.57791232, - 4.57791232 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.37|+01.14|+01.09", - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.37|+01.14|+01.09" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 107, - 135, - 149, - 136 - ], - "mask": [ - [ - 40307, - 43 - ], - [ - 40607, - 39 - ] - ], - "point": [ - 128, - 134 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.37|+01.14|+01.09", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 154, - 127, - 194, - 158 - ], - "mask": [ - [ - 37966, - 14 - ], - [ - 38263, - 20 - ], - [ - 38561, - 24 - ], - [ - 38859, - 28 - ], - [ - 39158, - 31 - ], - [ - 39457, - 33 - ], - [ - 39756, - 35 - ], - [ - 40055, - 37 - ], - [ - 40355, - 38 - ], - [ - 40654, - 39 - ], - [ - 40954, - 40 - ], - [ - 41254, - 40 - ], - [ - 41554, - 41 - ], - [ - 41854, - 41 - ], - [ - 42154, - 41 - ], - [ - 42454, - 41 - ], - [ - 42754, - 41 - ], - [ - 43055, - 39 - ], - [ - 43355, - 39 - ], - [ - 43655, - 39 - ], - [ - 43955, - 38 - ], - [ - 44256, - 37 - ], - [ - 44556, - 36 - ], - [ - 44857, - 35 - ], - [ - 45157, - 34 - ], - [ - 45458, - 32 - ], - [ - 45759, - 31 - ], - [ - 46059, - 30 - ], - [ - 46361, - 27 - ], - [ - 46662, - 25 - ], - [ - 46963, - 23 - ], - [ - 47265, - 2 - ] - ], - "point": [ - 174, - 141 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 154, - 127, - 194, - 158 - ], - "mask": [ - [ - 37968, - 12 - ], - [ - 38263, - 3 - ], - [ - 38268, - 15 - ], - [ - 38561, - 5 - ], - [ - 38568, - 17 - ], - [ - 38859, - 7 - ], - [ - 38868, - 19 - ], - [ - 39158, - 8 - ], - [ - 39168, - 21 - ], - [ - 39457, - 9 - ], - [ - 39468, - 22 - ], - [ - 39756, - 10 - ], - [ - 39768, - 23 - ], - [ - 40055, - 11 - ], - [ - 40068, - 24 - ], - [ - 40355, - 11 - ], - [ - 40368, - 25 - ], - [ - 40654, - 12 - ], - [ - 40668, - 25 - ], - [ - 40954, - 12 - ], - [ - 40968, - 26 - ], - [ - 41254, - 12 - ], - [ - 41268, - 26 - ], - [ - 41554, - 11 - ], - [ - 41567, - 28 - ], - [ - 41854, - 11 - ], - [ - 41867, - 28 - ], - [ - 42154, - 11 - ], - [ - 42167, - 28 - ], - [ - 42454, - 11 - ], - [ - 42467, - 28 - ], - [ - 42754, - 11 - ], - [ - 42767, - 28 - ], - [ - 43055, - 10 - ], - [ - 43067, - 27 - ], - [ - 43355, - 10 - ], - [ - 43367, - 27 - ], - [ - 43655, - 39 - ], - [ - 43955, - 38 - ], - [ - 44256, - 37 - ], - [ - 44556, - 36 - ], - [ - 44857, - 35 - ], - [ - 45157, - 34 - ], - [ - 45458, - 32 - ], - [ - 45759, - 31 - ], - [ - 46059, - 30 - ], - [ - 46361, - 27 - ], - [ - 46662, - 25 - ], - [ - 46963, - 23 - ], - [ - 47265, - 2 - ] - ], - "point": [ - 174, - 141 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 62 - ], - [ - 24757, - 4 - ], - [ - 24785, - 3 - ], - [ - 24791, - 36 - ], - [ - 24970, - 63 - ], - [ - 25057, - 4 - ], - [ - 25085, - 3 - ], - [ - 25090, - 38 - ], - [ - 25270, - 63 - ], - [ - 25357, - 4 - ], - [ - 25384, - 4 - ], - [ - 25390, - 39 - ], - [ - 25570, - 63 - ], - [ - 25657, - 4 - ], - [ - 25684, - 4 - ], - [ - 25690, - 40 - ], - [ - 25869, - 64 - ], - [ - 25957, - 4 - ], - [ - 25984, - 3 - ], - [ - 25990, - 41 - ], - [ - 26169, - 64 - ], - [ - 26257, - 4 - ], - [ - 26284, - 2 - ], - [ - 26290, - 43 - ], - [ - 26469, - 65 - ], - [ - 26557, - 4 - ], - [ - 26584, - 1 - ], - [ - 26589, - 45 - ], - [ - 26769, - 65 - ], - [ - 26857, - 4 - ], - [ - 26888, - 47 - ], - [ - 27068, - 66 - ], - [ - 27157, - 3 - ], - [ - 27188, - 48 - ], - [ - 27368, - 66 - ], - [ - 27457, - 3 - ], - [ - 27487, - 49 - ], - [ - 27668, - 66 - ], - [ - 27756, - 4 - ], - [ - 27785, - 49 - ], - [ - 27968, - 66 - ], - [ - 28056, - 4 - ], - [ - 28083, - 50 - ], - [ - 28268, - 66 - ], - [ - 28356, - 4 - ], - [ - 28383, - 50 - ], - [ - 28567, - 67 - ], - [ - 28656, - 4 - ], - [ - 28683, - 49 - ], - [ - 28867, - 67 - ], - [ - 28956, - 4 - ], - [ - 28983, - 48 - ], - [ - 29167, - 67 - ], - [ - 29256, - 5 - ], - [ - 29282, - 48 - ], - [ - 29467, - 68 - ], - [ - 29556, - 5 - ], - [ - 29582, - 47 - ], - [ - 29767, - 68 - ], - [ - 29855, - 7 - ], - [ - 29882, - 47 - ], - [ - 30066, - 70 - ], - [ - 30154, - 9 - ], - [ - 30181, - 47 - ], - [ - 30366, - 71 - ], - [ - 30453, - 11 - ], - [ - 30480, - 47 - ], - [ - 30666, - 73 - ], - [ - 30752, - 13 - ], - [ - 30778, - 48 - ], - [ - 30966, - 75 - ], - [ - 31050, - 17 - ], - [ - 31076, - 50 - ], - [ - 31266, - 159 - ], - [ - 31565, - 159 - ], - [ - 31775, - 2 - ], - [ - 31865, - 159 - ], - [ - 32072, - 6 - ], - [ - 32165, - 158 - ], - [ - 32372, - 6 - ], - [ - 32465, - 158 - ], - [ - 32672, - 6 - ], - [ - 32765, - 158 - ], - [ - 32972, - 7 - ], - [ - 33064, - 159 - ], - [ - 33272, - 7 - ], - [ - 33364, - 159 - ], - [ - 33572, - 7 - ], - [ - 33664, - 159 - ], - [ - 33871, - 8 - ], - [ - 33964, - 158 - ], - [ - 34171, - 9 - ], - [ - 34263, - 159 - ], - [ - 34471, - 9 - ], - [ - 34563, - 159 - ], - [ - 34771, - 9 - ], - [ - 34863, - 160 - ], - [ - 35070, - 11 - ], - [ - 35163, - 160 - ], - [ - 35370, - 11 - ], - [ - 35463, - 160 - ], - [ - 35670, - 11 - ], - [ - 35762, - 162 - ], - [ - 35969, - 13 - ], - [ - 36062, - 162 - ], - [ - 36269, - 13 - ], - [ - 36362, - 163 - ], - [ - 36569, - 13 - ], - [ - 36662, - 163 - ], - [ - 36868, - 15 - ], - [ - 36962, - 164 - ], - [ - 37168, - 15 - ], - [ - 37261, - 166 - ], - [ - 37467, - 16 - ], - [ - 37561, - 167 - ], - [ - 37767, - 17 - ], - [ - 37861, - 168 - ], - [ - 38066, - 18 - ], - [ - 38161, - 169 - ], - [ - 38366, - 18 - ], - [ - 38461, - 170 - ], - [ - 38664, - 21 - ], - [ - 38760, - 172 - ], - [ - 38964, - 21 - ], - [ - 39060, - 174 - ], - [ - 39262, - 23 - ], - [ - 39360, - 176 - ], - [ - 39560, - 25 - ], - [ - 39660, - 178 - ], - [ - 39859, - 27 - ], - [ - 39960, - 181 - ], - [ - 40157, - 29 - ], - [ - 40259, - 188 - ], - [ - 40451, - 35 - ], - [ - 40559, - 228 - ], - [ - 40859, - 228 - ], - [ - 41159, - 228 - ], - [ - 41458, - 230 - ], - [ - 41758, - 230 - ], - [ - 42058, - 230 - ], - [ - 42358, - 103 - ], - [ - 42462, - 127 - ], - [ - 42658, - 102 - ], - [ - 42763, - 126 - ], - [ - 42957, - 103 - ], - [ - 43063, - 126 - ], - [ - 43257, - 103 - ], - [ - 43363, - 127 - ], - [ - 43557, - 102 - ], - [ - 43664, - 126 - ], - [ - 43857, - 102 - ], - [ - 43964, - 126 - ], - [ - 44157, - 102 - ], - [ - 44264, - 126 - ], - [ - 44458, - 100 - ], - [ - 44564, - 125 - ], - [ - 44758, - 100 - ], - [ - 44864, - 124 - ], - [ - 45059, - 99 - ], - [ - 45165, - 122 - ], - [ - 45360, - 97 - ], - [ - 45465, - 121 - ], - [ - 45662, - 95 - ], - [ - 45765, - 118 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 10 - ], - [ - 58138, - 8 - ], - [ - 58287, - 9 - ], - [ - 58437, - 8 - ], - [ - 58588, - 9 - ], - [ - 58736, - 8 - ], - [ - 58888, - 9 - ], - [ - 59035, - 9 - ], - [ - 59189, - 9 - ], - [ - 59335, - 8 - ], - [ - 59489, - 9 - ], - [ - 59634, - 8 - ], - [ - 59790, - 9 - ], - [ - 59933, - 8 - ], - [ - 60091, - 7 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.9009992, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Mug_fa34f539", - "position": { - "x": 0.0213174969, - "y": 0.691315234, - "z": -1.794143 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": -0.09598863, - "y": 0.6882, - "z": -1.794143 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 0.579895854, - "y": 0.7821378, - "z": 0.107696474 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.37362349, - "y": 1.14447808, - "z": 1.08992672 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": -0.447907031, - "y": 0.6933112, - "z": -1.83854759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": -0.266615927, - "y": 0.09818398, - "z": -1.64055753 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.37362313, - "y": 1.139661, - "z": 1.40250564 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8299653, - "y": 0.8492504, - "z": -0.714678645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.08474612, - "y": 0.7294924, - "z": 0.9011624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.27875376, - "y": 1.13931763, - "z": 1.246216 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.8299653, - "y": 0.7768329, - "z": -0.166428566 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.145, - "y": 0.721387863, - "z": 1.806 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.31037664, - "y": 1.14213014, - "z": 1.55879521 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.35345471, - "y": 0.721387863, - "z": 0.8918423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.20506942, - "y": 0.7768329, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.01692986, - "y": 0.728996, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.09400001, - "y": 0.09902375, - "z": -1.64055753 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.15256226, - "y": 0.7294924, - "z": 1.23166156 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.31037724, - "y": 1.14211643, - "z": 0.933636963 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8728, - "y": 0.816, - "z": -1.513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.35601091, - "y": 0.7286067, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.08474612, - "y": 0.7346528, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.08474612, - "y": 0.727, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3361359003, - "scene_num": 305 - }, - "task_id": "trial_T20190909_012128_375274", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A31681CCEVDIH3_3300DTYQT58KJBY39IOYK8ADF0CEQ9", - "high_descs": [ - "Make a right and walk across the room towards the wooden desk.", - "Pick up the black and white pen from the top of the desk.", - "Turn to face the lower part of the desk.", - "Put the black pen in the clear bowl on the desk.", - "Pick up the clear bowl with the black and white pen inside it from the desk.", - "Turn around, walk forward, hanging a right at the end of the bed to reach the dresser next to the bed.", - "Put the clear bowl with the pen down on the dresser." - ], - "task_desc": "Put a pen in a bowl next to the bed on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1O3TWBUDONVLO_3IO1LGZLKCOA0S5SH6O0MTX04W3868", - "high_descs": [ - "Turn right and walk forward to face the top of the desk.", - "Pick up the pen on the top of the desk.", - "Look down to face the bowl on the desk.", - "Put the pen in the bowl on the desk.", - "Pick up the bowl with a pen in it.", - "Turn right and walk around the bed to face the side table.", - "Place the bowl with a pen in it on the side table." - ], - "task_desc": "To put a pen in a bowl and move it to side table by the bed.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3TPWUS5F8CSA6AABP0H9M9SWIQNWCB", - "high_descs": [ - "Turn right at the door and face the top shelf on the desk. ", - "Pick up the pen to the right of the clock. ", - "Look down at the desk. ", - "Put the pen in the bowl behind the alarm clock. ", - "Pick up the bowl from the desk. ", - "Walk over to the night stand to the right of the bed. ", - "Put the bowl down on the night stand on the left side. " - ], - "task_desc": "Put a pen in a bowl and put the bowl down on the night stand. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170754_628123/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170754_628123/traj_data.json deleted file mode 100644 index 7c6fbde23..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170754_628123/traj_data.json +++ /dev/null @@ -1,5057 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 5 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 51 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 71 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|6|0|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 11.13918112, - 11.13918112, - 10.45246504, - 10.45246504, - 3.255920648, - 3.255920648 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.78|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 11.13918112, - 11.13918112, - 10.45246504, - 10.45246504, - 3.255920648, - 3.255920648 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 9.596714, - 9.596714, - -6.28292988, - -6.28292988, - 2.9874788, - 2.9874788 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.78|+00.81|+02.61", - "receptacleObjectId": "Bowl|+02.40|+00.75|-01.57" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.596714, - 9.596714, - -6.28292988, - -6.28292988, - 2.9874788, - 2.9874788 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.40|+00.75|-01.57" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.596714, - 9.596714, - -6.28292988, - -6.28292988, - 2.9874788, - 2.9874788 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.40|+00.75|-01.57", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+02.78|+00.81|+02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 140, - 173, - 175, - 173 - ], - "mask": [ - [ - 51740, - 36 - ] - ], - "point": [ - 157, - 172 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+02.78|+00.81|+02.61", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.40|+00.75|-01.57" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 142, - 138, - 200, - 191 - ], - "mask": [ - [ - 41264, - 12 - ], - [ - 41560, - 20 - ], - [ - 41858, - 25 - ], - [ - 42155, - 30 - ], - [ - 42454, - 33 - ], - [ - 42752, - 36 - ], - [ - 43051, - 39 - ], - [ - 43350, - 41 - ], - [ - 43649, - 43 - ], - [ - 43948, - 45 - ], - [ - 44247, - 47 - ], - [ - 44546, - 49 - ], - [ - 44846, - 50 - ], - [ - 45145, - 51 - ], - [ - 45444, - 53 - ], - [ - 45744, - 54 - ], - [ - 46044, - 54 - ], - [ - 46343, - 56 - ], - [ - 46643, - 56 - ], - [ - 46943, - 56 - ], - [ - 47242, - 58 - ], - [ - 47542, - 58 - ], - [ - 47842, - 58 - ], - [ - 48142, - 58 - ], - [ - 48442, - 59 - ], - [ - 48742, - 59 - ], - [ - 49042, - 59 - ], - [ - 49342, - 59 - ], - [ - 49642, - 59 - ], - [ - 49942, - 59 - ], - [ - 50243, - 57 - ], - [ - 50543, - 57 - ], - [ - 50843, - 57 - ], - [ - 51143, - 57 - ], - [ - 51444, - 56 - ], - [ - 51744, - 55 - ], - [ - 52044, - 55 - ], - [ - 52345, - 53 - ], - [ - 52646, - 52 - ], - [ - 52946, - 51 - ], - [ - 53247, - 50 - ], - [ - 53547, - 49 - ], - [ - 53848, - 47 - ], - [ - 54149, - 45 - ], - [ - 54450, - 43 - ], - [ - 54751, - 42 - ], - [ - 55052, - 39 - ], - [ - 55353, - 37 - ], - [ - 55655, - 34 - ], - [ - 55956, - 31 - ], - [ - 56258, - 27 - ], - [ - 56560, - 23 - ], - [ - 56863, - 17 - ], - [ - 57168, - 7 - ] - ], - "point": [ - 171, - 163 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.40|+00.75|-01.57" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 142, - 138, - 200, - 191 - ], - "mask": [ - [ - 41264, - 12 - ], - [ - 41560, - 20 - ], - [ - 41858, - 23 - ], - [ - 42155, - 26 - ], - [ - 42184, - 1 - ], - [ - 42454, - 27 - ], - [ - 42483, - 4 - ], - [ - 42752, - 28 - ], - [ - 42783, - 5 - ], - [ - 43051, - 29 - ], - [ - 43083, - 7 - ], - [ - 43350, - 30 - ], - [ - 43383, - 8 - ], - [ - 43649, - 31 - ], - [ - 43683, - 9 - ], - [ - 43948, - 32 - ], - [ - 43982, - 11 - ], - [ - 44247, - 32 - ], - [ - 44282, - 12 - ], - [ - 44546, - 33 - ], - [ - 44582, - 13 - ], - [ - 44846, - 33 - ], - [ - 44882, - 14 - ], - [ - 45145, - 34 - ], - [ - 45182, - 14 - ], - [ - 45444, - 35 - ], - [ - 45481, - 16 - ], - [ - 45744, - 34 - ], - [ - 45781, - 17 - ], - [ - 46044, - 34 - ], - [ - 46081, - 17 - ], - [ - 46343, - 35 - ], - [ - 46381, - 18 - ], - [ - 46643, - 35 - ], - [ - 46680, - 19 - ], - [ - 46943, - 35 - ], - [ - 46980, - 19 - ], - [ - 47242, - 36 - ], - [ - 47280, - 20 - ], - [ - 47542, - 35 - ], - [ - 47580, - 20 - ], - [ - 47842, - 35 - ], - [ - 47880, - 20 - ], - [ - 48142, - 36 - ], - [ - 48179, - 21 - ], - [ - 48442, - 59 - ], - [ - 48742, - 59 - ], - [ - 49042, - 59 - ], - [ - 49342, - 59 - ], - [ - 49642, - 59 - ], - [ - 49942, - 59 - ], - [ - 50243, - 57 - ], - [ - 50543, - 57 - ], - [ - 50843, - 57 - ], - [ - 51143, - 57 - ], - [ - 51444, - 56 - ], - [ - 51744, - 55 - ], - [ - 52044, - 55 - ], - [ - 52345, - 53 - ], - [ - 52646, - 52 - ], - [ - 52946, - 51 - ], - [ - 53247, - 50 - ], - [ - 53547, - 49 - ], - [ - 53848, - 47 - ], - [ - 54149, - 45 - ], - [ - 54450, - 43 - ], - [ - 54751, - 42 - ], - [ - 55052, - 39 - ], - [ - 55353, - 37 - ], - [ - 55655, - 34 - ], - [ - 55956, - 31 - ], - [ - 56258, - 27 - ], - [ - 56560, - 23 - ], - [ - 56863, - 17 - ], - [ - 57168, - 7 - ] - ], - "point": [ - 171, - 163 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+02.40|+00.75|-01.57", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 71 - ], - [ - 31913, - 23 - ], - [ - 32032, - 68 - ], - [ - 32141, - 71 - ], - [ - 32213, - 24 - ], - [ - 32331, - 69 - ], - [ - 32441, - 71 - ], - [ - 32514, - 25 - ], - [ - 32628, - 72 - ], - [ - 32741, - 70 - ], - [ - 32814, - 28 - ], - [ - 32926, - 74 - ], - [ - 33040, - 71 - ], - [ - 33114, - 30 - ], - [ - 33224, - 76 - ], - [ - 33340, - 71 - ], - [ - 33413, - 34 - ], - [ - 33522, - 78 - ], - [ - 33640, - 71 - ], - [ - 33713, - 36 - ], - [ - 33819, - 81 - ], - [ - 33940, - 71 - ], - [ - 34013, - 40 - ], - [ - 34116, - 84 - ], - [ - 34239, - 72 - ], - [ - 34313, - 43 - ], - [ - 34412, - 88 - ], - [ - 34539, - 72 - ], - [ - 34613, - 47 - ], - [ - 34708, - 92 - ], - [ - 34839, - 72 - ], - [ - 34913, - 53 - ], - [ - 35002, - 98 - ], - [ - 35139, - 72 - ], - [ - 35213, - 61 - ], - [ - 35294, - 106 - ], - [ - 35438, - 73 - ], - [ - 35513, - 187 - ], - [ - 35738, - 73 - ], - [ - 35813, - 187 - ], - [ - 36038, - 72 - ], - [ - 36113, - 187 - ], - [ - 36337, - 73 - ], - [ - 36413, - 187 - ], - [ - 36637, - 73 - ], - [ - 36713, - 187 - ], - [ - 36937, - 73 - ], - [ - 37013, - 187 - ], - [ - 37237, - 73 - ], - [ - 37312, - 188 - ], - [ - 37536, - 74 - ], - [ - 37612, - 188 - ], - [ - 37836, - 74 - ], - [ - 37912, - 188 - ], - [ - 38136, - 74 - ], - [ - 38212, - 188 - ], - [ - 38436, - 74 - ], - [ - 38512, - 188 - ], - [ - 38735, - 75 - ], - [ - 38812, - 188 - ], - [ - 39035, - 75 - ], - [ - 39112, - 188 - ], - [ - 39335, - 75 - ], - [ - 39412, - 188 - ], - [ - 39635, - 74 - ], - [ - 39712, - 188 - ], - [ - 39934, - 75 - ], - [ - 40012, - 188 - ], - [ - 40234, - 75 - ], - [ - 40312, - 188 - ], - [ - 40534, - 75 - ], - [ - 40612, - 188 - ], - [ - 40833, - 76 - ], - [ - 40912, - 188 - ], - [ - 41133, - 76 - ], - [ - 41211, - 189 - ], - [ - 41433, - 76 - ], - [ - 41511, - 189 - ], - [ - 41733, - 76 - ], - [ - 41811, - 189 - ], - [ - 42032, - 77 - ], - [ - 42111, - 189 - ], - [ - 42332, - 77 - ], - [ - 42411, - 189 - ], - [ - 42632, - 77 - ], - [ - 42711, - 189 - ], - [ - 42932, - 77 - ], - [ - 43011, - 189 - ], - [ - 43231, - 77 - ], - [ - 43311, - 189 - ], - [ - 43531, - 78 - ], - [ - 43610, - 190 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 2.5, - "y": 0.9101201, - "z": 5.25 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.44725227, - "y": 0.7424376, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.749808, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.8811438, - "y": 0.915931046, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.68043351, - "y": 0.809822559, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.36734867, - "y": 0.809822559, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.78479528, - "y": 0.813980162, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.52934146, - "y": 0.8463409, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.88915682, - "y": 0.810731351, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.9482056, - "y": 0.399810672, - "z": -1.31475186 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.47171044, - "y": 0.8154603, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.07318592, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -1.312467, - "y": 0.713601649, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.44725227, - "y": 0.752507448, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -0.749808, - "y": 0.913408458, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.3991785, - "y": 0.7468697, - "z": -1.57073247 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.88915682, - "y": 0.8083233, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.758681, - "y": 0.7467077, - "z": -1.669253 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.26298714, - "y": 0.8095615, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.116061687, - "y": 0.7123361, - "z": 3.105091 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.618261, - "y": 0.464960515, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.355342746, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": 0.123219371, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.815475941, - "y": 0.913105667, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -0.946811736, - "y": 0.9191518, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -1.01247966, - "y": 0.911498964, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3946151473, - "scene_num": 311 - }, - "task_id": "trial_T20190908_170754_628123", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_340UGXU9D1STDFR6LHXDUDVOIGKVU0", - "high_descs": [ - "Turn left then walk straight turn left stand in between the tv and table", - "Face the table and pick up the pen ", - "Turn left then head to the side table beside the couch", - "Put the pen in the bowl ", - "Pick up the bowl with pen ", - "Turn left then walk straight turn right on the tv stand", - "Put the bowl with pen on the left side of the tv stand" - ], - "task_desc": "Put the bowl with pen on the tv stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1OWHPMKE7YAGL_352YTHGROY4PEG271MPR286LBOTH4H", - "high_descs": [ - "Go forward to the wall, hang a left, go to the far end of the black table between the TV and the red chair and turn to face the table. ", - "Pick up the blue and white pen that is on the table to the left. ", - "Turn to the left, go forward, hang a left and go to the round black table at the end of the room. ", - "Put the pen in the bowl that is on the table. ", - "Pick up the bowl from the table. ", - "Turn around, hang a right, go to the table with the TV on it. ", - "Put the bowl on the left side of the table in front of the TV." - ], - "task_desc": "Put a bowl containing a pen on a table.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3PIWWX1FJMXB84GISTFGKNBJ6D5JJX", - "high_descs": [ - "Turn left, go past the table on the left, turn around to face the pen on the side of the table.", - "Pick up the pen on the table. ", - "Turn around, bring the pen to the small round table in the corner on the left. ", - "Put the pen in the bowl on the table.", - "Pick up the bowl with pen on the table. ", - "Bring the bowl with pen to the TV stand on the left.", - "Put the bowl with pen on the TV stand." - ], - "task_desc": "Put a bowl with pen on the TV stand. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170820_174380/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170820_174380/traj_data.json deleted file mode 100644 index 5e9465cbf..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170820_174380/traj_data.json +++ /dev/null @@ -1,4732 +0,0 @@ -{ - "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": 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": 10 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "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": 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": 1, - "image_name": "000000093.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "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": 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": 25 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 25 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 35 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "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": 41 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 51 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|6|2|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 11.40263368, - 11.40263368, - 3.0205612, - 3.0205612, - 3.39461136, - 3.39461136 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.85|+00.85|+00.76" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|10|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 11.40263368, - 11.40263368, - 3.0205612, - 3.0205612, - 3.39461136, - 3.39461136 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 10.45246504, - 10.45246504, - 3.239290236, - 3.239290236 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.85|+00.85|+00.76", - "receptacleObjectId": "Bowl|+02.37|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 10.45246504, - 10.45246504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 10.45246504, - 10.45246504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+02.61", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "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": "PickupObject", - "objectId": "Pen|+02.85|+00.85|+00.76" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 125, - 150, - 147, - 151 - ], - "mask": [ - [ - 44825, - 23 - ], - [ - 45125, - 23 - ] - ], - "point": [ - 136, - 149 - ] - } - }, - "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": "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": "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": "Pen|+02.85|+00.85|+00.76", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.37|+00.81|+02.61" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 90, - 79, - 145, - 124 - ], - "mask": [ - [ - 23519, - 2 - ], - [ - 23811, - 17 - ], - [ - 24108, - 23 - ], - [ - 24405, - 29 - ], - [ - 24703, - 32 - ], - [ - 25001, - 36 - ], - [ - 25300, - 38 - ], - [ - 25599, - 40 - ], - [ - 25897, - 44 - ], - [ - 26196, - 46 - ], - [ - 26495, - 47 - ], - [ - 26795, - 48 - ], - [ - 27094, - 50 - ], - [ - 27393, - 51 - ], - [ - 27693, - 51 - ], - [ - 27992, - 53 - ], - [ - 28292, - 53 - ], - [ - 28591, - 54 - ], - [ - 28891, - 54 - ], - [ - 29191, - 55 - ], - [ - 29490, - 56 - ], - [ - 29790, - 56 - ], - [ - 30090, - 56 - ], - [ - 30390, - 55 - ], - [ - 30690, - 55 - ], - [ - 30991, - 54 - ], - [ - 31291, - 54 - ], - [ - 31591, - 54 - ], - [ - 31891, - 53 - ], - [ - 32192, - 52 - ], - [ - 32492, - 52 - ], - [ - 32792, - 51 - ], - [ - 33093, - 50 - ], - [ - 33394, - 48 - ], - [ - 33694, - 47 - ], - [ - 33995, - 46 - ], - [ - 34296, - 44 - ], - [ - 34597, - 42 - ], - [ - 34897, - 41 - ], - [ - 35198, - 39 - ], - [ - 35500, - 36 - ], - [ - 35801, - 33 - ], - [ - 36102, - 31 - ], - [ - 36404, - 26 - ], - [ - 36707, - 21 - ], - [ - 37010, - 14 - ] - ], - "point": [ - 117, - 100 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.37|+00.81|+02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 90, - 79, - 145, - 124 - ], - "mask": [ - [ - 23519, - 2 - ], - [ - 23811, - 17 - ], - [ - 24109, - 22 - ], - [ - 24405, - 2 - ], - [ - 24409, - 25 - ], - [ - 24703, - 4 - ], - [ - 24710, - 25 - ], - [ - 25001, - 6 - ], - [ - 25010, - 27 - ], - [ - 25300, - 7 - ], - [ - 25310, - 28 - ], - [ - 25599, - 9 - ], - [ - 25610, - 29 - ], - [ - 25897, - 11 - ], - [ - 25910, - 31 - ], - [ - 26196, - 12 - ], - [ - 26211, - 31 - ], - [ - 26495, - 13 - ], - [ - 26511, - 31 - ], - [ - 26795, - 13 - ], - [ - 26811, - 32 - ], - [ - 27094, - 15 - ], - [ - 27111, - 33 - ], - [ - 27393, - 15 - ], - [ - 27411, - 33 - ], - [ - 27693, - 15 - ], - [ - 27711, - 33 - ], - [ - 27992, - 17 - ], - [ - 28012, - 33 - ], - [ - 28292, - 17 - ], - [ - 28312, - 33 - ], - [ - 28591, - 18 - ], - [ - 28612, - 33 - ], - [ - 28891, - 18 - ], - [ - 28912, - 33 - ], - [ - 29191, - 18 - ], - [ - 29212, - 34 - ], - [ - 29490, - 20 - ], - [ - 29513, - 33 - ], - [ - 29790, - 20 - ], - [ - 29813, - 33 - ], - [ - 30090, - 21 - ], - [ - 30113, - 33 - ], - [ - 30390, - 21 - ], - [ - 30412, - 33 - ], - [ - 30690, - 55 - ], - [ - 30991, - 54 - ], - [ - 31291, - 54 - ], - [ - 31591, - 54 - ], - [ - 31891, - 53 - ], - [ - 32192, - 52 - ], - [ - 32492, - 52 - ], - [ - 32792, - 51 - ], - [ - 33093, - 50 - ], - [ - 33394, - 48 - ], - [ - 33694, - 47 - ], - [ - 33995, - 46 - ], - [ - 34296, - 44 - ], - [ - 34597, - 42 - ], - [ - 34897, - 41 - ], - [ - 35198, - 39 - ], - [ - 35500, - 36 - ], - [ - 35801, - 33 - ], - [ - 36102, - 31 - ], - [ - 36404, - 26 - ], - [ - 36707, - 21 - ], - [ - 37010, - 14 - ] - ], - "point": [ - 117, - 100 - ] - } - }, - "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": "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": "Bowl|+02.37|+00.81|+02.61", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 84 - ], - [ - 34795, - 5 - ], - [ - 34839, - 127 - ], - [ - 35002, - 67 - ], - [ - 35071, - 20 - ], - [ - 35097, - 3 - ], - [ - 35139, - 135 - ], - [ - 35294, - 74 - ], - [ - 35372, - 18 - ], - [ - 35398, - 2 - ], - [ - 35438, - 109 - ], - [ - 35551, - 119 - ], - [ - 35674, - 16 - ], - [ - 35699, - 1 - ], - [ - 35738, - 106 - ], - [ - 35847, - 4 - ], - [ - 35854, - 118 - ], - [ - 35980, - 10 - ], - [ - 35999, - 1 - ], - [ - 36038, - 106 - ], - [ - 36145, - 8 - ], - [ - 36154, - 120 - ], - [ - 36281, - 10 - ], - [ - 36299, - 1 - ], - [ - 36337, - 116 - ], - [ - 36454, - 121 - ], - [ - 36581, - 10 - ], - [ - 36599, - 1 - ], - [ - 36637, - 115 - ], - [ - 36754, - 122 - ], - [ - 36881, - 12 - ], - [ - 36898, - 2 - ], - [ - 36937, - 100 - ], - [ - 37043, - 2 - ], - [ - 37046, - 6 - ], - [ - 37053, - 124 - ], - [ - 37182, - 12 - ], - [ - 37197, - 3 - ], - [ - 37237, - 99 - ], - [ - 37344, - 1 - ], - [ - 37346, - 6 - ], - [ - 37353, - 128 - ], - [ - 37483, - 6 - ], - [ - 37495, - 1 - ], - [ - 37497, - 3 - ], - [ - 37536, - 100 - ], - [ - 37644, - 1 - ], - [ - 37646, - 6 - ], - [ - 37653, - 130 - ], - [ - 37784, - 4 - ], - [ - 37789, - 2 - ], - [ - 37792, - 1 - ], - [ - 37797, - 3 - ], - [ - 37836, - 100 - ], - [ - 37947, - 2 - ], - [ - 37951, - 1 - ], - [ - 37953, - 131 - ], - [ - 38090, - 1 - ], - [ - 38092, - 1 - ], - [ - 38094, - 1 - ], - [ - 38097, - 3 - ], - [ - 38136, - 100 - ], - [ - 38247, - 1 - ], - [ - 38249, - 2 - ], - [ - 38253, - 133 - ], - [ - 38394, - 1 - ], - [ - 38396, - 1 - ], - [ - 38398, - 2 - ], - [ - 38436, - 100 - ], - [ - 38544, - 2 - ], - [ - 38553, - 133 - ], - [ - 38692, - 1 - ], - [ - 38735, - 102 - ], - [ - 38843, - 4 - ], - [ - 38850, - 2 - ], - [ - 38853, - 130 - ], - [ - 38992, - 8 - ], - [ - 39035, - 104 - ], - [ - 39142, - 5 - ], - [ - 39148, - 2 - ], - [ - 39153, - 127 - ], - [ - 39292, - 8 - ], - [ - 39335, - 111 - ], - [ - 39447, - 1 - ], - [ - 39453, - 127 - ], - [ - 39586, - 3 - ], - [ - 39590, - 10 - ], - [ - 39635, - 115 - ], - [ - 39755, - 125 - ], - [ - 39882, - 18 - ], - [ - 39934, - 113 - ], - [ - 40055, - 145 - ], - [ - 40234, - 115 - ], - [ - 40355, - 145 - ], - [ - 40534, - 115 - ], - [ - 40655, - 145 - ], - [ - 40833, - 116 - ], - [ - 40950, - 1 - ], - [ - 40955, - 145 - ], - [ - 41133, - 115 - ], - [ - 41249, - 3 - ], - [ - 41255, - 145 - ], - [ - 41433, - 114 - ], - [ - 41548, - 5 - ], - [ - 41556, - 144 - ], - [ - 41733, - 108 - ], - [ - 41847, - 6 - ], - [ - 41855, - 145 - ], - [ - 42032, - 108 - ], - [ - 42146, - 7 - ], - [ - 42156, - 144 - ], - [ - 42332, - 108 - ], - [ - 42446, - 8 - ], - [ - 42457, - 143 - ], - [ - 42632, - 108 - ], - [ - 42746, - 8 - ], - [ - 42756, - 144 - ], - [ - 42932, - 107 - ], - [ - 43045, - 155 - ], - [ - 43231, - 108 - ], - [ - 43342, - 158 - ], - [ - 43531, - 107 - ], - [ - 43641, - 159 - ], - [ - 43831, - 106 - ], - [ - 43941, - 159 - ], - [ - 44131, - 105 - ], - [ - 44240, - 160 - ], - [ - 44430, - 106 - ], - [ - 44539, - 161 - ], - [ - 44730, - 107 - ], - [ - 44838, - 162 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.9101201, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.78479528, - "y": 0.806327343, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.47171044, - "y": 0.8053905, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.36734867, - "y": 0.809822559, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.47171044, - "y": 0.809822559, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.576072, - "y": 0.808236837, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.85065842, - "y": 0.84865284, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.749808, - "y": 0.916839838, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.57583427, - "y": 0.458984017, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.44725227, - "y": 0.7444336, - "z": -1.37231946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.52934146, - "y": 0.8438358, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.32727814, - "y": 0.745273352, - "z": -1.4722122 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.618261, - "y": 0.460885167, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.8811438, - "y": 0.9127645, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.749808, - "y": 0.9215688, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.47171044, - "y": 0.8163972, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.5946238, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.815475941, - "y": 0.911498964, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.47171044, - "y": 0.8053905, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -1.07318592, - "y": 0.713601649, - "z": 2.82226515 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.44725227, - "y": 0.752507448, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.68043351, - "y": 0.8073, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -1.05462563, - "y": 0.899999, - "z": 3.87900376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.45482922, - "y": 0.399810672, - "z": -0.33312723 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.52934146, - "y": 0.8438358, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -0.946811736, - "y": 0.9147331, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.355342746, - "y": 0.7123361, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.78479528, - "y": 0.810731351, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -1.21792412, - "y": 0.4706937, - "z": -1.1405133 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.312467, - "y": 0.785215139, - "z": 2.53943944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -1.03811157, - "y": 0.3994214, - "z": -1.3147521 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.59503245, - "y": 0.7500904, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.946811736, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 511705330, - "scene_num": 311 - }, - "task_id": "trial_T20190908_170820_174380", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AM2KK02JXXW48_3B837J3LDRNL5VILNSX3EFOXCDGSRI", - "high_descs": [ - "Turn right, move to the left side of the TV stand, turn right to face the side of the TV.", - "Pick up the pen on the TV stand. ", - "Turn around, bring the pen to the bowl on the table.", - "Put the pen in the bowl on the table.", - "Pick up the bowl with pen on the table. ", - "Bring the bowl to the TV stand on the right.", - "Put the bowl on the TV stand. " - ], - "task_desc": "Put a bowl with pen in it on the TV stand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3L0KT67Y8H7U2WU71NPXMBHUF0VYSQ", - "high_descs": [ - "Walk up to the end of the bed, then turn right and walk towards the television, hang a left and walk up to the left end of the dresser the television is on.", - "Pick up the black pen off of the dresser.", - "Turn right and walk towards the bed, then hang a right and walk up to the table.", - "Put the black pen in the glass bowl on the table.", - "Pick up the glass bowl with the pen in it off of the table.", - "Turn right and walk towards the wall, then turn left and walk up to the television.", - "Put the glass bowl with the pen in it on the front left corner of the white dresser." - ], - "task_desc": "Put a glass bowl with a pen in it on a white dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3QIYRE09Y680WDRZH2129UWELFFN14", - "high_descs": [ - "Turn right, walk around the TV stand, turn right to face the TV stand. ", - "Pick up the pen to the left of the keys. ", - "Walk to the right side of the table. ", - "Put the pen inside of the bowl to the right of the lap top. ", - "Pick up the bowl from the table. ", - "Walk to the front of the TV stand. ", - "Place the bowl on the TV stand to the left of the set of keys. " - ], - "task_desc": "To put a pen in the bowl and place the bowl on the TV stand. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170842_682996/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170842_682996/traj_data.json deleted file mode 100644 index a7e608e3d..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-311/trial_T20190908_170842_682996/traj_data.json +++ /dev/null @@ -1,5756 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "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": 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": 17 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "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": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 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": 26 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000122.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000125.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000126.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000127.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 29 - }, - { - "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": 2, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "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": 48 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 53 - }, - { - "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": 56 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000235.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000236.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000237.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000238.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000239.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000240.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000241.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000242.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000243.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000244.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000245.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000246.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000247.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000248.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000249.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000346.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000347.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000348.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000349.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000350.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000351.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000352.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000353.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000354.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000355.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000356.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000357.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000358.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000359.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000360.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000361.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000362.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000363.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000364.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000365.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000366.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000367.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000368.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000369.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000370.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000371.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000372.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000373.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000374.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000375.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000376.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 88 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|6|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 10.76, - 10.76, - 4.06968308, - 4.06968308, - 3.39461136, - 3.39461136 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.69|+00.85|+01.02" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|17|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 10.76, - 10.76, - 4.06968308, - 4.06968308, - 3.39461136, - 3.39461136 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - -3.261903764, - -3.261903764, - 17.4, - 17.4, - 3.663724184, - 3.663724184 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.69|+00.85|+01.02", - "receptacleObjectId": "Bowl|-00.82|+00.92|+04.35" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - -3.261903764, - -3.261903764, - 17.4, - 17.4, - 3.663724184, - 3.663724184 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -3.5624, - -3.5624, - 17.4, - 17.4, - 3.807995796, - 3.807995796 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-00.82|+00.92|+04.35" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - -3.261903764, - -3.261903764, - 17.4, - 17.4, - 3.663724184, - 3.663724184 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-00.82|+00.92|+04.35", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "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": "Pen|+02.69|+00.85|+01.02" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 138, - 136, - 193, - 138 - ], - "mask": [ - [ - 40641, - 8 - ], - [ - 40671, - 19 - ], - [ - 40938, - 11 - ], - [ - 40971, - 23 - ], - [ - 41242, - 7 - ], - [ - 41271, - 19 - ] - ], - "point": [ - 171, - 136 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+02.69|+00.85|+01.02", - "placeStationary": true, - "receptacleObjectId": "Bowl|-00.82|+00.92|+04.35" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 151, - 67, - 213, - 118 - ], - "mask": [ - [ - 19974, - 13 - ], - [ - 20270, - 22 - ], - [ - 20567, - 28 - ], - [ - 20864, - 33 - ], - [ - 21163, - 36 - ], - [ - 21461, - 40 - ], - [ - 21759, - 44 - ], - [ - 22058, - 46 - ], - [ - 22357, - 48 - ], - [ - 22656, - 51 - ], - [ - 22955, - 53 - ], - [ - 23255, - 53 - ], - [ - 23554, - 55 - ], - [ - 23853, - 57 - ], - [ - 24153, - 58 - ], - [ - 24452, - 59 - ], - [ - 24752, - 60 - ], - [ - 25051, - 62 - ], - [ - 25351, - 62 - ], - [ - 25651, - 62 - ], - [ - 25951, - 63 - ], - [ - 26251, - 63 - ], - [ - 26551, - 63 - ], - [ - 26851, - 63 - ], - [ - 27151, - 63 - ], - [ - 27451, - 63 - ], - [ - 27751, - 63 - ], - [ - 28051, - 63 - ], - [ - 28351, - 63 - ], - [ - 28652, - 62 - ], - [ - 28952, - 61 - ], - [ - 29252, - 61 - ], - [ - 29553, - 60 - ], - [ - 29853, - 59 - ], - [ - 30153, - 59 - ], - [ - 30454, - 57 - ], - [ - 30754, - 57 - ], - [ - 31055, - 55 - ], - [ - 31356, - 54 - ], - [ - 31656, - 53 - ], - [ - 31957, - 51 - ], - [ - 32258, - 49 - ], - [ - 32559, - 47 - ], - [ - 32860, - 45 - ], - [ - 33161, - 44 - ], - [ - 33463, - 40 - ], - [ - 33764, - 38 - ], - [ - 34066, - 34 - ], - [ - 34368, - 30 - ], - [ - 34670, - 26 - ], - [ - 34973, - 19 - ], - [ - 35278, - 10 - ] - ], - "point": [ - 182, - 91 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|-00.82|+00.92|+04.35" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 151, - 67, - 213, - 118 - ], - "mask": [ - [ - 19974, - 13 - ], - [ - 20270, - 22 - ], - [ - 20567, - 28 - ], - [ - 20864, - 33 - ], - [ - 21163, - 34 - ], - [ - 21461, - 35 - ], - [ - 21500, - 1 - ], - [ - 21759, - 37 - ], - [ - 21799, - 4 - ], - [ - 22058, - 38 - ], - [ - 22099, - 5 - ], - [ - 22357, - 39 - ], - [ - 22399, - 6 - ], - [ - 22656, - 39 - ], - [ - 22699, - 8 - ], - [ - 22955, - 40 - ], - [ - 22999, - 9 - ], - [ - 23255, - 40 - ], - [ - 23298, - 10 - ], - [ - 23554, - 41 - ], - [ - 23598, - 11 - ], - [ - 23853, - 42 - ], - [ - 23898, - 12 - ], - [ - 24153, - 41 - ], - [ - 24198, - 13 - ], - [ - 24452, - 42 - ], - [ - 24497, - 14 - ], - [ - 24752, - 42 - ], - [ - 24797, - 15 - ], - [ - 25051, - 43 - ], - [ - 25097, - 16 - ], - [ - 25351, - 43 - ], - [ - 25397, - 16 - ], - [ - 25651, - 42 - ], - [ - 25697, - 16 - ], - [ - 25951, - 42 - ], - [ - 25996, - 18 - ], - [ - 26251, - 42 - ], - [ - 26296, - 18 - ], - [ - 26551, - 42 - ], - [ - 26596, - 18 - ], - [ - 26851, - 42 - ], - [ - 26896, - 18 - ], - [ - 27151, - 41 - ], - [ - 27195, - 19 - ], - [ - 27451, - 41 - ], - [ - 27495, - 19 - ], - [ - 27751, - 41 - ], - [ - 27795, - 19 - ], - [ - 28051, - 41 - ], - [ - 28095, - 19 - ], - [ - 28351, - 41 - ], - [ - 28395, - 19 - ], - [ - 28652, - 39 - ], - [ - 28695, - 19 - ], - [ - 28952, - 39 - ], - [ - 28995, - 18 - ], - [ - 29252, - 39 - ], - [ - 29295, - 18 - ], - [ - 29553, - 38 - ], - [ - 29594, - 19 - ], - [ - 29853, - 38 - ], - [ - 29894, - 18 - ], - [ - 30153, - 37 - ], - [ - 30194, - 18 - ], - [ - 30454, - 36 - ], - [ - 30494, - 17 - ], - [ - 30754, - 36 - ], - [ - 30794, - 17 - ], - [ - 31055, - 35 - ], - [ - 31093, - 17 - ], - [ - 31356, - 34 - ], - [ - 31393, - 17 - ], - [ - 31656, - 34 - ], - [ - 31691, - 18 - ], - [ - 31957, - 33 - ], - [ - 31991, - 17 - ], - [ - 32258, - 32 - ], - [ - 32291, - 16 - ], - [ - 32559, - 47 - ], - [ - 32860, - 45 - ], - [ - 33161, - 44 - ], - [ - 33463, - 40 - ], - [ - 33764, - 38 - ], - [ - 34066, - 34 - ], - [ - 34368, - 30 - ], - [ - 34670, - 26 - ], - [ - 34973, - 19 - ], - [ - 35278, - 10 - ] - ], - "point": [ - 182, - 91 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|-00.82|+00.92|+04.35", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 20 - ], - [ - 18678, - 2 - ], - [ - 18894, - 6 - ], - [ - 18953, - 21 - ], - [ - 18984, - 7 - ], - [ - 18992, - 6 - ], - [ - 19176, - 24 - ], - [ - 19253, - 19 - ], - [ - 19279, - 6 - ], - [ - 19292, - 10 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 16 - ], - [ - 19578, - 24 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 16 - ], - [ - 19872, - 30 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 4 - ], - [ - 26658, - 42 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 4 - ], - [ - 26958, - 42 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 4 - ], - [ - 27259, - 41 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 6 - ], - [ - 27559, - 41 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 7 - ], - [ - 27859, - 41 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 8 - ], - [ - 28159, - 41 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 9 - ], - [ - 28459, - 41 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 9 - ], - [ - 28760, - 40 - ], - [ - 28844, - 18 - ], - [ - 28874, - 46 - ], - [ - 28946, - 73 - ], - [ - 29046, - 12 - ], - [ - 29060, - 40 - ], - [ - 29144, - 15 - ], - [ - 29176, - 46 - ], - [ - 29248, - 70 - ], - [ - 29345, - 13 - ], - [ - 29360, - 40 - ], - [ - 29444, - 13 - ], - [ - 29478, - 45 - ], - [ - 29550, - 65 - ], - [ - 29644, - 14 - ], - [ - 29660, - 40 - ], - [ - 29743, - 13 - ], - [ - 29779, - 45 - ], - [ - 29853, - 60 - ], - [ - 29943, - 15 - ], - [ - 29960, - 40 - ], - [ - 30043, - 12 - ], - [ - 30080, - 46 - ], - [ - 30156, - 54 - ], - [ - 30242, - 16 - ], - [ - 30261, - 39 - ], - [ - 30343, - 11 - ], - [ - 30381, - 46 - ], - [ - 30460, - 46 - ], - [ - 30540, - 18 - ], - [ - 30561, - 39 - ], - [ - 30643, - 10 - ], - [ - 30681, - 48 - ], - [ - 30764, - 39 - ], - [ - 30839, - 20 - ], - [ - 30861, - 39 - ], - [ - 30942, - 10 - ], - [ - 30981, - 49 - ], - [ - 31069, - 29 - ], - [ - 31137, - 22 - ], - [ - 31161, - 39 - ], - [ - 31242, - 9 - ], - [ - 31282, - 50 - ], - [ - 31436, - 23 - ], - [ - 31461, - 39 - ], - [ - 31542, - 9 - ], - [ - 31582, - 52 - ], - [ - 31734, - 25 - ], - [ - 31762, - 38 - ], - [ - 31841, - 9 - ], - [ - 31882, - 54 - ], - [ - 32032, - 27 - ], - [ - 32062, - 38 - ], - [ - 32141, - 9 - ], - [ - 32183, - 54 - ], - [ - 32331, - 29 - ], - [ - 32362, - 38 - ], - [ - 32441, - 9 - ], - [ - 32483, - 56 - ], - [ - 32628, - 32 - ], - [ - 32662, - 38 - ], - [ - 32741, - 9 - ], - [ - 32783, - 59 - ], - [ - 32926, - 34 - ], - [ - 32962, - 38 - ], - [ - 33040, - 10 - ], - [ - 33084, - 60 - ], - [ - 33224, - 36 - ], - [ - 33263, - 37 - ], - [ - 33340, - 10 - ], - [ - 33384, - 63 - ], - [ - 33522, - 38 - ], - [ - 33563, - 37 - ], - [ - 33640, - 10 - ], - [ - 33684, - 65 - ], - [ - 33819, - 42 - ], - [ - 33863, - 37 - ], - [ - 33940, - 11 - ], - [ - 33985, - 68 - ], - [ - 34116, - 45 - ], - [ - 34163, - 37 - ], - [ - 34239, - 12 - ], - [ - 34285, - 71 - ], - [ - 34412, - 49 - ], - [ - 34463, - 37 - ], - [ - 34539, - 13 - ], - [ - 34585, - 75 - ], - [ - 34708, - 53 - ], - [ - 34764, - 36 - ], - [ - 34839, - 13 - ], - [ - 34886, - 80 - ], - [ - 35002, - 59 - ], - [ - 35064, - 36 - ], - [ - 35139, - 14 - ], - [ - 35186, - 88 - ], - [ - 35294, - 67 - ], - [ - 35364, - 36 - ], - [ - 35438, - 15 - ], - [ - 35486, - 176 - ], - [ - 35664, - 36 - ], - [ - 35738, - 16 - ], - [ - 35787, - 175 - ], - [ - 35964, - 36 - ], - [ - 36038, - 16 - ], - [ - 36087, - 175 - ], - [ - 36264, - 36 - ], - [ - 36337, - 18 - ], - [ - 36388, - 174 - ], - [ - 36565, - 35 - ], - [ - 36637, - 18 - ], - [ - 36688, - 174 - ], - [ - 36865, - 35 - ], - [ - 36937, - 19 - ], - [ - 36988, - 175 - ], - [ - 37165, - 35 - ], - [ - 37237, - 19 - ], - [ - 37288, - 175 - ], - [ - 37465, - 35 - ], - [ - 37536, - 21 - ], - [ - 37588, - 175 - ], - [ - 37765, - 35 - ], - [ - 37836, - 21 - ], - [ - 37888, - 175 - ], - [ - 38066, - 34 - ], - [ - 38136, - 22 - ], - [ - 38188, - 212 - ], - [ - 38436, - 22 - ], - [ - 38487, - 213 - ], - [ - 38735, - 24 - ], - [ - 38787, - 213 - ], - [ - 39035, - 25 - ], - [ - 39086, - 214 - ], - [ - 39335, - 25 - ], - [ - 39385, - 215 - ], - [ - 39635, - 26 - ], - [ - 39684, - 216 - ], - [ - 39934, - 27 - ], - [ - 39983, - 217 - ], - [ - 40234, - 28 - ], - [ - 40282, - 218 - ], - [ - 40534, - 30 - ], - [ - 40580, - 220 - ], - [ - 40833, - 33 - ], - [ - 40878, - 222 - ], - [ - 41133, - 36 - ], - [ - 41174, - 226 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -1.5, - "y": 0.9101201, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 0.123219371, - "y": 0.7142456, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.78479528, - "y": 0.8073, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.69, - "y": 0.84865284, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.68043351, - "y": 0.8130433, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.88915682, - "y": 0.8116682, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.78479528, - "y": 0.810731351, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.833904862, - "y": 0.713601649, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -0.749808, - "y": 0.9147331, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.833904862, - "y": 0.7123361, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.471079, - "y": 0.7451375, - "z": -1.61999261 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.49651241, - "y": 0.7539418, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.53340769, - "y": 0.458897531, - "z": 0.8198403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.815475941, - "y": 0.915931046, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.36492467, - "y": 0.399810672, - "z": -0.8558459 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.85065842, - "y": 0.8438358, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.36734867, - "y": 0.8086246, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.36734867, - "y": 0.8053905, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.60967064, - "y": 0.8463409, - "z": 0.3617196 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.247310251, - "y": 0.752, - "z": 2.96067333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -1.07814765, - "y": 0.913105667, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.70311451, - "y": 0.464640856, - "z": 0.3302396 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.52934146, - "y": 0.841, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2574908464, - "scene_num": 311 - }, - "task_id": "trial_T20190908_170842_682996", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1RLO9LNUJIW5S_32ZKVD547IEU57GH1GAC6SBH2COB38", - "high_descs": [ - "Turn around and walk to the tv then take a step to your left and walk to the wall to the left of the tv then turn right to face the side of the tv.", - "Pick up the pen that's in front of you to the left of the mug.", - "Turn right and take two steps then walk forward to the middle of the tile floor turning left when you get to it and walking to the counter.", - "Put the pen in the clear bowl.", - "Pick up the clear bowl with the pen in it.", - "Walk back to the tv and stand in front of it facing the middle of the screen.", - "Put the bowl near the front right corner of the face of the tv stand." - ], - "task_desc": "Put a bowl with a pen in it on the tv stand.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3KB8R4ZV1HYVZJS5WVHWPM0Q6GPGBF", - "high_descs": [ - "Turn around and walk to the right side of the television. ", - "Pick up the pen in between the keys and the mug. ", - "Turn right, turn right at the bed, turn left after the bed and walk up to the counter. ", - "Put the pen inside of the bowl on the counter. ", - "Pick up the bowl from the counter. ", - "Turn around, turn right at the table, turn left and face the TV stand. ", - "Put the bowl down on the right side of the TV stand. " - ], - "task_desc": "Put a pen in a bowl and put the bowl on the TV stand. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2871R3LEPWMMK_39GXDJN2OW5VFIKTIEW8YLDZLQ28V9", - "high_descs": [ - "Turn around, hang a left at the end of the bed and walk to the side of the white television stand on the right.", - "Pick up the pen on the stand in between the set of keys and the white mug.", - "Turn right, head right at the bed and hang a left just before the door to reach the white counter on the left.", - "Put the pen inside the clear container on the counter.", - "Pick up the clear container with the pen inside from the counter.", - "Turn around, hang a right at the table and walk to the front of the television stand on the left.", - "Put the clear container with the pen on the far right corner of the stand." - ], - "task_desc": "Place a container with a pen on a stand.", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_033306_082625/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_033306_082625/traj_data.json deleted file mode 100644 index e9a69d2ec..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_033306_082625/traj_data.json +++ /dev/null @@ -1,5531 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 19 - }, - { - "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": 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": 25 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000123.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000124.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "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": 29 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 30 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "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": 35 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000231.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000232.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000233.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000234.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000237.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000238.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000239.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000240.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000241.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000242.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000243.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000245.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000346.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000347.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000348.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 65 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|15" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -6.4450116, - -6.4450116, - -8.01721, - -8.01721, - 6.10979556, - 6.10979556 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.3108, - -6.3108, - -8.1004, - -8.1004, - 6.0556, - 6.0556 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.61|+01.53|-02.00" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-3|1|30" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -6.4450116, - -6.4450116, - -8.01721, - -8.01721, - 6.10979556, - 6.10979556 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 5.0399952, - 5.0399952, - -2.68597102, - -2.68597102, - 5.6427226, - 5.6427226 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.61|+01.53|-02.00", - "receptacleObjectId": "Bowl|+01.26|+01.41|-00.67" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.0399952, - 5.0399952, - -2.68597102, - -2.68597102, - 5.6427226, - 5.6427226 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.036, - -1.036, - 5.61199952, - 5.61199952 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.26|+01.41|-00.67" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.0399952, - 5.0399952, - -2.68597102, - -2.68597102, - 5.6427226, - 5.6427226 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.26|+01.41|-00.67", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-01.61|+01.53|-02.00" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 121, - 98, - 179, - 100 - ], - "mask": [ - [ - 29225, - 15 - ], - [ - 29525, - 52 - ], - [ - 29821, - 59 - ] - ], - "point": [ - 150, - 98 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "Pen|-01.61|+01.53|-02.00", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.26|+01.41|-00.67" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 63, - 45, - 150, - 102 - ], - "mask": [ - [ - 13292, - 40 - ], - [ - 13583, - 57 - ], - [ - 13877, - 67 - ], - [ - 14172, - 75 - ], - [ - 14469, - 80 - ], - [ - 14766, - 84 - ], - [ - 15065, - 85 - ], - [ - 15364, - 87 - ], - [ - 15663, - 87 - ], - [ - 15963, - 86 - ], - [ - 16263, - 85 - ], - [ - 16565, - 81 - ], - [ - 16866, - 80 - ], - [ - 17168, - 77 - ], - [ - 17469, - 76 - ], - [ - 17770, - 75 - ], - [ - 18070, - 75 - ], - [ - 18371, - 74 - ], - [ - 18671, - 74 - ], - [ - 18971, - 74 - ], - [ - 19271, - 74 - ], - [ - 19571, - 74 - ], - [ - 19872, - 73 - ], - [ - 20172, - 72 - ], - [ - 20472, - 72 - ], - [ - 20772, - 72 - ], - [ - 21073, - 71 - ], - [ - 21373, - 70 - ], - [ - 21674, - 69 - ], - [ - 21974, - 69 - ], - [ - 22274, - 69 - ], - [ - 22575, - 67 - ], - [ - 22875, - 67 - ], - [ - 23176, - 65 - ], - [ - 23476, - 65 - ], - [ - 23777, - 63 - ], - [ - 24078, - 62 - ], - [ - 24378, - 61 - ], - [ - 24679, - 60 - ], - [ - 24980, - 58 - ], - [ - 25280, - 58 - ], - [ - 25581, - 56 - ], - [ - 25882, - 54 - ], - [ - 26183, - 53 - ], - [ - 26484, - 51 - ], - [ - 26785, - 49 - ], - [ - 27086, - 47 - ], - [ - 27387, - 46 - ], - [ - 27688, - 45 - ], - [ - 27988, - 45 - ], - [ - 28289, - 44 - ], - [ - 28589, - 43 - ], - [ - 28889, - 42 - ], - [ - 29190, - 40 - ], - [ - 29491, - 37 - ], - [ - 29793, - 32 - ], - [ - 30096, - 26 - ], - [ - 30401, - 14 - ] - ], - "point": [ - 106, - 72 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.26|+01.41|-00.67" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 63, - 45, - 150, - 102 - ], - "mask": [ - [ - 13292, - 3 - ], - [ - 13300, - 32 - ], - [ - 13583, - 12 - ], - [ - 13600, - 40 - ], - [ - 13877, - 18 - ], - [ - 13900, - 44 - ], - [ - 14172, - 23 - ], - [ - 14200, - 47 - ], - [ - 14469, - 26 - ], - [ - 14500, - 49 - ], - [ - 14766, - 29 - ], - [ - 14800, - 50 - ], - [ - 15065, - 30 - ], - [ - 15100, - 50 - ], - [ - 15364, - 32 - ], - [ - 15401, - 50 - ], - [ - 15663, - 33 - ], - [ - 15701, - 49 - ], - [ - 15963, - 33 - ], - [ - 16001, - 48 - ], - [ - 16263, - 33 - ], - [ - 16301, - 47 - ], - [ - 16565, - 31 - ], - [ - 16601, - 45 - ], - [ - 16866, - 30 - ], - [ - 16901, - 45 - ], - [ - 17168, - 28 - ], - [ - 17202, - 43 - ], - [ - 17469, - 76 - ], - [ - 17770, - 75 - ], - [ - 18070, - 75 - ], - [ - 18371, - 74 - ], - [ - 18671, - 74 - ], - [ - 18971, - 74 - ], - [ - 19271, - 74 - ], - [ - 19571, - 74 - ], - [ - 19872, - 73 - ], - [ - 20172, - 72 - ], - [ - 20472, - 72 - ], - [ - 20772, - 72 - ], - [ - 21073, - 71 - ], - [ - 21373, - 70 - ], - [ - 21674, - 69 - ], - [ - 21974, - 69 - ], - [ - 22274, - 69 - ], - [ - 22575, - 67 - ], - [ - 22875, - 67 - ], - [ - 23176, - 65 - ], - [ - 23476, - 65 - ], - [ - 23777, - 63 - ], - [ - 24078, - 62 - ], - [ - 24378, - 61 - ], - [ - 24679, - 60 - ], - [ - 24980, - 58 - ], - [ - 25280, - 58 - ], - [ - 25581, - 56 - ], - [ - 25882, - 54 - ], - [ - 26183, - 53 - ], - [ - 26484, - 51 - ], - [ - 26785, - 49 - ], - [ - 27086, - 47 - ], - [ - 27387, - 46 - ], - [ - 27688, - 45 - ], - [ - 27988, - 45 - ], - [ - 28289, - 44 - ], - [ - 28589, - 43 - ], - [ - 28889, - 42 - ], - [ - 29190, - 40 - ], - [ - 29491, - 37 - ], - [ - 29793, - 32 - ], - [ - 30096, - 26 - ], - [ - 30401, - 14 - ] - ], - "point": [ - 106, - 72 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.26|+01.41|-00.67", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 191 - ], - [ - 25275, - 191 - ], - [ - 25575, - 191 - ], - [ - 25814, - 12 - ], - [ - 25875, - 191 - ], - [ - 26113, - 14 - ], - [ - 26174, - 193 - ], - [ - 26413, - 14 - ], - [ - 26474, - 193 - ], - [ - 26713, - 15 - ], - [ - 26774, - 193 - ], - [ - 27012, - 16 - ], - [ - 27074, - 194 - ], - [ - 27312, - 17 - ], - [ - 27374, - 194 - ], - [ - 27612, - 17 - ], - [ - 27673, - 195 - ], - [ - 27911, - 19 - ], - [ - 27973, - 196 - ], - [ - 28211, - 20 - ], - [ - 28273, - 196 - ], - [ - 28511, - 20 - ], - [ - 28573, - 196 - ], - [ - 28810, - 6 - ], - [ - 28873, - 196 - ], - [ - 29110, - 4 - ], - [ - 29172, - 198 - ], - [ - 29410, - 3 - ], - [ - 29472, - 198 - ], - [ - 29709, - 3 - ], - [ - 29772, - 198 - ], - [ - 30009, - 2 - ], - [ - 30072, - 131 - ], - [ - 30219, - 52 - ], - [ - 30309, - 2 - ], - [ - 30372, - 131 - ], - [ - 30520, - 51 - ], - [ - 30608, - 2 - ], - [ - 30671, - 132 - ], - [ - 30821, - 50 - ], - [ - 30908, - 2 - ], - [ - 30971, - 132 - ], - [ - 31122, - 50 - ], - [ - 31207, - 2 - ], - [ - 31271, - 131 - ], - [ - 31422, - 50 - ], - [ - 31507, - 2 - ], - [ - 31571, - 101 - ], - [ - 31674, - 28 - ], - [ - 31722, - 17 - ], - [ - 31740, - 32 - ], - [ - 31807, - 2 - ], - [ - 31871, - 101 - ], - [ - 31974, - 28 - ], - [ - 32023, - 17 - ], - [ - 32041, - 31 - ], - [ - 32106, - 2 - ], - [ - 32170, - 102 - ], - [ - 32274, - 28 - ], - [ - 32323, - 16 - ], - [ - 32341, - 32 - ], - [ - 32406, - 2 - ], - [ - 32470, - 102 - ], - [ - 32574, - 28 - ], - [ - 32623, - 16 - ], - [ - 32642, - 31 - ], - [ - 32706, - 2 - ], - [ - 32770, - 102 - ], - [ - 32874, - 28 - ], - [ - 32924, - 16 - ], - [ - 32942, - 31 - ], - [ - 33005, - 3 - ], - [ - 33070, - 102 - ], - [ - 33174, - 28 - ], - [ - 33224, - 16 - ], - [ - 33242, - 32 - ], - [ - 33305, - 2 - ], - [ - 33370, - 102 - ], - [ - 33474, - 28 - ], - [ - 33524, - 16 - ], - [ - 33542, - 32 - ], - [ - 33605, - 2 - ], - [ - 33669, - 103 - ], - [ - 33774, - 28 - ], - [ - 33824, - 16 - ], - [ - 33843, - 31 - ], - [ - 33904, - 3 - ], - [ - 33969, - 64 - ], - [ - 34045, - 27 - ], - [ - 34074, - 28 - ], - [ - 34125, - 15 - ], - [ - 34143, - 32 - ], - [ - 34204, - 3 - ], - [ - 34269, - 64 - ], - [ - 34345, - 27 - ], - [ - 34374, - 28 - ], - [ - 34425, - 16 - ], - [ - 34443, - 32 - ], - [ - 34504, - 2 - ], - [ - 34569, - 64 - ], - [ - 34645, - 27 - ], - [ - 34674, - 28 - ], - [ - 34725, - 16 - ], - [ - 34743, - 32 - ], - [ - 34803, - 3 - ], - [ - 34869, - 64 - ], - [ - 34945, - 28 - ], - [ - 34974, - 28 - ], - [ - 35025, - 16 - ], - [ - 35043, - 33 - ], - [ - 35103, - 3 - ], - [ - 35169, - 64 - ], - [ - 35245, - 28 - ], - [ - 35274, - 28 - ], - [ - 35325, - 16 - ], - [ - 35344, - 32 - ], - [ - 35403, - 3 - ], - [ - 35468, - 65 - ], - [ - 35545, - 28 - ], - [ - 35575, - 27 - ], - [ - 35625, - 17 - ], - [ - 35644, - 32 - ], - [ - 35702, - 4 - ], - [ - 35768, - 65 - ], - [ - 35845, - 28 - ], - [ - 35875, - 27 - ], - [ - 35926, - 16 - ], - [ - 35944, - 32 - ], - [ - 36002, - 3 - ], - [ - 36037, - 96 - ], - [ - 36145, - 28 - ], - [ - 36175, - 27 - ], - [ - 36226, - 16 - ], - [ - 36244, - 33 - ], - [ - 36301, - 4 - ], - [ - 36336, - 96 - ], - [ - 36445, - 17 - ], - [ - 36463, - 10 - ], - [ - 36475, - 27 - ], - [ - 36526, - 16 - ], - [ - 36545, - 32 - ], - [ - 36601, - 4 - ], - [ - 36636, - 96 - ], - [ - 36745, - 16 - ], - [ - 36763, - 10 - ], - [ - 36775, - 27 - ], - [ - 36826, - 16 - ], - [ - 36845, - 32 - ], - [ - 36901, - 4 - ], - [ - 36936, - 96 - ], - [ - 37045, - 16 - ], - [ - 37063, - 10 - ], - [ - 37075, - 27 - ], - [ - 37126, - 17 - ], - [ - 37145, - 33 - ], - [ - 37200, - 5 - ], - [ - 37236, - 96 - ], - [ - 37345, - 16 - ], - [ - 37364, - 9 - ], - [ - 37375, - 27 - ], - [ - 37426, - 17 - ], - [ - 37445, - 33 - ], - [ - 37500, - 5 - ], - [ - 37536, - 96 - ], - [ - 37645, - 15 - ], - [ - 37664, - 9 - ], - [ - 37675, - 28 - ], - [ - 37726, - 17 - ], - [ - 37745, - 33 - ], - [ - 37800, - 5 - ], - [ - 37836, - 96 - ], - [ - 37945, - 15 - ], - [ - 37964, - 9 - ], - [ - 37975, - 28 - ], - [ - 38027, - 16 - ], - [ - 38046, - 33 - ], - [ - 38100, - 5 - ], - [ - 38136, - 96 - ], - [ - 38245, - 15 - ], - [ - 38264, - 9 - ], - [ - 38275, - 28 - ], - [ - 38327, - 17 - ], - [ - 38346, - 33 - ], - [ - 38400, - 5 - ], - [ - 38436, - 96 - ], - [ - 38545, - 15 - ], - [ - 38564, - 9 - ], - [ - 38575, - 28 - ], - [ - 38627, - 17 - ], - [ - 38646, - 33 - ], - [ - 38700, - 5 - ], - [ - 38736, - 123 - ], - [ - 38865, - 8 - ], - [ - 38875, - 28 - ], - [ - 38927, - 17 - ], - [ - 38946, - 33 - ], - [ - 39000, - 4 - ], - [ - 39036, - 123 - ], - [ - 39165, - 8 - ], - [ - 39175, - 28 - ], - [ - 39227, - 17 - ], - [ - 39247, - 33 - ], - [ - 39300, - 4 - ], - [ - 39335, - 124 - ], - [ - 39465, - 8 - ], - [ - 39475, - 28 - ], - [ - 39527, - 17 - ], - [ - 39547, - 33 - ], - [ - 39600, - 4 - ], - [ - 39635, - 124 - ], - [ - 39765, - 8 - ], - [ - 39775, - 28 - ], - [ - 39827, - 18 - ], - [ - 39847, - 33 - ], - [ - 39900, - 4 - ], - [ - 39935, - 123 - ], - [ - 40065, - 8 - ], - [ - 40075, - 28 - ], - [ - 40127, - 18 - ], - [ - 40147, - 34 - ], - [ - 40200, - 4 - ], - [ - 40235, - 123 - ], - [ - 40366, - 8 - ], - [ - 40375, - 29 - ], - [ - 40427, - 18 - ], - [ - 40447, - 34 - ], - [ - 40500, - 4 - ], - [ - 40535, - 123 - ], - [ - 40666, - 8 - ], - [ - 40676, - 28 - ], - [ - 40727, - 18 - ], - [ - 40748, - 33 - ], - [ - 40800, - 4 - ], - [ - 40835, - 123 - ], - [ - 40966, - 8 - ], - [ - 40976, - 28 - ], - [ - 41027, - 19 - ], - [ - 41048, - 34 - ], - [ - 41100, - 4 - ], - [ - 41134, - 124 - ], - [ - 41266, - 8 - ], - [ - 41276, - 28 - ], - [ - 41327, - 19 - ], - [ - 41348, - 34 - ], - [ - 41400, - 4 - ], - [ - 41434, - 124 - ], - [ - 41566, - 8 - ], - [ - 41575, - 29 - ], - [ - 41627, - 19 - ], - [ - 41648, - 34 - ], - [ - 41700, - 4 - ], - [ - 41734, - 124 - ], - [ - 41865, - 9 - ], - [ - 41875, - 29 - ], - [ - 41927, - 19 - ], - [ - 41948, - 34 - ], - [ - 42000, - 4 - ], - [ - 42034, - 124 - ], - [ - 42165, - 39 - ], - [ - 42227, - 20 - ], - [ - 42248, - 35 - ], - [ - 42300, - 5 - ], - [ - 42333, - 125 - ], - [ - 42465, - 40 - ], - [ - 42527, - 20 - ], - [ - 42548, - 35 - ], - [ - 42600, - 5 - ], - [ - 42633, - 125 - ], - [ - 42765, - 40 - ], - [ - 42827, - 56 - ], - [ - 42900, - 5 - ], - [ - 42933, - 125 - ], - [ - 43065, - 40 - ], - [ - 43127, - 57 - ], - [ - 43200, - 5 - ], - [ - 43233, - 125 - ], - [ - 43365, - 40 - ], - [ - 43427, - 57 - ], - [ - 43500, - 5 - ], - [ - 43533, - 125 - ], - [ - 43665, - 40 - ], - [ - 43727, - 57 - ], - [ - 43800, - 5 - ], - [ - 43833, - 125 - ], - [ - 43965, - 41 - ], - [ - 44027, - 58 - ], - [ - 44100, - 5 - ], - [ - 44133, - 125 - ], - [ - 44265, - 41 - ], - [ - 44327, - 58 - ], - [ - 44400, - 6 - ], - [ - 44433, - 125 - ], - [ - 44565, - 41 - ], - [ - 44627, - 58 - ], - [ - 44700, - 6 - ], - [ - 44732, - 126 - ], - [ - 44865, - 41 - ], - [ - 44927, - 58 - ], - [ - 45000, - 6 - ], - [ - 45032, - 126 - ], - [ - 45165, - 42 - ], - [ - 45226, - 60 - ], - [ - 45300, - 7 - ], - [ - 45330, - 128 - ], - [ - 45465, - 42 - ], - [ - 45526, - 60 - ], - [ - 45600, - 7 - ], - [ - 45629, - 129 - ], - [ - 45765, - 121 - ], - [ - 45900, - 8 - ], - [ - 45928, - 130 - ], - [ - 46065, - 122 - ], - [ - 46200, - 158 - ], - [ - 46365, - 122 - ], - [ - 46500, - 158 - ], - [ - 46665, - 122 - ], - [ - 46800, - 158 - ], - [ - 46965, - 123 - ], - [ - 47100, - 158 - ], - [ - 47265, - 123 - ], - [ - 47400, - 158 - ], - [ - 47565, - 123 - ], - [ - 47700, - 158 - ], - [ - 47865, - 123 - ], - [ - 48000, - 158 - ], - [ - 48165, - 124 - ], - [ - 48300, - 158 - ], - [ - 48465, - 123 - ], - [ - 48600, - 158 - ], - [ - 48765, - 122 - ], - [ - 48900, - 158 - ], - [ - 49065, - 121 - ], - [ - 49200, - 157 - ], - [ - 49365, - 120 - ], - [ - 49500, - 157 - ], - [ - 49665, - 119 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.5, - "y": 0.9009992, - "z": 1.75 - }, - "object_poses": [ - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.32964253, - "y": 0.3706564, - "z": -1.9293704 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": -1.3946625, - "y": 0.7021554, - "z": -1.610656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": -1.6112529, - "y": 1.52744889, - "z": -2.0043025 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 0.466705918, - "y": 0.5823627, - "z": -2.53734946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": 1.19289494, - "y": 1.41638041, - "z": -0.238201976 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 0.6235773, - "y": 0.5782969, - "z": -2.31859 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.3946625, - "y": 0.6993906, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.33205307, - "y": 0.6933598, - "z": -2.48134351 - }, - "rotation": { - "x": 0.00114680442, - "y": -6.182308e-05, - "z": -0.0003921921 - } - }, - { - "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": -1.44346476, - "y": 0.610413, - "z": -0.504188 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 1.22644627, - "y": 0.9128831, - "z": -0.6823927 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "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": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.22000015, - "y": 0.5057117, - "z": -1.76484311 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 0.7804486, - "y": 0.5767059, - "z": -2.48265958 - }, - "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": 1.293552, - "y": 1.41654873, - "z": -0.382632464 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.33205307, - "y": 0.6965797, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.26000047, - "y": 0.382902771, - "z": -0.09777196 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.2599988, - "y": 1.41068065, - "z": -0.671492755 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2250302779, - "scene_num": 327 - }, - "task_id": "trial_T20190909_033306_082625", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A20FCMWP43CVIU_34S6N1K2ZYALCO9S7EO8OP8WXEVHLP", - "high_descs": [ - "walk to face shelf above desk", - "pick up white pen from shelf", - "walk to face shelves", - "put pen into bowl on shelves", - "pick up bowl from shelves", - "walk to table at end of bed", - "put bowl on table" - ], - "task_desc": "put a bowl and pen on a bedroom table", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A4UAFZ5LW71K_3PJUZCGDJ97XIB7QFDRC63O2U1X89D", - "high_descs": [ - "turn right, walk across room, turn right, walk across to the dresser", - "pick up the pen that is on the shelf above the dresser", - "turn around, take a step, turn left, take a few steps, turn right, walk forward to the shelf", - "put the pen in to the bowl on the shelf", - "pick up the bowl with the pen", - "turn around, walk across to the dresser ", - "put the bowl with the pen on the dresser" - ], - "task_desc": "put a bowl with a pen in it on to the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3QJOXOW4XMITYW0BHPHH3ZQ853JEMY", - "high_descs": [ - "Turn right and walk forward turn right on the end of the bed facing the upper shelf", - "Pick up the pen on the shelf", - "Turn right then head to the shelf on your right", - "Put the pen in the cup ", - "Pick up the cup with pen on the shelf", - "Turn right then head to the end of the bed facing the cabinet", - "Put the mug with pen on the cabinet" - ], - "task_desc": "Put the mug with pen on the cabinet", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_033345_561751/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_033345_561751/traj_data.json deleted file mode 100644 index 300c720bc..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_033345_561751/traj_data.json +++ /dev/null @@ -1,4185 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 8 - }, - { - "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": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 9 - }, - { - "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": 10 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 10 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000138.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000139.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000140.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000141.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000157.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000158.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 25 - }, - { - "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": 27 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 29 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 4.8799982, - 4.8799982, - -7.935896, - -7.935896, - 2.04261136, - 2.04261136 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 4.88, - 4.88, - -7.208, - -7.208, - 3.436, - 3.436 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.22|+00.51|-01.98" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 4.8799982, - 4.8799982, - -7.935896, - -7.935896, - 2.04261136, - 2.04261136 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 3.74928, - 3.74928, - -9.49311924, - -9.49311924, - 2.3059788, - 2.3059788 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.22|+00.51|-01.98", - "receptacleObjectId": "Bowl|+00.94|+00.58|-02.37" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 3.74928, - 3.74928, - -9.49311924, - -9.49311924, - 2.3059788, - 2.3059788 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 1.784, - 1.784, - -10.104, - -10.104, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+00.94|+00.58|-02.37" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 3.74928, - 3.74928, - -9.49311924, - -9.49311924, - 2.3059788, - 2.3059788 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+00.94|+00.58|-02.37", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Pen|+01.22|+00.51|-01.98" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 180, - 179, - 221, - 180 - ], - "mask": [ - [ - 53580, - 42 - ], - [ - 53881, - 38 - ] - ], - "point": [ - 200, - 178 - ] - } - }, - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.22|+00.51|-01.98", - "placeStationary": true, - "receptacleObjectId": "Bowl|+00.94|+00.58|-02.37" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 87, - 117, - 124, - 149 - ], - "mask": [ - [ - 34902, - 11 - ], - [ - 35199, - 17 - ], - [ - 35497, - 21 - ], - [ - 35795, - 24 - ], - [ - 36094, - 26 - ], - [ - 36392, - 29 - ], - [ - 36691, - 31 - ], - [ - 36991, - 32 - ], - [ - 37290, - 33 - ], - [ - 37589, - 35 - ], - [ - 37889, - 35 - ], - [ - 38188, - 36 - ], - [ - 38488, - 37 - ], - [ - 38788, - 37 - ], - [ - 39087, - 38 - ], - [ - 39387, - 38 - ], - [ - 39687, - 37 - ], - [ - 39987, - 37 - ], - [ - 40287, - 37 - ], - [ - 40588, - 36 - ], - [ - 40888, - 35 - ], - [ - 41188, - 35 - ], - [ - 41489, - 33 - ], - [ - 41789, - 32 - ], - [ - 42090, - 31 - ], - [ - 42391, - 29 - ], - [ - 42692, - 28 - ], - [ - 42993, - 26 - ], - [ - 43294, - 24 - ], - [ - 43596, - 21 - ], - [ - 43898, - 17 - ], - [ - 44200, - 14 - ], - [ - 44502, - 10 - ] - ], - "point": [ - 105, - 132 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+00.94|+00.58|-02.37" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 87, - 117, - 124, - 149 - ], - "mask": [ - [ - 34902, - 11 - ], - [ - 35199, - 17 - ], - [ - 35498, - 20 - ], - [ - 35795, - 2 - ], - [ - 35799, - 20 - ], - [ - 36094, - 3 - ], - [ - 36099, - 21 - ], - [ - 36392, - 5 - ], - [ - 36399, - 22 - ], - [ - 36691, - 6 - ], - [ - 36700, - 22 - ], - [ - 36991, - 7 - ], - [ - 37000, - 23 - ], - [ - 37290, - 8 - ], - [ - 37300, - 23 - ], - [ - 37589, - 9 - ], - [ - 37601, - 23 - ], - [ - 37889, - 10 - ], - [ - 37901, - 23 - ], - [ - 38188, - 11 - ], - [ - 38201, - 23 - ], - [ - 38488, - 11 - ], - [ - 38501, - 24 - ], - [ - 38788, - 11 - ], - [ - 38802, - 23 - ], - [ - 39087, - 13 - ], - [ - 39102, - 23 - ], - [ - 39387, - 13 - ], - [ - 39402, - 23 - ], - [ - 39687, - 13 - ], - [ - 39703, - 21 - ], - [ - 39987, - 14 - ], - [ - 40003, - 21 - ], - [ - 40287, - 14 - ], - [ - 40303, - 21 - ], - [ - 40588, - 13 - ], - [ - 40603, - 21 - ], - [ - 40888, - 13 - ], - [ - 40904, - 19 - ], - [ - 41188, - 14 - ], - [ - 41204, - 19 - ], - [ - 41489, - 13 - ], - [ - 41505, - 17 - ], - [ - 41789, - 13 - ], - [ - 41805, - 16 - ], - [ - 42090, - 13 - ], - [ - 42105, - 16 - ], - [ - 42391, - 12 - ], - [ - 42406, - 14 - ], - [ - 42692, - 11 - ], - [ - 42705, - 15 - ], - [ - 42993, - 11 - ], - [ - 43005, - 14 - ], - [ - 43294, - 24 - ], - [ - 43596, - 21 - ], - [ - 43898, - 17 - ], - [ - 44200, - 14 - ], - [ - 44502, - 10 - ] - ], - "point": [ - 105, - 132 - ] - } - }, - "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": "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+00.94|+00.58|-02.37", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 34 - ], - [ - 21123, - 64 - ], - [ - 21217, - 44 - ], - [ - 21361, - 33 - ], - [ - 21425, - 62 - ], - [ - 21518, - 44 - ], - [ - 21660, - 33 - ], - [ - 21725, - 61 - ], - [ - 21818, - 44 - ], - [ - 21959, - 34 - ], - [ - 22025, - 62 - ], - [ - 22118, - 45 - ], - [ - 22258, - 35 - ], - [ - 22325, - 62 - ], - [ - 22419, - 44 - ], - [ - 22557, - 36 - ], - [ - 22625, - 62 - ], - [ - 22719, - 44 - ], - [ - 22857, - 36 - ], - [ - 22925, - 62 - ], - [ - 23019, - 44 - ], - [ - 23158, - 35 - ], - [ - 23225, - 62 - ], - [ - 23319, - 45 - ], - [ - 23458, - 35 - ], - [ - 23525, - 62 - ], - [ - 23619, - 45 - ], - [ - 23759, - 33 - ], - [ - 23824, - 63 - ], - [ - 23919, - 45 - ], - [ - 24059, - 33 - ], - [ - 24124, - 63 - ], - [ - 24220, - 45 - ], - [ - 24359, - 33 - ], - [ - 24424, - 63 - ], - [ - 24519, - 46 - ], - [ - 24660, - 32 - ], - [ - 24724, - 64 - ], - [ - 24819, - 46 - ], - [ - 24975, - 19 - ], - [ - 25012, - 1 - ], - [ - 25022, - 144 - ], - [ - 25275, - 191 - ], - [ - 25575, - 191 - ], - [ - 25814, - 12 - ], - [ - 25875, - 191 - ], - [ - 26113, - 14 - ], - [ - 26174, - 193 - ], - [ - 26413, - 14 - ], - [ - 26474, - 193 - ], - [ - 26713, - 15 - ], - [ - 26774, - 193 - ], - [ - 27012, - 16 - ], - [ - 27074, - 194 - ], - [ - 27312, - 17 - ], - [ - 27374, - 194 - ], - [ - 27612, - 17 - ], - [ - 27673, - 195 - ], - [ - 27911, - 19 - ], - [ - 27973, - 196 - ], - [ - 28211, - 20 - ], - [ - 28273, - 66 - ], - [ - 28340, - 97 - ], - [ - 28438, - 31 - ], - [ - 28511, - 20 - ], - [ - 28573, - 66 - ], - [ - 28640, - 97 - ], - [ - 28739, - 30 - ], - [ - 28810, - 22 - ], - [ - 28873, - 66 - ], - [ - 28941, - 96 - ], - [ - 29039, - 30 - ], - [ - 29110, - 22 - ], - [ - 29172, - 67 - ], - [ - 29241, - 96 - ], - [ - 29339, - 31 - ], - [ - 29410, - 23 - ], - [ - 29472, - 67 - ], - [ - 29541, - 96 - ], - [ - 29639, - 31 - ], - [ - 29709, - 23 - ], - [ - 29772, - 67 - ], - [ - 29841, - 97 - ], - [ - 29939, - 31 - ], - [ - 30009, - 23 - ], - [ - 30072, - 22 - ], - [ - 30110, - 28 - ], - [ - 30141, - 97 - ], - [ - 30240, - 31 - ], - [ - 30309, - 23 - ], - [ - 30372, - 22 - ], - [ - 30411, - 27 - ], - [ - 30441, - 97 - ], - [ - 30540, - 31 - ], - [ - 30608, - 23 - ], - [ - 30671, - 22 - ], - [ - 30711, - 27 - ], - [ - 30740, - 98 - ], - [ - 30840, - 31 - ], - [ - 30908, - 23 - ], - [ - 30971, - 22 - ], - [ - 31011, - 27 - ], - [ - 31040, - 98 - ], - [ - 31140, - 32 - ], - [ - 31207, - 24 - ], - [ - 31271, - 21 - ], - [ - 31311, - 27 - ], - [ - 31340, - 99 - ], - [ - 31441, - 31 - ], - [ - 31507, - 23 - ], - [ - 31571, - 21 - ], - [ - 31611, - 27 - ], - [ - 31640, - 99 - ], - [ - 31741, - 31 - ], - [ - 31807, - 23 - ], - [ - 31871, - 21 - ], - [ - 31911, - 27 - ], - [ - 31940, - 99 - ], - [ - 32041, - 31 - ], - [ - 32106, - 24 - ], - [ - 32170, - 22 - ], - [ - 32211, - 27 - ], - [ - 32240, - 99 - ], - [ - 32341, - 32 - ], - [ - 32406, - 24 - ], - [ - 32470, - 21 - ], - [ - 32511, - 27 - ], - [ - 32540, - 100 - ], - [ - 32641, - 32 - ], - [ - 32706, - 23 - ], - [ - 32770, - 21 - ], - [ - 32811, - 27 - ], - [ - 32840, - 100 - ], - [ - 32942, - 31 - ], - [ - 33005, - 24 - ], - [ - 33070, - 21 - ], - [ - 33111, - 27 - ], - [ - 33140, - 100 - ], - [ - 33242, - 32 - ], - [ - 33305, - 24 - ], - [ - 33370, - 21 - ], - [ - 33411, - 27 - ], - [ - 33440, - 100 - ], - [ - 33542, - 32 - ], - [ - 33605, - 23 - ], - [ - 33669, - 22 - ], - [ - 33711, - 27 - ], - [ - 33740, - 100 - ], - [ - 33842, - 32 - ], - [ - 33904, - 24 - ], - [ - 33969, - 21 - ], - [ - 34011, - 27 - ], - [ - 34040, - 101 - ], - [ - 34143, - 32 - ], - [ - 34204, - 24 - ], - [ - 34269, - 21 - ], - [ - 34311, - 27 - ], - [ - 34340, - 101 - ], - [ - 34443, - 32 - ], - [ - 34504, - 24 - ], - [ - 34569, - 21 - ], - [ - 34611, - 27 - ], - [ - 34640, - 101 - ], - [ - 34743, - 32 - ], - [ - 34803, - 24 - ], - [ - 34869, - 21 - ], - [ - 34911, - 27 - ], - [ - 34940, - 101 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 22 - ], - [ - 35211, - 27 - ], - [ - 35240, - 102 - ], - [ - 35343, - 33 - ], - [ - 35403, - 24 - ], - [ - 35468, - 22 - ], - [ - 35511, - 27 - ], - [ - 35540, - 102 - ], - [ - 35644, - 32 - ], - [ - 35702, - 31 - ], - [ - 35767, - 22 - ], - [ - 35811, - 27 - ], - [ - 35840, - 102 - ], - [ - 35944, - 32 - ], - [ - 36002, - 87 - ], - [ - 36111, - 27 - ], - [ - 36140, - 102 - ], - [ - 36244, - 33 - ], - [ - 36301, - 88 - ], - [ - 36411, - 27 - ], - [ - 36440, - 102 - ], - [ - 36544, - 33 - ], - [ - 36601, - 88 - ], - [ - 36711, - 27 - ], - [ - 36740, - 103 - ], - [ - 36845, - 32 - ], - [ - 36901, - 88 - ], - [ - 37011, - 27 - ], - [ - 37040, - 103 - ], - [ - 37145, - 33 - ], - [ - 37200, - 89 - ], - [ - 37311, - 27 - ], - [ - 37340, - 103 - ], - [ - 37445, - 33 - ], - [ - 37500, - 62 - ], - [ - 37575, - 14 - ], - [ - 37611, - 27 - ], - [ - 37640, - 104 - ], - [ - 37745, - 33 - ], - [ - 37800, - 61 - ], - [ - 37874, - 15 - ], - [ - 37911, - 27 - ], - [ - 37940, - 104 - ], - [ - 38045, - 34 - ], - [ - 38100, - 61 - ], - [ - 38174, - 15 - ], - [ - 38211, - 27 - ], - [ - 38239, - 140 - ], - [ - 38400, - 61 - ], - [ - 38474, - 15 - ], - [ - 38511, - 27 - ], - [ - 38539, - 140 - ], - [ - 38700, - 61 - ], - [ - 38774, - 14 - ], - [ - 38811, - 168 - ], - [ - 39000, - 61 - ], - [ - 39074, - 14 - ], - [ - 39111, - 169 - ], - [ - 39300, - 60 - ], - [ - 39374, - 14 - ], - [ - 39411, - 169 - ], - [ - 39600, - 60 - ], - [ - 39673, - 15 - ], - [ - 39711, - 169 - ], - [ - 39900, - 60 - ], - [ - 39973, - 15 - ], - [ - 40010, - 171 - ], - [ - 40200, - 60 - ], - [ - 40273, - 15 - ], - [ - 40310, - 171 - ], - [ - 40500, - 60 - ], - [ - 40573, - 15 - ], - [ - 40610, - 171 - ], - [ - 40800, - 59 - ], - [ - 40873, - 15 - ], - [ - 40910, - 172 - ], - [ - 41100, - 59 - ], - [ - 41173, - 15 - ], - [ - 41210, - 172 - ], - [ - 41400, - 59 - ], - [ - 41472, - 16 - ], - [ - 41510, - 172 - ], - [ - 41700, - 59 - ], - [ - 41772, - 16 - ], - [ - 41810, - 172 - ], - [ - 42000, - 59 - ], - [ - 42072, - 16 - ], - [ - 42110, - 173 - ], - [ - 42300, - 58 - ], - [ - 42372, - 16 - ], - [ - 42409, - 174 - ], - [ - 42600, - 88 - ], - [ - 42709, - 174 - ], - [ - 42900, - 88 - ], - [ - 43009, - 175 - ], - [ - 43200, - 88 - ], - [ - 43309, - 175 - ], - [ - 43500, - 88 - ], - [ - 43609, - 175 - ], - [ - 43800, - 88 - ], - [ - 43909, - 176 - ], - [ - 44100, - 88 - ], - [ - 44208, - 177 - ], - [ - 44400, - 89 - ], - [ - 44508, - 177 - ], - [ - 44700, - 89 - ], - [ - 44808, - 177 - ], - [ - 45000, - 89 - ], - [ - 45108, - 178 - ], - [ - 45300, - 89 - ], - [ - 45407, - 179 - ], - [ - 45600, - 286 - ], - [ - 45900, - 287 - ], - [ - 46200, - 287 - ], - [ - 46500, - 287 - ], - [ - 46800, - 288 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.5, - "y": 0.9009992, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "Pen_5b90d568", - "position": { - "x": 1.07196712, - "y": 0.51065284, - "z": -1.9839735 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 1.21999955, - "y": 0.51065284, - "z": -1.983974 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 0.3098346, - "y": 0.5823627, - "z": -2.64672923 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.27731991, - "y": 0.371416569, - "z": -1.63994944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.64510024, - "y": 0.697214246, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": -1.57770038, - "y": 1.52728057, - "z": -2.00430226 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": 1.17267179, - "y": 0.243455827, - "z": -1.9293704 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 1.26, - "y": 0.384883076, - "z": -0.242202163 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.17267179, - "y": 0.371045679, - "z": -1.9293704 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -1.32327068, - "y": 0.610413, - "z": -0.223578334 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "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": "AlarmClock_f169cd1d", - "position": { - "x": -1.33205307, - "y": 0.6965797, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "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": 1.26000082, - "y": 0.9128831, - "z": 0.0397582352 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "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": -1.45727193, - "y": 0.7019871, - "z": -1.610656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.64510024, - "y": 0.700106263, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.33205307, - "y": 0.6993906, - "z": -2.33622932 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -0.9626876, - "y": 0.6091408, - "z": -0.223578036 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "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": -1.45727193, - "y": 0.7050474, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 1.25999951, - "y": 0.9113732, - "z": -0.3935324 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.22, - "y": 0.5046067, - "z": -1.81962585 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 0.93732, - "y": 0.5764947, - "z": -2.37327981 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3906154543, - "scene_num": 327 - }, - "task_id": "trial_T20190909_033345_561751", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A272X64FOZFYLB_30IQTZXKANX51IKLNPKBTR42I6TX0F", - "high_descs": [ - "Turn left towards the pens on the small shelf.", - "Pick up the pen closest to the CD.", - "Turn right towards the bowl on the desk.", - "Put the pen in the bowl.", - "Pick up the bowl from the desk.", - "Turn right and walk forward to the dresser.", - "Put the bowl on the dresser, to the right of the pen." - ], - "task_desc": "Put a bowl with a pen in it on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3NXNZ5RS1DOTIX2758Z6S3S7JGI79E", - "high_descs": [ - "Turn left to face the wooden drawers. ", - "Pick up the pen to the right of the CD. ", - "Turn right to face the desk. ", - "Put the pen inside of the bowl. ", - "Pick up the bowl from the desk. ", - "Turn around and walk to the wooden dresser to the left of the bed. ", - "Put the bowl down on the dresser to the right of the pen. " - ], - "task_desc": "To put a pen in a bowl and move the bowl to the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3ATPCQ38JB1Q208DKN361BNOTY4YAI", - "high_descs": [ - "Turn left then face the cabinet", - "Pick up the pen on the cabinet beside the cd", - "Turn right then face the desk", - "Put the pen in the cup", - "Pick up the cup with pen ", - "Turn right then head to the cabinet at the end of the bed", - "Put the cup with pen on the cabinet" - ], - "task_desc": "Put the cup with pen on the cabinet", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_102323_673895/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_102323_673895/traj_data.json deleted file mode 100644 index 700c52c87..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Bowl-Dresser-327/trial_T20190909_102323_673895/traj_data.json +++ /dev/null @@ -1,3971 +0,0 @@ -{ - "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": 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": 11 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "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": 14 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "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": 3, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000126.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 20 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 33 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 4.48524572, - 4.48524572, - -7.71676348, - -7.71676348, - 2.04261136, - 2.04261136 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 4.88, - 4.88, - -7.208, - -7.208, - 3.436, - 3.436 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.12|+00.51|-01.93" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 4.48524572, - 4.48524572, - -7.71676348, - -7.71676348, - 2.04261136, - 2.04261136 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 4.88, - 4.88, - -7.2785034, - -7.2785034, - 2.0191392, - 2.0191392 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.12|+00.51|-01.93", - "receptacleObjectId": "Bowl|+01.22|+00.50|-01.82" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.88, - 4.88, - -7.2785034, - -7.2785034, - 2.0191392, - 2.0191392 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 4.88, - 4.88, - -7.208, - -7.208, - 3.436, - 3.436 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.22|+00.50|-01.82" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.88, - 4.88, - -7.2785034, - -7.2785034, - 2.0191392, - 2.0191392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.22|+00.50|-01.82", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Pen|+01.12|+00.51|-01.93" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 169, - 200, - 212, - 201 - ], - "mask": [ - [ - 59870, - 40 - ], - [ - 60169, - 44 - ] - ], - "point": [ - 190, - 199 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.12|+00.51|-01.93", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.22|+00.50|-01.82" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 148, - 155, - 185, - 189 - ], - "mask": [ - [ - 46362, - 8 - ], - [ - 46659, - 15 - ], - [ - 46956, - 20 - ], - [ - 47255, - 22 - ], - [ - 47554, - 25 - ], - [ - 47853, - 27 - ], - [ - 48152, - 29 - ], - [ - 48451, - 31 - ], - [ - 48750, - 33 - ], - [ - 49050, - 33 - ], - [ - 49349, - 35 - ], - [ - 49649, - 35 - ], - [ - 49948, - 37 - ], - [ - 50248, - 37 - ], - [ - 50548, - 37 - ], - [ - 50848, - 37 - ], - [ - 51148, - 37 - ], - [ - 51448, - 38 - ], - [ - 51748, - 37 - ], - [ - 52048, - 37 - ], - [ - 52348, - 37 - ], - [ - 52648, - 37 - ], - [ - 52949, - 36 - ], - [ - 53249, - 36 - ], - [ - 53550, - 34 - ], - [ - 53850, - 34 - ], - [ - 54151, - 32 - ], - [ - 54452, - 30 - ], - [ - 54753, - 28 - ], - [ - 55054, - 27 - ], - [ - 55355, - 24 - ], - [ - 55656, - 22 - ], - [ - 55958, - 18 - ], - [ - 56260, - 14 - ], - [ - 56563, - 7 - ] - ], - "point": [ - 166, - 171 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.22|+00.50|-01.82" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 148, - 155, - 185, - 189 - ], - "mask": [ - [ - 46362, - 8 - ], - [ - 46659, - 15 - ], - [ - 46956, - 20 - ], - [ - 47255, - 22 - ], - [ - 47554, - 25 - ], - [ - 47853, - 27 - ], - [ - 48152, - 29 - ], - [ - 48451, - 31 - ], - [ - 48750, - 14 - ], - [ - 48765, - 18 - ], - [ - 49050, - 14 - ], - [ - 49066, - 17 - ], - [ - 49349, - 14 - ], - [ - 49366, - 18 - ], - [ - 49649, - 14 - ], - [ - 49666, - 18 - ], - [ - 49948, - 15 - ], - [ - 49966, - 19 - ], - [ - 50248, - 15 - ], - [ - 50265, - 20 - ], - [ - 50548, - 15 - ], - [ - 50565, - 20 - ], - [ - 50848, - 15 - ], - [ - 50865, - 20 - ], - [ - 51148, - 15 - ], - [ - 51165, - 20 - ], - [ - 51448, - 15 - ], - [ - 51465, - 21 - ], - [ - 51748, - 15 - ], - [ - 51765, - 20 - ], - [ - 52048, - 15 - ], - [ - 52065, - 20 - ], - [ - 52348, - 14 - ], - [ - 52365, - 20 - ], - [ - 52648, - 14 - ], - [ - 52665, - 20 - ], - [ - 52949, - 13 - ], - [ - 52964, - 21 - ], - [ - 53249, - 13 - ], - [ - 53265, - 20 - ], - [ - 53550, - 12 - ], - [ - 53565, - 19 - ], - [ - 53850, - 12 - ], - [ - 53865, - 19 - ], - [ - 54151, - 11 - ], - [ - 54164, - 19 - ], - [ - 54452, - 10 - ], - [ - 54463, - 19 - ], - [ - 54753, - 28 - ], - [ - 55054, - 27 - ], - [ - 55355, - 24 - ], - [ - 55656, - 22 - ], - [ - 55958, - 18 - ], - [ - 56260, - 14 - ], - [ - 56563, - 7 - ] - ], - "point": [ - 166, - 171 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.22|+00.50|-01.82", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 34 - ], - [ - 21424, - 138 - ], - [ - 21660, - 34 - ], - [ - 21725, - 137 - ], - [ - 21959, - 35 - ], - [ - 22025, - 138 - ], - [ - 22258, - 35 - ], - [ - 22325, - 138 - ], - [ - 22557, - 36 - ], - [ - 22625, - 138 - ], - [ - 22857, - 36 - ], - [ - 22925, - 138 - ], - [ - 23158, - 35 - ], - [ - 23225, - 139 - ], - [ - 23458, - 35 - ], - [ - 23525, - 139 - ], - [ - 23759, - 34 - ], - [ - 23825, - 139 - ], - [ - 24059, - 34 - ], - [ - 24125, - 140 - ], - [ - 24359, - 33 - ], - [ - 24425, - 140 - ], - [ - 24660, - 32 - ], - [ - 24724, - 141 - ], - [ - 24975, - 18 - ], - [ - 25024, - 142 - ], - [ - 25275, - 36 - ], - [ - 25313, - 153 - ], - [ - 25575, - 36 - ], - [ - 25613, - 153 - ], - [ - 25814, - 12 - ], - [ - 25875, - 36 - ], - [ - 25913, - 153 - ], - [ - 26113, - 14 - ], - [ - 26174, - 37 - ], - [ - 26213, - 154 - ], - [ - 26413, - 14 - ], - [ - 26474, - 37 - ], - [ - 26513, - 154 - ], - [ - 26713, - 15 - ], - [ - 26774, - 37 - ], - [ - 26813, - 154 - ], - [ - 27012, - 16 - ], - [ - 27074, - 37 - ], - [ - 27113, - 155 - ], - [ - 27312, - 17 - ], - [ - 27374, - 37 - ], - [ - 27413, - 155 - ], - [ - 27612, - 17 - ], - [ - 27673, - 38 - ], - [ - 27713, - 155 - ], - [ - 27911, - 19 - ], - [ - 27973, - 37 - ], - [ - 28012, - 157 - ], - [ - 28211, - 20 - ], - [ - 28273, - 37 - ], - [ - 28312, - 157 - ], - [ - 28511, - 20 - ], - [ - 28573, - 37 - ], - [ - 28612, - 157 - ], - [ - 28810, - 22 - ], - [ - 28873, - 37 - ], - [ - 28912, - 157 - ], - [ - 29110, - 22 - ], - [ - 29172, - 38 - ], - [ - 29212, - 158 - ], - [ - 29410, - 23 - ], - [ - 29472, - 38 - ], - [ - 29512, - 158 - ], - [ - 29709, - 23 - ], - [ - 29772, - 38 - ], - [ - 29812, - 158 - ], - [ - 30009, - 23 - ], - [ - 30072, - 38 - ], - [ - 30112, - 159 - ], - [ - 30309, - 23 - ], - [ - 30372, - 38 - ], - [ - 30412, - 159 - ], - [ - 30608, - 23 - ], - [ - 30671, - 39 - ], - [ - 30712, - 159 - ], - [ - 30908, - 23 - ], - [ - 30971, - 39 - ], - [ - 31011, - 161 - ], - [ - 31207, - 24 - ], - [ - 31271, - 39 - ], - [ - 31311, - 161 - ], - [ - 31507, - 23 - ], - [ - 31571, - 39 - ], - [ - 31611, - 61 - ], - [ - 31674, - 98 - ], - [ - 31807, - 23 - ], - [ - 31871, - 101 - ], - [ - 31974, - 98 - ], - [ - 32106, - 24 - ], - [ - 32170, - 102 - ], - [ - 32274, - 99 - ], - [ - 32406, - 24 - ], - [ - 32470, - 102 - ], - [ - 32574, - 99 - ], - [ - 32706, - 23 - ], - [ - 32770, - 102 - ], - [ - 32874, - 99 - ], - [ - 33005, - 24 - ], - [ - 33070, - 102 - ], - [ - 33174, - 100 - ], - [ - 33305, - 24 - ], - [ - 33370, - 102 - ], - [ - 33474, - 100 - ], - [ - 33605, - 23 - ], - [ - 33669, - 103 - ], - [ - 33774, - 100 - ], - [ - 33904, - 24 - ], - [ - 33969, - 64 - ], - [ - 34045, - 27 - ], - [ - 34074, - 101 - ], - [ - 34204, - 24 - ], - [ - 34269, - 64 - ], - [ - 34345, - 27 - ], - [ - 34374, - 101 - ], - [ - 34504, - 24 - ], - [ - 34569, - 64 - ], - [ - 34645, - 27 - ], - [ - 34674, - 101 - ], - [ - 34803, - 24 - ], - [ - 34869, - 64 - ], - [ - 34945, - 28 - ], - [ - 34974, - 33 - ], - [ - 35008, - 68 - ], - [ - 35103, - 24 - ], - [ - 35168, - 65 - ], - [ - 35245, - 28 - ], - [ - 35274, - 102 - ], - [ - 35403, - 24 - ], - [ - 35468, - 65 - ], - [ - 35545, - 28 - ], - [ - 35575, - 32 - ], - [ - 35609, - 67 - ], - [ - 35702, - 31 - ], - [ - 35767, - 66 - ], - [ - 35845, - 28 - ], - [ - 35875, - 32 - ], - [ - 35909, - 67 - ], - [ - 36002, - 131 - ], - [ - 36145, - 28 - ], - [ - 36175, - 32 - ], - [ - 36210, - 67 - ], - [ - 36301, - 131 - ], - [ - 36445, - 28 - ], - [ - 36475, - 33 - ], - [ - 36510, - 67 - ], - [ - 36601, - 131 - ], - [ - 36745, - 28 - ], - [ - 36775, - 33 - ], - [ - 36810, - 67 - ], - [ - 36901, - 131 - ], - [ - 37045, - 28 - ], - [ - 37075, - 33 - ], - [ - 37110, - 68 - ], - [ - 37200, - 132 - ], - [ - 37345, - 28 - ], - [ - 37375, - 33 - ], - [ - 37410, - 68 - ], - [ - 37500, - 132 - ], - [ - 37645, - 28 - ], - [ - 37675, - 33 - ], - [ - 37710, - 68 - ], - [ - 37800, - 132 - ], - [ - 37945, - 28 - ], - [ - 37975, - 33 - ], - [ - 38010, - 69 - ], - [ - 38100, - 132 - ], - [ - 38245, - 28 - ], - [ - 38275, - 33 - ], - [ - 38311, - 68 - ], - [ - 38400, - 132 - ], - [ - 38545, - 28 - ], - [ - 38575, - 33 - ], - [ - 38611, - 68 - ], - [ - 38700, - 173 - ], - [ - 38875, - 34 - ], - [ - 38911, - 68 - ], - [ - 39000, - 173 - ], - [ - 39175, - 34 - ], - [ - 39211, - 69 - ], - [ - 39300, - 173 - ], - [ - 39475, - 34 - ], - [ - 39511, - 69 - ], - [ - 39600, - 173 - ], - [ - 39775, - 34 - ], - [ - 39811, - 69 - ], - [ - 39900, - 173 - ], - [ - 40075, - 34 - ], - [ - 40111, - 70 - ], - [ - 40200, - 174 - ], - [ - 40375, - 34 - ], - [ - 40412, - 69 - ], - [ - 40500, - 174 - ], - [ - 40676, - 33 - ], - [ - 40712, - 69 - ], - [ - 40800, - 174 - ], - [ - 40976, - 34 - ], - [ - 41012, - 70 - ], - [ - 41100, - 174 - ], - [ - 41276, - 34 - ], - [ - 41312, - 70 - ], - [ - 41400, - 174 - ], - [ - 41575, - 35 - ], - [ - 41612, - 70 - ], - [ - 41700, - 174 - ], - [ - 41875, - 35 - ], - [ - 41912, - 70 - ], - [ - 42000, - 210 - ], - [ - 42212, - 71 - ], - [ - 42300, - 210 - ], - [ - 42512, - 71 - ], - [ - 42600, - 210 - ], - [ - 42813, - 70 - ], - [ - 42900, - 211 - ], - [ - 43113, - 71 - ], - [ - 43200, - 211 - ], - [ - 43413, - 71 - ], - [ - 43500, - 211 - ], - [ - 43713, - 71 - ], - [ - 43800, - 211 - ], - [ - 44013, - 72 - ], - [ - 44100, - 211 - ], - [ - 44313, - 72 - ], - [ - 44400, - 211 - ], - [ - 44613, - 72 - ], - [ - 44700, - 211 - ], - [ - 44914, - 71 - ], - [ - 45000, - 211 - ], - [ - 45214, - 72 - ], - [ - 45300, - 212 - ], - [ - 45514, - 72 - ], - [ - 45600, - 212 - ], - [ - 45814, - 72 - ], - [ - 45900, - 212 - ], - [ - 46114, - 73 - ], - [ - 46200, - 213 - ], - [ - 46414, - 73 - ], - [ - 46500, - 213 - ], - [ - 46714, - 73 - ], - [ - 46800, - 288 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -0.25, - "y": 0.9009992, - "z": -0.5 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.26000047, - "y": 0.38308087, - "z": -0.09777196 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.293552, - "y": 1.41068065, - "z": -0.382632464 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.36744571, - "y": 0.395067483, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.64480925, - "y": 1.52140272, - "z": -1.571012 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": -1.51059389, - "y": 1.52744889, - "z": -2.14873171 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": -1.5824908, - "y": 0.7021554, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 1.12131143, - "y": 0.51065284, - "z": -1.92919087 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.20307684, - "y": 0.611852467, - "z": 0.6182506 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.22499537, - "y": 0.371416569, - "z": -1.96399939 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": -1.3946625, - "y": 0.7048791, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 0.93732, - "y": 0.5767059, - "z": -2.48265958 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.57770157, - "y": 1.521792, - "z": -1.8598721 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -1.082882, - "y": 0.6091408, - "z": -0.2235781 - }, - "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": -1.400288, - "y": 0.101854123, - "z": -1.72528768 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "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": 1.22499633, - "y": 0.2438007, - "z": -1.63994944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.64510024, - "y": 0.697214246, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.3946625, - "y": 0.6993906, - "z": -2.046 - }, - "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": -1.33205307, - "y": 0.7021554, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 1.25999916, - "y": 0.9113732, - "z": -0.537962556 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.57769775, - "y": 1.52140272, - "z": -2.29316258 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.22, - "y": 0.5047848, - "z": -1.81962585 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3760742853, - "scene_num": 327 - }, - "task_id": "trial_T20190909_102323_673895", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A20FCMWP43CVIU_338JKRMM29Q4G5IOANZIFBSL311HAA", - "high_descs": [ - "walk to face cabinet to left of desk", - "pick up pen from cabinet", - "put pen in bowl in cabinet", - "pick up bowl from cabinet", - "walk to face dresser at end of bed", - "put bowl on top of dresser " - ], - "task_desc": "put bowl with pen on top of dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A13OOAT2ORKH6V_3AUQQEL7U8KDXTFQNAJT567H2UZ0VR", - "high_descs": [ - "Turn right and walk to the closet to your left.", - "Pick up the pen sitting in the closet.", - "Place the pen in the bowl sitting in the closet.", - "Pick up the bowl with the pen inside.", - "Turn left then walk to the small drawer cabinet to your left.", - "Place the bowl with the pen in it next to the credit card on top of the drawer cabinet." - ], - "task_desc": "Place a bowl with a pen in it on top of the drawer cabinet.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3ZSANO2JCIYO25DCWXX9XQAE9SVSFJ", - "high_descs": [ - "Turn left and go forward, then go to the shelf to your left.", - "Pick up the pen on the shelf.", - "Put the pen in the bowl on the shelf.", - "Pick up the bowl from the shelf.", - "Turn around and go toward the bed, then turn left and move forward, then turn right to go to the dresser.", - "Put the bowl on the dresser." - ], - "task_desc": "Put a bowl with a pen in it on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_022553_890007/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_022553_890007/traj_data.json deleted file mode 100644 index 3cfe04525..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_022553_890007/traj_data.json +++ /dev/null @@ -1,6537 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 6 - }, - { - "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": 8 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "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": 11 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "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": 15 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "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": 22 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "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": 41 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 57 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-4|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -5.17880632, - -5.17880632, - -3.817442, - -3.817442, - 3.895024, - 3.895024 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -5.1436, - -5.1436, - -3.676000596, - -3.676000596, - 4.0751996, - 4.0751996 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.29|+00.97|-00.95" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|-3|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -5.17880632, - -5.17880632, - -3.817442, - -3.817442, - 3.895024, - 3.895024 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 6.607208, - 6.607208, - -5.12828732, - -5.12828732, - 3.174860956, - 3.174860956 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.29|+00.97|-00.95", - "receptacleObjectId": "Mug|+01.65|+00.79|-01.28" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 6.607208, - 6.607208, - -5.12828732, - -5.12828732, - 3.174860956, - 3.174860956 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.176, - 9.176, - -4.612, - -4.612, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|+01.65|+00.79|-01.28" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 6.607208, - 6.607208, - -5.12828732, - -5.12828732, - 3.174860956, - 3.174860956 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "Mug|+01.65|+00.79|-01.28", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - }, - { - "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": "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": "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": "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": "OpenObject", - "objectId": "Drawer|-01.29|+01.02|-00.92" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 117, - 147, - 254, - 205 - ], - "mask": [ - [ - 43917, - 137 - ], - [ - 44217, - 137 - ], - [ - 44517, - 138 - ], - [ - 44817, - 137 - ], - [ - 45117, - 137 - ], - [ - 45417, - 137 - ], - [ - 45717, - 136 - ], - [ - 46017, - 136 - ], - [ - 46317, - 135 - ], - [ - 46617, - 135 - ], - [ - 46917, - 135 - ], - [ - 47218, - 133 - ], - [ - 47518, - 133 - ], - [ - 47818, - 132 - ], - [ - 48118, - 132 - ], - [ - 48418, - 132 - ], - [ - 48718, - 131 - ], - [ - 49018, - 131 - ], - [ - 49319, - 129 - ], - [ - 49619, - 129 - ], - [ - 49919, - 129 - ], - [ - 50219, - 128 - ], - [ - 50519, - 128 - ], - [ - 50819, - 127 - ], - [ - 51119, - 127 - ], - [ - 51419, - 127 - ], - [ - 51720, - 125 - ], - [ - 52020, - 125 - ], - [ - 52320, - 124 - ], - [ - 52620, - 124 - ], - [ - 52920, - 124 - ], - [ - 53220, - 123 - ], - [ - 53520, - 123 - ], - [ - 53820, - 122 - ], - [ - 54121, - 121 - ], - [ - 54421, - 121 - ], - [ - 54721, - 120 - ], - [ - 55021, - 120 - ], - [ - 55321, - 119 - ], - [ - 55621, - 119 - ], - [ - 55921, - 119 - ], - [ - 56221, - 118 - ], - [ - 56522, - 117 - ], - [ - 56822, - 116 - ], - [ - 57122, - 116 - ], - [ - 57422, - 116 - ], - [ - 57722, - 115 - ], - [ - 58022, - 115 - ], - [ - 58322, - 114 - ], - [ - 58622, - 114 - ], - [ - 58923, - 113 - ], - [ - 59223, - 112 - ], - [ - 59523, - 112 - ], - [ - 59823, - 111 - ], - [ - 60123, - 111 - ], - [ - 60423, - 111 - ], - [ - 60723, - 110 - ], - [ - 61024, - 109 - ], - [ - 61324, - 108 - ] - ], - "point": [ - 185, - 175 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-01.29|+00.97|-00.95" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 165, - 198, - 169, - 229 - ], - "mask": [ - [ - 59265, - 2 - ], - [ - 59565, - 2 - ], - [ - 59865, - 2 - ], - [ - 60165, - 3 - ], - [ - 60465, - 4 - ], - [ - 60765, - 4 - ], - [ - 61065, - 4 - ], - [ - 61365, - 4 - ], - [ - 61665, - 4 - ], - [ - 61965, - 4 - ], - [ - 62265, - 4 - ], - [ - 62565, - 4 - ], - [ - 62865, - 3 - ], - [ - 63165, - 3 - ], - [ - 63465, - 3 - ], - [ - 63765, - 3 - ], - [ - 64065, - 4 - ], - [ - 64365, - 4 - ], - [ - 64665, - 5 - ], - [ - 64965, - 4 - ], - [ - 65265, - 4 - ], - [ - 65565, - 4 - ], - [ - 65865, - 4 - ], - [ - 66166, - 3 - ], - [ - 66466, - 3 - ], - [ - 66766, - 3 - ], - [ - 67066, - 3 - ], - [ - 67366, - 3 - ], - [ - 67666, - 3 - ], - [ - 67966, - 3 - ], - [ - 68266, - 3 - ], - [ - 68566, - 3 - ] - ], - "point": [ - 167, - 212 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.29|+01.02|-00.92" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 106, - 148, - 287, - 280 - ], - "mask": [ - [ - 44225, - 123 - ], - [ - 44525, - 123 - ], - [ - 44821, - 3 - ], - [ - 44825, - 123 - ], - [ - 45121, - 3 - ], - [ - 45125, - 124 - ], - [ - 45421, - 3 - ], - [ - 45426, - 123 - ], - [ - 45721, - 3 - ], - [ - 45726, - 123 - ], - [ - 46021, - 3 - ], - [ - 46026, - 124 - ], - [ - 46321, - 3 - ], - [ - 46326, - 124 - ], - [ - 46621, - 3 - ], - [ - 46626, - 125 - ], - [ - 46920, - 4 - ], - [ - 46926, - 125 - ], - [ - 47220, - 4 - ], - [ - 47226, - 125 - ], - [ - 47520, - 5 - ], - [ - 47526, - 126 - ], - [ - 47820, - 5 - ], - [ - 47826, - 126 - ], - [ - 48120, - 5 - ], - [ - 48126, - 126 - ], - [ - 48420, - 5 - ], - [ - 48426, - 127 - ], - [ - 48720, - 5 - ], - [ - 48727, - 126 - ], - [ - 49020, - 5 - ], - [ - 49027, - 127 - ], - [ - 49320, - 5 - ], - [ - 49327, - 127 - ], - [ - 49619, - 6 - ], - [ - 49627, - 127 - ], - [ - 49919, - 6 - ], - [ - 49927, - 128 - ], - [ - 50219, - 6 - ], - [ - 50227, - 128 - ], - [ - 50519, - 7 - ], - [ - 50527, - 128 - ], - [ - 50819, - 7 - ], - [ - 50827, - 129 - ], - [ - 51119, - 7 - ], - [ - 51127, - 129 - ], - [ - 51419, - 7 - ], - [ - 51427, - 130 - ], - [ - 51719, - 7 - ], - [ - 51727, - 130 - ], - [ - 52019, - 7 - ], - [ - 52028, - 129 - ], - [ - 52318, - 8 - ], - [ - 52328, - 130 - ], - [ - 52618, - 8 - ], - [ - 52628, - 130 - ], - [ - 52918, - 8 - ], - [ - 52928, - 131 - ], - [ - 53218, - 8 - ], - [ - 53228, - 131 - ], - [ - 53518, - 9 - ], - [ - 53528, - 131 - ], - [ - 53818, - 9 - ], - [ - 53828, - 132 - ], - [ - 54118, - 9 - ], - [ - 54128, - 132 - ], - [ - 54418, - 9 - ], - [ - 54428, - 132 - ], - [ - 54718, - 9 - ], - [ - 54728, - 133 - ], - [ - 55017, - 10 - ], - [ - 55029, - 132 - ], - [ - 55317, - 10 - ], - [ - 55329, - 133 - ], - [ - 55617, - 10 - ], - [ - 55629, - 133 - ], - [ - 55917, - 10 - ], - [ - 55929, - 133 - ], - [ - 56217, - 11 - ], - [ - 56229, - 134 - ], - [ - 56517, - 11 - ], - [ - 56529, - 134 - ], - [ - 56817, - 11 - ], - [ - 56829, - 134 - ], - [ - 57117, - 11 - ], - [ - 57129, - 135 - ], - [ - 57417, - 11 - ], - [ - 57429, - 135 - ], - [ - 57716, - 12 - ], - [ - 57729, - 136 - ], - [ - 58016, - 12 - ], - [ - 58029, - 136 - ], - [ - 58316, - 12 - ], - [ - 58329, - 136 - ], - [ - 58616, - 12 - ], - [ - 58629, - 137 - ], - [ - 58916, - 150 - ], - [ - 59216, - 150 - ], - [ - 59516, - 151 - ], - [ - 59816, - 151 - ], - [ - 60116, - 152 - ], - [ - 60415, - 153 - ], - [ - 60715, - 153 - ], - [ - 61015, - 154 - ], - [ - 61315, - 154 - ], - [ - 61615, - 154 - ], - [ - 61915, - 155 - ], - [ - 62215, - 155 - ], - [ - 62515, - 156 - ], - [ - 62815, - 156 - ], - [ - 63114, - 157 - ], - [ - 63414, - 158 - ], - [ - 63714, - 158 - ], - [ - 64014, - 159 - ], - [ - 64314, - 159 - ], - [ - 64614, - 159 - ], - [ - 64914, - 160 - ], - [ - 65214, - 160 - ], - [ - 65514, - 160 - ], - [ - 65814, - 161 - ], - [ - 66113, - 162 - ], - [ - 66413, - 163 - ], - [ - 66713, - 163 - ], - [ - 67013, - 163 - ], - [ - 67313, - 164 - ], - [ - 67613, - 164 - ], - [ - 67913, - 164 - ], - [ - 68213, - 165 - ], - [ - 68513, - 165 - ], - [ - 68807, - 181 - ], - [ - 69106, - 182 - ], - [ - 69406, - 182 - ], - [ - 69706, - 182 - ], - [ - 70006, - 182 - ], - [ - 70306, - 181 - ], - [ - 70606, - 180 - ], - [ - 70907, - 179 - ], - [ - 71207, - 178 - ], - [ - 71507, - 177 - ], - [ - 71807, - 176 - ], - [ - 72108, - 174 - ], - [ - 72408, - 174 - ], - [ - 72708, - 173 - ], - [ - 73008, - 172 - ], - [ - 73309, - 170 - ], - [ - 73609, - 169 - ], - [ - 73909, - 169 - ], - [ - 74209, - 168 - ], - [ - 74510, - 166 - ], - [ - 74810, - 165 - ], - [ - 75110, - 165 - ], - [ - 75410, - 164 - ], - [ - 75711, - 162 - ], - [ - 76011, - 161 - ], - [ - 76311, - 160 - ], - [ - 76630, - 141 - ], - [ - 76930, - 140 - ], - [ - 77312, - 57 - ], - [ - 77617, - 51 - ], - [ - 77920, - 48 - ], - [ - 78219, - 48 - ], - [ - 78515, - 51 - ], - [ - 78810, - 55 - ], - [ - 79013, - 151 - ], - [ - 79314, - 150 - ], - [ - 79614, - 149 - ], - [ - 79914, - 148 - ], - [ - 80214, - 147 - ], - [ - 80515, - 145 - ], - [ - 80815, - 145 - ], - [ - 81115, - 144 - ], - [ - 81415, - 143 - ], - [ - 81716, - 141 - ], - [ - 82016, - 141 - ], - [ - 82316, - 140 - ], - [ - 82616, - 139 - ], - [ - 82917, - 137 - ], - [ - 83217, - 136 - ], - [ - 83517, - 136 - ], - [ - 83818, - 134 - ] - ], - "point": [ - 196, - 213 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|-01.29|+00.97|-00.95", - "placeStationary": true, - "receptacleObjectId": "Mug|+01.65|+00.79|-01.28" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 163, - 103, - 200, - 143 - ], - "mask": [ - [ - 30778, - 2 - ], - [ - 31073, - 12 - ], - [ - 31371, - 16 - ], - [ - 31669, - 20 - ], - [ - 31968, - 22 - ], - [ - 32267, - 24 - ], - [ - 32566, - 26 - ], - [ - 32866, - 27 - ], - [ - 33165, - 29 - ], - [ - 33465, - 29 - ], - [ - 33765, - 29 - ], - [ - 34065, - 34 - ], - [ - 34365, - 35 - ], - [ - 34664, - 37 - ], - [ - 34964, - 37 - ], - [ - 35264, - 37 - ], - [ - 35564, - 30 - ], - [ - 35598, - 3 - ], - [ - 35864, - 30 - ], - [ - 35898, - 3 - ], - [ - 36164, - 30 - ], - [ - 36197, - 4 - ], - [ - 36464, - 30 - ], - [ - 36497, - 4 - ], - [ - 36764, - 29 - ], - [ - 36795, - 5 - ], - [ - 37064, - 29 - ], - [ - 37094, - 6 - ], - [ - 37364, - 35 - ], - [ - 37664, - 34 - ], - [ - 37964, - 34 - ], - [ - 38264, - 32 - ], - [ - 38563, - 32 - ], - [ - 38863, - 29 - ], - [ - 39163, - 28 - ], - [ - 39463, - 28 - ], - [ - 39763, - 28 - ], - [ - 40064, - 27 - ], - [ - 40364, - 26 - ], - [ - 40665, - 25 - ], - [ - 40965, - 25 - ], - [ - 41266, - 23 - ], - [ - 41567, - 21 - ], - [ - 41868, - 19 - ], - [ - 42169, - 17 - ], - [ - 42471, - 13 - ], - [ - 42774, - 7 - ] - ], - "point": [ - 181, - 122 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+01.65|+00.79|-01.28" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 163, - 103, - 200, - 143 - ], - "mask": [ - [ - 30778, - 2 - ], - [ - 31074, - 11 - ], - [ - 31374, - 13 - ], - [ - 31669, - 2 - ], - [ - 31674, - 15 - ], - [ - 31968, - 3 - ], - [ - 31974, - 16 - ], - [ - 32267, - 4 - ], - [ - 32274, - 17 - ], - [ - 32566, - 5 - ], - [ - 32574, - 18 - ], - [ - 32866, - 5 - ], - [ - 32874, - 19 - ], - [ - 33165, - 6 - ], - [ - 33173, - 21 - ], - [ - 33465, - 5 - ], - [ - 33473, - 21 - ], - [ - 33765, - 5 - ], - [ - 33773, - 21 - ], - [ - 34065, - 5 - ], - [ - 34073, - 26 - ], - [ - 34365, - 5 - ], - [ - 34373, - 27 - ], - [ - 34664, - 6 - ], - [ - 34673, - 28 - ], - [ - 34964, - 6 - ], - [ - 34973, - 28 - ], - [ - 35264, - 6 - ], - [ - 35273, - 28 - ], - [ - 35564, - 6 - ], - [ - 35572, - 22 - ], - [ - 35598, - 3 - ], - [ - 35864, - 6 - ], - [ - 35872, - 22 - ], - [ - 35898, - 3 - ], - [ - 36164, - 5 - ], - [ - 36172, - 22 - ], - [ - 36197, - 4 - ], - [ - 36464, - 6 - ], - [ - 36472, - 22 - ], - [ - 36497, - 4 - ], - [ - 36764, - 7 - ], - [ - 36772, - 21 - ], - [ - 36795, - 5 - ], - [ - 37064, - 29 - ], - [ - 37094, - 6 - ], - [ - 37364, - 35 - ], - [ - 37664, - 34 - ], - [ - 37964, - 34 - ], - [ - 38264, - 32 - ], - [ - 38563, - 32 - ], - [ - 38863, - 29 - ], - [ - 39163, - 28 - ], - [ - 39463, - 28 - ], - [ - 39763, - 28 - ], - [ - 40064, - 27 - ], - [ - 40364, - 26 - ], - [ - 40665, - 25 - ], - [ - 40965, - 25 - ], - [ - 41266, - 23 - ], - [ - 41567, - 21 - ], - [ - 41868, - 19 - ], - [ - 42169, - 17 - ], - [ - 42471, - 13 - ], - [ - 42774, - 7 - ] - ], - "point": [ - 181, - 122 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+01.65|+00.79|-01.28", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 218 - ], - "mask": [ - [ - 76, - 68 - ], - [ - 162, - 30 - ], - [ - 196, - 104 - ], - [ - 376, - 69 - ], - [ - 461, - 31 - ], - [ - 496, - 104 - ], - [ - 676, - 70 - ], - [ - 761, - 32 - ], - [ - 796, - 104 - ], - [ - 975, - 71 - ], - [ - 1060, - 33 - ], - [ - 1096, - 74 - ], - [ - 1185, - 15 - ], - [ - 1275, - 66 - ], - [ - 1345, - 2 - ], - [ - 1360, - 33 - ], - [ - 1396, - 71 - ], - [ - 1490, - 10 - ], - [ - 1575, - 66 - ], - [ - 1645, - 4 - ], - [ - 1659, - 34 - ], - [ - 1697, - 68 - ], - [ - 1793, - 7 - ], - [ - 1875, - 67 - ], - [ - 1946, - 5 - ], - [ - 1957, - 36 - ], - [ - 1997, - 65 - ], - [ - 2096, - 4 - ], - [ - 2174, - 68 - ], - [ - 2246, - 4 - ], - [ - 2254, - 39 - ], - [ - 2297, - 64 - ], - [ - 2398, - 2 - ], - [ - 2474, - 68 - ], - [ - 2546, - 4 - ], - [ - 2553, - 40 - ], - [ - 2597, - 64 - ], - [ - 2774, - 68 - ], - [ - 2847, - 2 - ], - [ - 2853, - 41 - ], - [ - 2897, - 63 - ], - [ - 3074, - 69 - ], - [ - 3152, - 42 - ], - [ - 3197, - 62 - ], - [ - 3373, - 68 - ], - [ - 3454, - 40 - ], - [ - 3497, - 61 - ], - [ - 3673, - 67 - ], - [ - 3754, - 40 - ], - [ - 3798, - 60 - ], - [ - 3973, - 67 - ], - [ - 4054, - 40 - ], - [ - 4098, - 60 - ], - [ - 4273, - 68 - ], - [ - 4353, - 41 - ], - [ - 4398, - 60 - ], - [ - 4572, - 70 - ], - [ - 4648, - 4 - ], - [ - 4653, - 41 - ], - [ - 4698, - 60 - ], - [ - 4781, - 3 - ], - [ - 4872, - 73 - ], - [ - 4949, - 2 - ], - [ - 4953, - 42 - ], - [ - 4998, - 60 - ], - [ - 5080, - 7 - ], - [ - 5172, - 71 - ], - [ - 5253, - 42 - ], - [ - 5298, - 60 - ], - [ - 5380, - 8 - ], - [ - 5472, - 70 - ], - [ - 5555, - 40 - ], - [ - 5599, - 60 - ], - [ - 5680, - 8 - ], - [ - 5771, - 71 - ], - [ - 5855, - 40 - ], - [ - 5899, - 60 - ], - [ - 5982, - 5 - ], - [ - 6071, - 70 - ], - [ - 6155, - 40 - ], - [ - 6199, - 61 - ], - [ - 6369, - 72 - ], - [ - 6455, - 40 - ], - [ - 6499, - 61 - ], - [ - 6669, - 72 - ], - [ - 6756, - 39 - ], - [ - 6799, - 62 - ], - [ - 6969, - 72 - ], - [ - 7056, - 40 - ], - [ - 7099, - 63 - ], - [ - 7200, - 1 - ], - [ - 7269, - 72 - ], - [ - 7356, - 40 - ], - [ - 7399, - 64 - ], - [ - 7500, - 1 - ], - [ - 7568, - 73 - ], - [ - 7656, - 40 - ], - [ - 7700, - 64 - ], - [ - 7800, - 2 - ], - [ - 7868, - 73 - ], - [ - 7956, - 40 - ], - [ - 8000, - 66 - ], - [ - 8100, - 141 - ], - [ - 8256, - 40 - ], - [ - 8300, - 67 - ], - [ - 8400, - 140 - ], - [ - 8556, - 41 - ], - [ - 8600, - 68 - ], - [ - 8700, - 140 - ], - [ - 8856, - 41 - ], - [ - 8899, - 71 - ], - [ - 9000, - 140 - ], - [ - 9157, - 41 - ], - [ - 9199, - 74 - ], - [ - 9300, - 140 - ], - [ - 9457, - 41 - ], - [ - 9499, - 77 - ], - [ - 9600, - 140 - ], - [ - 9757, - 121 - ], - [ - 9900, - 140 - ], - [ - 10057, - 127 - ], - [ - 10198, - 142 - ], - [ - 10357, - 283 - ], - [ - 10656, - 285 - ], - [ - 10956, - 287 - ], - [ - 11255, - 11547 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57448, - 5 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57748, - 5 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58048, - 5 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58348, - 5 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58648, - 5 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 58948, - 5 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59248, - 5 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59548, - 5 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59848, - 5 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60148, - 5 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60447, - 6 - ], - [ - 60517, - 9 - ], - [ - 60677, - 8 - ], - [ - 60748, - 5 - ], - [ - 60816, - 9 - ], - [ - 60978, - 7 - ], - [ - 61048, - 5 - ], - [ - 61115, - 9 - ], - [ - 61278, - 8 - ], - [ - 61415, - 9 - ], - [ - 61579, - 8 - ], - [ - 61714, - 9 - ], - [ - 61880, - 7 - ], - [ - 62013, - 9 - ], - [ - 62181, - 7 - ], - [ - 62313, - 8 - ], - [ - 62481, - 8 - ], - [ - 62612, - 9 - ], - [ - 62782, - 7 - ], - [ - 62911, - 9 - ], - [ - 63083, - 7 - ], - [ - 63211, - 8 - ], - [ - 63384, - 7 - ], - [ - 63510, - 8 - ], - [ - 63684, - 7 - ], - [ - 63809, - 8 - ], - [ - 63985, - 7 - ], - [ - 64109, - 8 - ], - [ - 64286, - 7 - ], - [ - 64408, - 8 - ], - [ - 64587, - 6 - ], - [ - 64707, - 8 - ], - [ - 64887, - 7 - ], - [ - 65007, - 7 - ], - [ - 65188, - 10 - ], - [ - 65304, - 10 - ] - ], - "point": [ - 149, - 108 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan301", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.5, - "y": 0.9009992, - "z": 0.75 - }, - "object_poses": [ - { - "objectName": "Mug_2a940808", - "position": { - "x": 1.651802, - "y": 0.793715239, - "z": -1.28207183 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": 2.21588874, - "y": 0.79533565, - "z": -1.21782291 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": -1.3876152, - "y": 1.23387265, - "z": -0.8406062 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": -1.32259846, - "y": 0.6761814, - "z": -0.954516351 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -0.8068642, - "y": 0.5663049, - "z": 0.358137846 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -0.117563307, - "y": 0.5663049, - "z": 0.6025641 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": -1.29435253, - "y": 0.6818339, - "z": -0.6148162 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 2.60495377, - "y": 1.28425324, - "z": -1.37226343 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.5919466, - "y": 0.7981409, - "z": -1.12144959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": -1.31801915, - "y": 1.23825777, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 2.79584527, - "y": 0.810719967, - "z": -1.412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.902, - "y": 0.5744, - "z": 1.179 - }, - "rotation": { - "x": 0.0, - "y": 332.922272, - "z": 0.0 - } - }, - { - "objectName": "Box_32219d9d", - "position": { - "x": 2.7342, - "y": 0.195, - "z": 0.89 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.462213755, - "y": 0.561, - "z": 1.0914166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -0.979189456, - "y": 0.5663049, - "z": 0.358137846 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_7de4b683", - "position": { - "x": 2.847, - "y": 0.643, - "z": 1.838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 335.1118 - } - }, - { - "objectName": "BasketBall_7b5f2c88", - "position": { - "x": 1.01986575, - "y": 0.330830961, - "z": -0.9766739 - }, - "rotation": { - "x": 346.948517, - "y": 295.8199, - "z": 0.656402946 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": 1.98229468, - "y": 0.570882738, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": -1.32177234, - "y": 0.106152132, - "z": -0.5444698 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": 2.5919466, - "y": 0.7956334, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.309968, - "y": 1.28194129, - "z": -1.37226343 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_dc0ae5c1", - "position": { - "x": -1.27998614, - "y": 0.0006508231, - "z": -1.34300911 - }, - "rotation": { - "x": 359.9876, - "y": 27.1430378, - "z": 359.993652 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.634, - "y": 0.63, - "z": 1.6116 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": -1.248423, - "y": 1.23506391, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": 2.451, - "y": 0.788715243, - "z": -1.20707834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": -1.35281718, - "y": 1.23387265, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": -1.283221, - "y": 1.23320663, - "z": -0.458181381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": -1.29470158, - "y": 0.973756, - "z": -0.9543605 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 1.83983088, - "y": 0.793715239, - "z": -1.153574 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_e0075340", - "position": { - "x": 1.823921, - "y": 1.036511, - "z": -1.419659 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4085424374, - "scene_num": 301 - }, - "task_id": "trial_T20190909_022553_890007", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2871R3LEPWMMK_3PMBY0YE2AUZUEX3WP7H8PKLKRSC9V", - "high_descs": [ - "Head right at the wall and walk to the white dresser.", - "Open the top left drawer, pick up the black pen inside and close the drawer.", - "Turn around and walk to the white desk on the right.", - "Put the pen inside the far right white mug on the desk.", - "Pick up the mug with the pen from the desk.", - "Turn around and head left to the white dresser.", - "Put the mug with the pen on the right side of the dresser to the left of the silver disc." - ], - "task_desc": "Place a mug with a pen on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A24RGLS3BRZ60J_3ZAZR5XV049E05FG0N1GLDMEZU1ZCI", - "high_descs": [ - "Move forward and turn to the right. Face the tall white dresser.", - "Open the top left drawer and take out a pen. Shut the drawer.", - "Carry the pen and turn around. Turn to the right and face the desk.", - "Place the pen in the cup, on the right side of the desk.", - "Pick up the cup from the right side of the desk.", - "Carry the cup and turn to the right. Move to the tall dresser.", - "Place the cup on the top of the dresser, on the right side." - ], - "task_desc": "Move a pen and cup to a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_336KAV9KYTJ1XXD978ARVT4QHACY2B", - "high_descs": [ - "Turn right then head to the cabinet drawer at the end of the bed", - "Open the first drawer on the left, pick up the pen then close the drawer", - "Turn right then head to the desk", - "Put the pen in the mug", - "Pick up the mug with pen on the desk", - "Turn right then head to the cabinet drawer at the end of the bed", - "Put the mug with pen on top of the cabinet " - ], - "task_desc": "Put the mug with pen on top of the cabinet ", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_022706_734543/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_022706_734543/traj_data.json deleted file mode 100644 index 8b6428976..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_022706_734543/traj_data.json +++ /dev/null @@ -1,4647 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 6 - }, - { - "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": 7 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 7 - }, - { - "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": 3, - "image_name": "000000078.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000079.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000080.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000081.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000082.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000083.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000084.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000085.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000086.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000087.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000088.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000089.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000090.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000091.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000092.png", - "low_idx": 8 - }, - { - "high_idx": 4, - "image_name": "000000093.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000094.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000095.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000096.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000097.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000098.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000099.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000100.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000101.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000102.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000103.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000104.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000105.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000106.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000107.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000108.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000109.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 20 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 29 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-3|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 8.86355496, - 8.86355496, - -4.614296, - -4.614296, - 3.2018112, - 3.2018112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.176, - 9.176, - -4.612, - -4.612, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.22|+00.80|-01.15" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 8.86355496, - 8.86355496, - -4.614296, - -4.614296, - 3.2018112, - 3.2018112 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 8.86355496, - 8.86355496, - -4.99978924, - -4.99978924, - 3.1712, - 3.1712 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.22|+00.80|-01.15", - "receptacleObjectId": "Mug|+02.22|+00.79|-01.25" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 8.86355496, - 8.86355496, - -4.99978924, - -4.99978924, - 3.1712, - 3.1712 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.176, - 9.176, - -4.612, - -4.612, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.22|+00.79|-01.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 8.86355496, - 8.86355496, - -4.99978924, - -4.99978924, - 3.1712, - 3.1712 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.22|+00.79|-01.25", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+02.22|+00.80|-01.15" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 57, - 162, - 112, - 164 - ], - "mask": [ - [ - 48358, - 53 - ], - [ - 48657, - 56 - ], - [ - 48995, - 14 - ] - ], - "point": [ - 84, - 162 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+02.22|+00.80|-01.15", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.22|+00.79|-01.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 68, - 111, - 107, - 151 - ], - "mask": [ - [ - 33081, - 9 - ], - [ - 33378, - 15 - ], - [ - 33676, - 18 - ], - [ - 33974, - 22 - ], - [ - 34273, - 23 - ], - [ - 34572, - 25 - ], - [ - 34871, - 27 - ], - [ - 35170, - 28 - ], - [ - 35469, - 30 - ], - [ - 35769, - 30 - ], - [ - 36069, - 30 - ], - [ - 36368, - 37 - ], - [ - 36668, - 38 - ], - [ - 36968, - 39 - ], - [ - 37268, - 39 - ], - [ - 37568, - 40 - ], - [ - 37868, - 33 - ], - [ - 37903, - 5 - ], - [ - 38169, - 32 - ], - [ - 38205, - 3 - ], - [ - 38469, - 32 - ], - [ - 38505, - 3 - ], - [ - 38769, - 33 - ], - [ - 38805, - 3 - ], - [ - 39070, - 32 - ], - [ - 39105, - 3 - ], - [ - 39370, - 32 - ], - [ - 39404, - 4 - ], - [ - 39671, - 36 - ], - [ - 39971, - 36 - ], - [ - 40272, - 34 - ], - [ - 40572, - 33 - ], - [ - 40873, - 31 - ], - [ - 41173, - 31 - ], - [ - 41474, - 30 - ], - [ - 41774, - 29 - ], - [ - 42075, - 28 - ], - [ - 42375, - 28 - ], - [ - 42676, - 26 - ], - [ - 42976, - 26 - ], - [ - 43277, - 24 - ], - [ - 43577, - 23 - ], - [ - 43878, - 21 - ], - [ - 44179, - 19 - ], - [ - 44480, - 16 - ], - [ - 44782, - 12 - ], - [ - 45086, - 4 - ] - ], - "point": [ - 87, - 130 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.22|+00.79|-01.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 68, - 111, - 107, - 151 - ], - "mask": [ - [ - 33081, - 9 - ], - [ - 33378, - 15 - ], - [ - 33676, - 18 - ], - [ - 33974, - 22 - ], - [ - 34273, - 23 - ], - [ - 34572, - 25 - ], - [ - 34871, - 27 - ], - [ - 35170, - 28 - ], - [ - 35470, - 29 - ], - [ - 35770, - 29 - ], - [ - 36070, - 29 - ], - [ - 36371, - 34 - ], - [ - 36671, - 35 - ], - [ - 36968, - 1 - ], - [ - 36972, - 35 - ], - [ - 37268, - 1 - ], - [ - 37272, - 35 - ], - [ - 37568, - 1 - ], - [ - 37573, - 35 - ], - [ - 37868, - 2 - ], - [ - 37873, - 28 - ], - [ - 37903, - 5 - ], - [ - 38169, - 1 - ], - [ - 38174, - 27 - ], - [ - 38205, - 3 - ], - [ - 38469, - 2 - ], - [ - 38474, - 27 - ], - [ - 38505, - 3 - ], - [ - 38769, - 2 - ], - [ - 38774, - 28 - ], - [ - 38805, - 3 - ], - [ - 39070, - 2 - ], - [ - 39075, - 27 - ], - [ - 39105, - 3 - ], - [ - 39370, - 4 - ], - [ - 39375, - 27 - ], - [ - 39404, - 4 - ], - [ - 39671, - 36 - ], - [ - 39971, - 36 - ], - [ - 40272, - 34 - ], - [ - 40572, - 33 - ], - [ - 40873, - 31 - ], - [ - 41173, - 31 - ], - [ - 41474, - 30 - ], - [ - 41774, - 29 - ], - [ - 42075, - 28 - ], - [ - 42375, - 28 - ], - [ - 42676, - 26 - ], - [ - 42976, - 26 - ], - [ - 43277, - 24 - ], - [ - 43577, - 23 - ], - [ - 43878, - 21 - ], - [ - 44179, - 19 - ], - [ - 44480, - 16 - ], - [ - 44782, - 12 - ], - [ - 45086, - 4 - ] - ], - "point": [ - 87, - 130 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.22|+00.79|-01.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 218 - ], - "mask": [ - [ - 76, - 66 - ], - [ - 155, - 92 - ], - [ - 376, - 66 - ], - [ - 455, - 92 - ], - [ - 675, - 67 - ], - [ - 755, - 92 - ], - [ - 975, - 67 - ], - [ - 1055, - 31 - ], - [ - 1102, - 45 - ], - [ - 1275, - 67 - ], - [ - 1355, - 28 - ], - [ - 1406, - 42 - ], - [ - 1575, - 66 - ], - [ - 1656, - 24 - ], - [ - 1708, - 40 - ], - [ - 1874, - 67 - ], - [ - 1956, - 22 - ], - [ - 2011, - 37 - ], - [ - 2174, - 67 - ], - [ - 2256, - 20 - ], - [ - 2313, - 36 - ], - [ - 2474, - 67 - ], - [ - 2556, - 19 - ], - [ - 2614, - 35 - ], - [ - 2774, - 67 - ], - [ - 2856, - 18 - ], - [ - 2916, - 33 - ], - [ - 3073, - 68 - ], - [ - 3156, - 17 - ], - [ - 3217, - 34 - ], - [ - 3373, - 68 - ], - [ - 3456, - 16 - ], - [ - 3518, - 34 - ], - [ - 3673, - 68 - ], - [ - 3756, - 16 - ], - [ - 3819, - 34 - ], - [ - 3973, - 68 - ], - [ - 4056, - 16 - ], - [ - 4120, - 35 - ], - [ - 4272, - 69 - ], - [ - 4356, - 15 - ], - [ - 4420, - 38 - ], - [ - 4499, - 1 - ], - [ - 4572, - 3 - ], - [ - 4604, - 37 - ], - [ - 4656, - 15 - ], - [ - 4695, - 2 - ], - [ - 4721, - 39 - ], - [ - 4798, - 2 - ], - [ - 4872, - 2 - ], - [ - 4956, - 15 - ], - [ - 4993, - 6 - ], - [ - 5021, - 41 - ], - [ - 5097, - 3 - ], - [ - 5172, - 1 - ], - [ - 5253, - 17 - ], - [ - 5292, - 8 - ], - [ - 5322, - 43 - ], - [ - 5396, - 4 - ], - [ - 5471, - 2 - ], - [ - 5548, - 23 - ], - [ - 5592, - 8 - ], - [ - 5622, - 45 - ], - [ - 5695, - 5 - ], - [ - 5771, - 2 - ], - [ - 5848, - 23 - ], - [ - 5894, - 5 - ], - [ - 5922, - 48 - ], - [ - 5994, - 6 - ], - [ - 6071, - 2 - ], - [ - 6148, - 23 - ], - [ - 6222, - 50 - ], - [ - 6293, - 7 - ], - [ - 6369, - 3 - ], - [ - 6448, - 24 - ], - [ - 6521, - 51 - ], - [ - 6592, - 8 - ], - [ - 6669, - 3 - ], - [ - 6748, - 24 - ], - [ - 6821, - 51 - ], - [ - 6890, - 10 - ], - [ - 6969, - 3 - ], - [ - 7048, - 24 - ], - [ - 7121, - 50 - ], - [ - 7177, - 2 - ], - [ - 7188, - 13 - ], - [ - 7268, - 3 - ], - [ - 7348, - 25 - ], - [ - 7421, - 50 - ], - [ - 7477, - 4 - ], - [ - 7487, - 14 - ], - [ - 7568, - 3 - ], - [ - 7648, - 27 - ], - [ - 7720, - 51 - ], - [ - 7776, - 26 - ], - [ - 7827, - 44 - ], - [ - 7948, - 28 - ], - [ - 8019, - 51 - ], - [ - 8075, - 96 - ], - [ - 8248, - 29 - ], - [ - 8318, - 52 - ], - [ - 8374, - 96 - ], - [ - 8548, - 30 - ], - [ - 8617, - 53 - ], - [ - 8674, - 96 - ], - [ - 8847, - 32 - ], - [ - 8916, - 53 - ], - [ - 8973, - 97 - ], - [ - 9147, - 35 - ], - [ - 9214, - 55 - ], - [ - 9272, - 98 - ], - [ - 9447, - 37 - ], - [ - 9512, - 57 - ], - [ - 9571, - 98 - ], - [ - 9747, - 39 - ], - [ - 9810, - 58 - ], - [ - 9871, - 98 - ], - [ - 10047, - 45 - ], - [ - 10106, - 63 - ], - [ - 10170, - 99 - ], - [ - 10347, - 221 - ], - [ - 10647, - 221 - ], - [ - 10947, - 221 - ], - [ - 11247, - 221 - ], - [ - 11547, - 222 - ], - [ - 11847, - 233 - ], - [ - 12147, - 296 - ], - [ - 12445, - 10357 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57448, - 5 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57748, - 5 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58048, - 5 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58348, - 5 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58648, - 5 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 58948, - 5 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59248, - 5 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59548, - 5 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59848, - 5 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60148, - 5 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60447, - 6 - ], - [ - 60517, - 9 - ], - [ - 60677, - 8 - ], - [ - 60748, - 5 - ], - [ - 60816, - 9 - ], - [ - 60978, - 7 - ], - [ - 61048, - 5 - ], - [ - 61115, - 9 - ], - [ - 61278, - 8 - ], - [ - 61415, - 9 - ], - [ - 61579, - 8 - ], - [ - 61714, - 9 - ], - [ - 61880, - 7 - ], - [ - 62013, - 9 - ], - [ - 62181, - 7 - ], - [ - 62313, - 8 - ], - [ - 62481, - 8 - ], - [ - 62612, - 9 - ], - [ - 62782, - 7 - ], - [ - 62911, - 9 - ], - [ - 63083, - 7 - ], - [ - 63211, - 8 - ], - [ - 63384, - 7 - ], - [ - 63510, - 8 - ], - [ - 63684, - 7 - ], - [ - 63809, - 8 - ], - [ - 63985, - 7 - ], - [ - 64109, - 8 - ], - [ - 64286, - 7 - ], - [ - 64408, - 8 - ], - [ - 64587, - 6 - ], - [ - 64707, - 8 - ], - [ - 64887, - 7 - ], - [ - 65007, - 7 - ], - [ - 65188, - 10 - ], - [ - 65304, - 10 - ] - ], - "point": [ - 149, - 108 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan301", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 2.25, - "y": 0.9009992, - "z": -0.5 - }, - "object_poses": [ - { - "objectName": "Mug_2a940808", - "position": { - "x": 1.651802, - "y": 0.793715239, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.21588874, - "y": 0.7928, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.5919466, - "y": 0.793715239, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29335022, - "y": 0.107122377, - "z": -0.5800813 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29372144, - "y": 0.384006232, - "z": -0.614350438 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.462213755, - "y": 0.5653898, - "z": 0.846990347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.02785969, - "y": 0.795321941, - "z": -1.28207183 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.839, - "y": 0.0398521759, - "z": 0.218 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.24586785, - "y": 1.23161232, - "z": -0.835454941 - }, - "rotation": { - "x": 3.00795317, - "y": 1.33564973, - "z": 359.865875 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 2.02785969, - "y": 0.801368058, - "z": -1.21782291 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.60495377, - "y": 1.28194129, - "z": -1.38717556 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": -1.38885939, - "y": 1.23264432, - "z": -0.6288599 - }, - "rotation": { - "x": 75.69148, - "y": 115.541695, - "z": 179.999512 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.70102572, - "y": 0.5691792, - "z": -1.24634492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.91163933, - "y": 1.04736793, - "z": -1.38817549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": -1.23786056, - "y": 0.6760558, - "z": -0.9188626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.979189456, - "y": 0.640530765, - "z": 0.113711596 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.902, - "y": 0.5744, - "z": 1.179 - }, - "rotation": { - "x": 0.0, - "y": 332.922272, - "z": 0.0 - } - }, - { - "objectName": "Box_32219d9d", - "position": { - "x": 2.7342, - "y": 0.195, - "z": 0.89 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.5, - "y": 0.56, - "z": 0.286 - }, - "rotation": { - "x": 0.0, - "y": 63.46487, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.29335022, - "y": 0.109461084, - "z": -0.9174814 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_7de4b683", - "position": { - "x": 2.847, - "y": 0.643, - "z": 1.838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 335.1118 - } - }, - { - "objectName": "BasketBall_7b5f2c88", - "position": { - "x": 1.019842, - "y": 0.3307791, - "z": -0.9774667 - }, - "rotation": { - "x": 346.7775, - "y": 295.59317, - "z": 1.02272415 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": 1.94679868, - "y": 0.129082769, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": -1.29435253, - "y": 0.6759047, - "z": -0.5078549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": -1.27023792, - "y": 1.22743714, - "z": -0.4730772 - }, - "rotation": { - "x": 0.00253094966, - "y": 227.867844, - "z": -0.00138694677 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 1.75862527, - "y": 0.8060935, - "z": -1.38517547 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_dc0ae5c1", - "position": { - "x": -1.27998614, - "y": 0.0006508231, - "z": -1.34300911 - }, - "rotation": { - "x": 359.9876, - "y": 27.1430378, - "z": 359.993652 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.634, - "y": 0.63, - "z": 1.6116 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": -1.31792188, - "y": 1.229096, - "z": -0.7449676 - }, - "rotation": { - "x": 0.168375731, - "y": 359.981659, - "z": 358.92 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": 2.451, - "y": 0.788715243, - "z": -1.20707834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 2.4821074, - "y": 1.04499662, - "z": -1.38317561 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": -1.283221, - "y": 1.23320663, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 2.21588874, - "y": 0.8004528, - "z": -1.153574 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.8212316, - "y": 0.7887157, - "z": -1.22375679 - }, - "rotation": { - "x": -0.000516766333, - "y": -2.84708512e-05, - "z": 0.0006288861 - } - }, - { - "objectName": "Statue_e0075340", - "position": { - "x": 1.823921, - "y": 1.036511, - "z": -1.419659 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2898084095, - "scene_num": 301 - }, - "task_id": "trial_T20190909_022706_734543", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A320QA9HJFUOZO_3LO69W1SU647CSEHN86Q3PWVID1GL6", - "high_descs": [ - "Walk forward to the white desk", - "Pick up the left most pen from the desk", - "Put the pen in the left most white mug on the desk", - "Pick up the left most white mug from the desk", - "Turn right and walk forward to the tall white dresser", - "Put the mug down on top of the dresser" - ], - "task_desc": "Put the mug with pen on the white dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1CY7IOJ9YH136_3MTMREQS4Y9MDVDD5MLIGE28IPCWAN", - "high_descs": [ - "go to right side of black desk chair", - "pick up pen from desk in front of white mug", - "place pen in white mug on desk", - "pick up white mug with pen from desk", - "turn right, go to white dresser to the left of bed", - "place mug with pen on top of CD on white dresser " - ], - "task_desc": "place mug with pen on top of CD on white dresser ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3PIWWX1FJMXB84GISTFGKNBJ6GZJJX", - "high_descs": [ - "Take a step to your right.", - "Pick up the pen that's in front of you that's under the mug.", - "Put the pencil in the mug that was above it.", - "Pick up the mug with the pencil in it.", - "Turn right and take a step to your right then walk two steps and take a step to your left then walk to the white dresser.", - "Put the mug to the right of the phone." - ], - "task_desc": "Put a mug with a pencil in it on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_062011_223446/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_062011_223446/traj_data.json deleted file mode 100644 index 9b24fe1bb..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-301/trial_T20190909_062011_223446/traj_data.json +++ /dev/null @@ -1,5121 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000041.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000062.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000063.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 8 - }, - { - "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": 9 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "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": 3, - "image_name": "000000146.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 20 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 36 - }, - { - "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 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|-3|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 6.607208, - 6.607208, - -4.74279404, - -4.74279404, - 3.2018112, - 3.2018112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.176, - 9.176, - -4.612, - -4.612, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.65|+00.80|-01.19" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|-3|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 6.607208, - 6.607208, - -4.74279404, - -4.74279404, - 3.2018112, - 3.2018112 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 11.28492736, - 11.28492736, - -4.89502764, - -4.89502764, - 3.1548616, - 3.1548616 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.65|+00.80|-01.19", - "receptacleObjectId": "Mug|+02.82|+00.79|-01.22" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 11.28492736, - 11.28492736, - -4.89502764, - -4.89502764, - 3.1548616, - 3.1548616 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.176, - 9.176, - -4.612, - -4.612, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.82|+00.79|-01.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 11.28492736, - 11.28492736, - -4.89502764, - -4.89502764, - 3.1548616, - 3.1548616 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.82|+00.79|-01.22", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - }, - { - "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": "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": "Pen|+01.65|+00.80|-01.19" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 149, - 153, - 203, - 156 - ], - "mask": [ - [ - 45754, - 47 - ], - [ - 46049, - 55 - ], - [ - 46351, - 50 - ], - [ - 46687, - 13 - ] - ], - "point": [ - 176, - 153 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.65|+00.80|-01.19", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.82|+00.79|-01.22" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 112, - 117, - 150, - 157 - ], - "mask": [ - [ - 34925, - 7 - ], - [ - 35221, - 14 - ], - [ - 35519, - 18 - ], - [ - 35818, - 21 - ], - [ - 36117, - 23 - ], - [ - 36416, - 25 - ], - [ - 36715, - 26 - ], - [ - 37014, - 28 - ], - [ - 37313, - 29 - ], - [ - 37613, - 30 - ], - [ - 37913, - 30 - ], - [ - 38212, - 36 - ], - [ - 38512, - 38 - ], - [ - 38812, - 38 - ], - [ - 39112, - 39 - ], - [ - 39412, - 39 - ], - [ - 39712, - 39 - ], - [ - 40013, - 31 - ], - [ - 40048, - 3 - ], - [ - 40313, - 31 - ], - [ - 40348, - 3 - ], - [ - 40613, - 31 - ], - [ - 40648, - 3 - ], - [ - 40913, - 31 - ], - [ - 40947, - 4 - ], - [ - 41213, - 31 - ], - [ - 41246, - 5 - ], - [ - 41514, - 36 - ], - [ - 41814, - 36 - ], - [ - 42114, - 35 - ], - [ - 42414, - 34 - ], - [ - 42715, - 32 - ], - [ - 43015, - 29 - ], - [ - 43315, - 29 - ], - [ - 43615, - 29 - ], - [ - 43915, - 29 - ], - [ - 44216, - 28 - ], - [ - 44516, - 27 - ], - [ - 44816, - 27 - ], - [ - 45117, - 25 - ], - [ - 45417, - 25 - ], - [ - 45718, - 23 - ], - [ - 46019, - 21 - ], - [ - 46320, - 18 - ], - [ - 46622, - 15 - ], - [ - 46924, - 10 - ] - ], - "point": [ - 131, - 136 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.82|+00.79|-01.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 112, - 117, - 150, - 157 - ], - "mask": [ - [ - 34925, - 7 - ], - [ - 35221, - 14 - ], - [ - 35519, - 18 - ], - [ - 35818, - 21 - ], - [ - 36117, - 23 - ], - [ - 36416, - 25 - ], - [ - 36716, - 25 - ], - [ - 37017, - 25 - ], - [ - 37313, - 1 - ], - [ - 37317, - 25 - ], - [ - 37613, - 1 - ], - [ - 37617, - 26 - ], - [ - 37913, - 1 - ], - [ - 37917, - 26 - ], - [ - 38212, - 2 - ], - [ - 38217, - 31 - ], - [ - 38512, - 3 - ], - [ - 38518, - 32 - ], - [ - 38812, - 3 - ], - [ - 38818, - 32 - ], - [ - 39112, - 3 - ], - [ - 39118, - 33 - ], - [ - 39412, - 3 - ], - [ - 39418, - 33 - ], - [ - 39712, - 3 - ], - [ - 39718, - 33 - ], - [ - 40013, - 3 - ], - [ - 40019, - 25 - ], - [ - 40048, - 3 - ], - [ - 40313, - 3 - ], - [ - 40319, - 25 - ], - [ - 40348, - 3 - ], - [ - 40613, - 3 - ], - [ - 40619, - 25 - ], - [ - 40648, - 3 - ], - [ - 40913, - 3 - ], - [ - 40919, - 25 - ], - [ - 40947, - 4 - ], - [ - 41213, - 5 - ], - [ - 41219, - 25 - ], - [ - 41246, - 5 - ], - [ - 41514, - 36 - ], - [ - 41814, - 36 - ], - [ - 42114, - 35 - ], - [ - 42414, - 34 - ], - [ - 42715, - 32 - ], - [ - 43015, - 29 - ], - [ - 43315, - 29 - ], - [ - 43615, - 29 - ], - [ - 43915, - 29 - ], - [ - 44216, - 28 - ], - [ - 44516, - 27 - ], - [ - 44816, - 27 - ], - [ - 45117, - 25 - ], - [ - 45417, - 25 - ], - [ - 45718, - 23 - ], - [ - 46019, - 21 - ], - [ - 46320, - 18 - ], - [ - 46622, - 15 - ], - [ - 46924, - 10 - ] - ], - "point": [ - 131, - 136 - ] - } - }, - "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.82|+00.79|-01.22", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 218 - ], - "mask": [ - [ - 76, - 18 - ], - [ - 122, - 68 - ], - [ - 194, - 53 - ], - [ - 376, - 18 - ], - [ - 422, - 7 - ], - [ - 435, - 5 - ], - [ - 447, - 43 - ], - [ - 494, - 53 - ], - [ - 676, - 18 - ], - [ - 723, - 4 - ], - [ - 747, - 44 - ], - [ - 794, - 53 - ], - [ - 975, - 19 - ], - [ - 1023, - 1 - ], - [ - 1044, - 1 - ], - [ - 1046, - 45 - ], - [ - 1094, - 53 - ], - [ - 1275, - 19 - ], - [ - 1338, - 2 - ], - [ - 1341, - 50 - ], - [ - 1394, - 53 - ], - [ - 1575, - 19 - ], - [ - 1625, - 2 - ], - [ - 1640, - 51 - ], - [ - 1694, - 54 - ], - [ - 1875, - 19 - ], - [ - 1922, - 4 - ], - [ - 1943, - 48 - ], - [ - 1994, - 54 - ], - [ - 2174, - 20 - ], - [ - 2220, - 8 - ], - [ - 2232, - 7 - ], - [ - 2247, - 44 - ], - [ - 2295, - 53 - ], - [ - 2474, - 20 - ], - [ - 2519, - 23 - ], - [ - 2550, - 41 - ], - [ - 2595, - 53 - ], - [ - 2774, - 21 - ], - [ - 2810, - 37 - ], - [ - 2852, - 40 - ], - [ - 2895, - 54 - ], - [ - 3074, - 86 - ], - [ - 3234, - 16 - ], - [ - 3373, - 87 - ], - [ - 3535, - 16 - ], - [ - 3673, - 86 - ], - [ - 3835, - 18 - ], - [ - 3973, - 86 - ], - [ - 4135, - 20 - ], - [ - 4273, - 86 - ], - [ - 4436, - 21 - ], - [ - 4499, - 1 - ], - [ - 4572, - 87 - ], - [ - 4736, - 24 - ], - [ - 4798, - 2 - ], - [ - 4872, - 87 - ], - [ - 5036, - 26 - ], - [ - 5097, - 3 - ], - [ - 5172, - 88 - ], - [ - 5337, - 27 - ], - [ - 5396, - 4 - ], - [ - 5472, - 88 - ], - [ - 5637, - 30 - ], - [ - 5695, - 5 - ], - [ - 5771, - 89 - ], - [ - 5937, - 32 - ], - [ - 5994, - 6 - ], - [ - 6071, - 89 - ], - [ - 6237, - 34 - ], - [ - 6293, - 7 - ], - [ - 6369, - 91 - ], - [ - 6538, - 34 - ], - [ - 6591, - 9 - ], - [ - 6669, - 91 - ], - [ - 6838, - 33 - ], - [ - 6890, - 10 - ], - [ - 6969, - 91 - ], - [ - 7138, - 33 - ], - [ - 7177, - 1 - ], - [ - 7188, - 13 - ], - [ - 7269, - 91 - ], - [ - 7438, - 33 - ], - [ - 7476, - 5 - ], - [ - 7486, - 15 - ], - [ - 7568, - 92 - ], - [ - 7739, - 31 - ], - [ - 7775, - 27 - ], - [ - 7868, - 92 - ], - [ - 8039, - 31 - ], - [ - 8075, - 185 - ], - [ - 8339, - 30 - ], - [ - 8374, - 186 - ], - [ - 8640, - 29 - ], - [ - 8673, - 187 - ], - [ - 8940, - 29 - ], - [ - 8972, - 188 - ], - [ - 9240, - 28 - ], - [ - 9272, - 188 - ], - [ - 9540, - 28 - ], - [ - 9571, - 189 - ], - [ - 9840, - 28 - ], - [ - 9870, - 190 - ], - [ - 10140, - 220 - ], - [ - 10440, - 221 - ], - [ - 10663, - 32 - ], - [ - 10699, - 37 - ], - [ - 10738, - 257 - ], - [ - 10999, - 296 - ], - [ - 11299, - 296 - ], - [ - 11599, - 297 - ], - [ - 11899, - 297 - ], - [ - 12199, - 298 - ], - [ - 12498, - 299 - ], - [ - 12798, - 10004 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57448, - 5 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57748, - 5 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58048, - 5 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58348, - 5 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58648, - 5 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 58948, - 5 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59248, - 5 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59548, - 5 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59848, - 5 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60148, - 5 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60447, - 6 - ], - [ - 60517, - 9 - ], - [ - 60677, - 8 - ], - [ - 60748, - 5 - ], - [ - 60816, - 9 - ], - [ - 60978, - 7 - ], - [ - 61048, - 5 - ], - [ - 61115, - 9 - ], - [ - 61278, - 8 - ], - [ - 61415, - 9 - ], - [ - 61579, - 8 - ], - [ - 61714, - 9 - ], - [ - 61880, - 7 - ], - [ - 62013, - 9 - ], - [ - 62181, - 7 - ], - [ - 62313, - 8 - ], - [ - 62481, - 8 - ], - [ - 62612, - 9 - ], - [ - 62782, - 7 - ], - [ - 62911, - 9 - ], - [ - 63083, - 7 - ], - [ - 63211, - 8 - ], - [ - 63384, - 7 - ], - [ - 63510, - 8 - ], - [ - 63684, - 7 - ], - [ - 63809, - 8 - ], - [ - 63985, - 7 - ], - [ - 64109, - 8 - ], - [ - 64286, - 7 - ], - [ - 64408, - 8 - ], - [ - 64587, - 6 - ], - [ - 64707, - 8 - ], - [ - 64887, - 7 - ], - [ - 65007, - 7 - ], - [ - 65188, - 10 - ], - [ - 65304, - 10 - ] - ], - "point": [ - 149, - 108 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan301", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 1.5, - "y": 0.9009992, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29470158, - "y": 0.969802737, - "z": -0.919000149 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 1.5590415, - "y": 0.34955588, - "z": -1.18970942 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.02785969, - "y": 0.795321941, - "z": -1.28207183 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.32259846, - "y": 0.679213643, - "z": -0.543508649 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 1.651802, - "y": 0.8004528, - "z": -1.18569851 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.20862532, - "y": 1.28194129, - "z": -1.38717556 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": -1.283221, - "y": 1.23694086, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 2.55428219, - "y": 1.2785964, - "z": -1.38717556 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.98229468, - "y": 0.127379209, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": 1.98229468, - "y": 0.5693303, - "z": -1.27466273 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.902, - "y": 0.5744, - "z": 1.179 - }, - "rotation": { - "x": 0.0, - "y": 332.922272, - "z": 0.0 - } - }, - { - "objectName": "Box_32219d9d", - "position": { - "x": 2.7342, - "y": 0.195, - "z": 0.89 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.979189456, - "y": 0.681278169, - "z": 1.5802691 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.248423, - "y": 1.23822176, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_7de4b683", - "position": { - "x": 2.847, - "y": 0.643, - "z": 1.838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 335.1118 - } - }, - { - "objectName": "BasketBall_7b5f2c88", - "position": { - "x": 1.01984119, - "y": 0.330778956, - "z": -0.9774682 - }, - "rotation": { - "x": 346.776978, - "y": 295.638458, - "z": 1.02097821 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": 1.63003361, - "y": 0.570882738, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.96131086, - "y": 0.8027486, - "z": -1.40008771 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": -1.26999986, - "y": 1.22743738, - "z": -0.473998636 - }, - "rotation": { - "x": 0.00252291653, - "y": 228.190964, - "z": -0.00136958924 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.5919466, - "y": 0.7981409, - "z": -1.18569851 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_dc0ae5c1", - "position": { - "x": -1.27998614, - "y": 0.0006508231, - "z": -1.34300911 - }, - "rotation": { - "x": 359.9876, - "y": 27.1430378, - "z": 359.993652 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.2898885, - "y": 0.640530765, - "z": 0.6025641 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": -1.31801915, - "y": 1.23506391, - "z": -0.8406062 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": 2.451, - "y": 0.788715243, - "z": -1.20707834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 2.5919466, - "y": 0.7950727, - "z": -1.12144959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.85923052, - "y": 0.0398521759, - "z": 0.218 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 1.70895386, - "y": 1.05302477, - "z": -1.37326336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.82123184, - "y": 0.7887154, - "z": -1.22375691 - }, - "rotation": { - "x": -0.000521142036, - "y": 4.2662964e-06, - "z": 0.00056537363 - } - }, - { - "objectName": "Statue_e0075340", - "position": { - "x": 1.823921, - "y": 1.036511, - "z": -1.419659 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2943280582, - "scene_num": 301 - }, - "task_id": "trial_T20190909_062011_223446", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A13OOAT2ORKH6V_384PI804XVSX51YMTFEOUJNA3Q50SM", - "high_descs": [ - "Look down, turn right and walk straight to the desk and look down again.", - "Pick up the pen on the desk.", - "Look up, turn around and walk to the other side of the desk to your right where the mug is placed.", - "Place the pen inside the mug.", - "Pick up the mug with the pen inside.", - "Turn around, and walk to the clothing cabinet to the far left next to the bed.", - "Place the mug next to the phone on top of the clothing cabinet." - ], - "task_desc": "Place a mug with a pen inside on top of the clothing cabinet.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3AMW0RGHOGT3D5A124CSAQECO00PNZ", - "high_descs": [ - "Turn right, move to the desk.", - "Pick up the pen on the desk. ", - "Bring the pen to the mug on the right side of the desk. ", - "Put the pen in the mug on the desk.", - "Pick up the mug with pencil on the desk. ", - "Bring the mug with pencil right to the tall dresser next to the bed. ", - "Put the mug with pencil on the top of the dresser, left of the phone. " - ], - "task_desc": "Put a mug with pencil on the dresser, left of the phone. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PPRVK6XK6GP5_3WJ1OXY92D7BNUHV7J5C2YZM0IE8AP", - "high_descs": [ - "Turn to your right and approach the black chair.", - "Pick up the pen from the desk.", - "Turn around to look at the door then turn right and walk to the wall, then back to the desk.", - "Put the pen into the cup.", - "Pick up the pen with the pen in it.", - "Turn around then walk to the left to the chest of drawers.", - "Place the cup on the chest of drawers to the left of the phone." - ], - "task_desc": "Move a pen and cup from the desk to the chest of drawers.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020711_573457/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020711_573457/traj_data.json deleted file mode 100644 index 0f752cdaf..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020711_573457/traj_data.json +++ /dev/null @@ -1,3707 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "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": 2, - "image_name": "000000053.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000054.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "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": 3, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000073.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000074.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000075.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000096.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000097.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000098.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000099.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000100.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000101.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000102.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000105.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000106.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000107.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000108.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000109.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "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": 29 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 29 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-4|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -7.31272936, - -7.31272936, - -5.09739972, - -5.09739972, - 2.0586112, - 2.0586112 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -7.2984, - -7.2984, - -4.5772, - -4.5772, - 0.0116, - 0.0116 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.83|+00.51|-01.27" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -7.31272936, - -7.31272936, - -5.09739972, - -5.09739972, - 2.0586112, - 2.0586112 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - -7.02045536, - -7.02045536, - -4.762908, - -4.762908, - 2.027999876, - 2.027999876 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.83|+00.51|-01.27", - "receptacleObjectId": "Mug|-01.76|+00.51|-01.19" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - -7.02045536, - -7.02045536, - -4.762908, - -4.762908, - 2.027999876, - 2.027999876 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -7.2984, - -7.2984, - -4.5772, - -4.5772, - 0.0116, - 0.0116 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.76|+00.51|-01.19" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - -7.02045536, - -7.02045536, - -4.762908, - -4.762908, - 2.027999876, - 2.027999876 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.76|+00.51|-01.19", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - }, - { - "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": "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": "Pen|-01.83|+00.51|-01.27" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 88, - 142, - 93, - 177 - ], - "mask": [ - [ - 42393, - 1 - ], - [ - 42693, - 1 - ], - [ - 42992, - 2 - ], - [ - 43292, - 2 - ], - [ - 43592, - 2 - ], - [ - 43892, - 2 - ], - [ - 44192, - 2 - ], - [ - 44491, - 3 - ], - [ - 44791, - 3 - ], - [ - 45091, - 2 - ], - [ - 45391, - 2 - ], - [ - 45691, - 2 - ], - [ - 45991, - 2 - ], - [ - 46291, - 2 - ], - [ - 46590, - 2 - ], - [ - 46890, - 2 - ], - [ - 47190, - 2 - ], - [ - 47490, - 2 - ], - [ - 47790, - 2 - ], - [ - 48090, - 2 - ], - [ - 48390, - 2 - ], - [ - 48690, - 1 - ], - [ - 48989, - 2 - ], - [ - 49289, - 2 - ], - [ - 49589, - 2 - ], - [ - 49889, - 2 - ], - [ - 50189, - 2 - ], - [ - 50489, - 2 - ], - [ - 50789, - 2 - ], - [ - 51089, - 1 - ], - [ - 51388, - 2 - ], - [ - 51688, - 2 - ], - [ - 51988, - 2 - ], - [ - 52288, - 2 - ], - [ - 52588, - 1 - ], - [ - 52888, - 1 - ] - ], - "point": [ - 90, - 158 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|-01.83|+00.51|-01.27", - "placeStationary": true, - "receptacleObjectId": "Mug|-01.76|+00.51|-01.19" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 93, - 149, - 118, - 182 - ], - "mask": [ - [ - 44505, - 3 - ], - [ - 44804, - 5 - ], - [ - 45104, - 5 - ], - [ - 45403, - 7 - ], - [ - 45700, - 11 - ], - [ - 45998, - 15 - ], - [ - 46297, - 17 - ], - [ - 46596, - 19 - ], - [ - 46895, - 20 - ], - [ - 47194, - 22 - ], - [ - 47494, - 22 - ], - [ - 47793, - 24 - ], - [ - 48093, - 24 - ], - [ - 48393, - 24 - ], - [ - 48693, - 24 - ], - [ - 48993, - 25 - ], - [ - 49293, - 25 - ], - [ - 49593, - 25 - ], - [ - 49894, - 24 - ], - [ - 50194, - 24 - ], - [ - 50494, - 25 - ], - [ - 50795, - 24 - ], - [ - 51095, - 24 - ], - [ - 51396, - 23 - ], - [ - 51696, - 23 - ], - [ - 51997, - 22 - ], - [ - 52297, - 21 - ], - [ - 52597, - 21 - ], - [ - 52898, - 19 - ], - [ - 53199, - 17 - ], - [ - 53499, - 17 - ], - [ - 53800, - 14 - ], - [ - 54102, - 11 - ], - [ - 54404, - 6 - ] - ], - "point": [ - 105, - 164 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|-01.76|+00.51|-01.19" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 93, - 149, - 118, - 182 - ], - "mask": [ - [ - 44505, - 3 - ], - [ - 44804, - 5 - ], - [ - 45104, - 5 - ], - [ - 45403, - 7 - ], - [ - 45700, - 11 - ], - [ - 45998, - 15 - ], - [ - 46297, - 17 - ], - [ - 46596, - 19 - ], - [ - 46895, - 12 - ], - [ - 46908, - 7 - ], - [ - 47194, - 13 - ], - [ - 47209, - 7 - ], - [ - 47494, - 13 - ], - [ - 47509, - 7 - ], - [ - 47793, - 14 - ], - [ - 47809, - 8 - ], - [ - 48093, - 14 - ], - [ - 48110, - 7 - ], - [ - 48393, - 15 - ], - [ - 48410, - 7 - ], - [ - 48693, - 15 - ], - [ - 48710, - 7 - ], - [ - 48993, - 15 - ], - [ - 49011, - 7 - ], - [ - 49293, - 16 - ], - [ - 49311, - 7 - ], - [ - 49593, - 16 - ], - [ - 49611, - 7 - ], - [ - 49894, - 15 - ], - [ - 49911, - 7 - ], - [ - 50194, - 15 - ], - [ - 50212, - 6 - ], - [ - 50494, - 16 - ], - [ - 50512, - 7 - ], - [ - 50795, - 24 - ], - [ - 51095, - 24 - ], - [ - 51396, - 23 - ], - [ - 51696, - 23 - ], - [ - 51997, - 22 - ], - [ - 52297, - 21 - ], - [ - 52597, - 21 - ], - [ - 52898, - 19 - ], - [ - 53199, - 17 - ], - [ - 53499, - 17 - ], - [ - 53800, - 14 - ], - [ - 54102, - 11 - ], - [ - 54404, - 6 - ] - ], - "point": [ - 105, - 164 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|-01.76|+00.51|-01.19", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23208, - 110 - ], - [ - 23509, - 109 - ], - [ - 23809, - 90 - ], - [ - 23903, - 15 - ], - [ - 24110, - 84 - ], - [ - 24204, - 14 - ], - [ - 24410, - 79 - ], - [ - 24504, - 14 - ], - [ - 24710, - 74 - ], - [ - 24805, - 13 - ], - [ - 25010, - 69 - ], - [ - 25105, - 14 - ], - [ - 25311, - 63 - ], - [ - 25406, - 13 - ], - [ - 25611, - 58 - ], - [ - 25706, - 13 - ], - [ - 25911, - 53 - ], - [ - 26007, - 12 - ], - [ - 26211, - 48 - ], - [ - 26307, - 12 - ], - [ - 26511, - 44 - ], - [ - 26608, - 12 - ], - [ - 26811, - 42 - ], - [ - 26908, - 12 - ], - [ - 27111, - 42 - ], - [ - 27209, - 11 - ], - [ - 27411, - 42 - ], - [ - 27509, - 11 - ], - [ - 27711, - 42 - ], - [ - 27810, - 10 - ], - [ - 28010, - 43 - ], - [ - 28110, - 10 - ], - [ - 28310, - 44 - ], - [ - 28411, - 9 - ], - [ - 28610, - 44 - ], - [ - 28711, - 9 - ], - [ - 28910, - 45 - ], - [ - 29012, - 9 - ], - [ - 29210, - 45 - ], - [ - 29312, - 9 - ], - [ - 29510, - 45 - ], - [ - 29613, - 9 - ], - [ - 29810, - 46 - ], - [ - 29913, - 9 - ], - [ - 30110, - 46 - ], - [ - 30214, - 9 - ], - [ - 30266, - 1 - ], - [ - 30410, - 46 - ], - [ - 30514, - 9 - ], - [ - 30537, - 12 - ], - [ - 30565, - 3 - ], - [ - 30709, - 48 - ], - [ - 30815, - 9 - ], - [ - 30837, - 12 - ], - [ - 30863, - 5 - ], - [ - 31009, - 48 - ], - [ - 31115, - 10 - ], - [ - 31137, - 12 - ], - [ - 31162, - 6 - ], - [ - 31255, - 1 - ], - [ - 31309, - 48 - ], - [ - 31416, - 10 - ], - [ - 31437, - 13 - ], - [ - 31461, - 8 - ], - [ - 31555, - 1 - ], - [ - 31609, - 49 - ], - [ - 31716, - 53 - ], - [ - 31855, - 2 - ], - [ - 31909, - 49 - ], - [ - 32017, - 52 - ], - [ - 32154, - 4 - ], - [ - 32209, - 50 - ], - [ - 32317, - 52 - ], - [ - 32454, - 4 - ], - [ - 32508, - 51 - ], - [ - 32618, - 52 - ], - [ - 32754, - 6 - ], - [ - 32807, - 52 - ], - [ - 32918, - 52 - ], - [ - 33054, - 7 - ], - [ - 33107, - 53 - ], - [ - 33219, - 51 - ], - [ - 33354, - 8 - ], - [ - 33406, - 54 - ], - [ - 33519, - 52 - ], - [ - 33653, - 10 - ], - [ - 33679, - 13 - ], - [ - 33706, - 54 - ], - [ - 33820, - 51 - ], - [ - 33953, - 11 - ], - [ - 33979, - 13 - ], - [ - 34005, - 56 - ], - [ - 34120, - 51 - ], - [ - 34253, - 12 - ], - [ - 34279, - 12 - ], - [ - 34304, - 57 - ], - [ - 34421, - 50 - ], - [ - 34553, - 14 - ], - [ - 34579, - 12 - ], - [ - 34603, - 58 - ], - [ - 34721, - 51 - ], - [ - 34852, - 16 - ], - [ - 34878, - 13 - ], - [ - 34902, - 60 - ], - [ - 35022, - 50 - ], - [ - 35152, - 110 - ], - [ - 35322, - 50 - ], - [ - 35452, - 111 - ], - [ - 35623, - 50 - ], - [ - 35752, - 111 - ], - [ - 35923, - 50 - ], - [ - 36051, - 112 - ], - [ - 36224, - 49 - ], - [ - 36351, - 113 - ], - [ - 36524, - 49 - ], - [ - 36651, - 113 - ], - [ - 36825, - 49 - ], - [ - 36951, - 113 - ], - [ - 37125, - 49 - ], - [ - 37250, - 115 - ], - [ - 37426, - 48 - ], - [ - 37550, - 115 - ], - [ - 37726, - 49 - ], - [ - 37850, - 115 - ], - [ - 38027, - 48 - ], - [ - 38150, - 116 - ], - [ - 38327, - 48 - ], - [ - 38450, - 116 - ], - [ - 38628, - 48 - ], - [ - 38749, - 118 - ], - [ - 38928, - 48 - ], - [ - 39049, - 118 - ], - [ - 39229, - 47 - ], - [ - 39349, - 118 - ], - [ - 39529, - 47 - ], - [ - 39649, - 119 - ], - [ - 39830, - 47 - ], - [ - 39948, - 120 - ], - [ - 40131, - 46 - ], - [ - 40248, - 120 - ], - [ - 40431, - 46 - ], - [ - 40548, - 121 - ], - [ - 40732, - 46 - ], - [ - 40848, - 121 - ], - [ - 41032, - 46 - ], - [ - 41147, - 122 - ], - [ - 41332, - 46 - ], - [ - 41447, - 123 - ], - [ - 41630, - 48 - ], - [ - 41747, - 123 - ], - [ - 41930, - 49 - ], - [ - 42047, - 124 - ], - [ - 42230, - 49 - ], - [ - 42347, - 124 - ], - [ - 42530, - 49 - ], - [ - 42646, - 125 - ], - [ - 42828, - 52 - ], - [ - 42946, - 126 - ], - [ - 43124, - 56 - ], - [ - 43246, - 61 - ], - [ - 43312, - 60 - ], - [ - 43419, - 61 - ], - [ - 43546, - 39 - ], - [ - 43587, - 19 - ], - [ - 43613, - 59 - ], - [ - 43715, - 66 - ], - [ - 43845, - 40 - ], - [ - 43890, - 15 - ], - [ - 43913, - 60 - ], - [ - 44011, - 70 - ], - [ - 44145, - 42 - ], - [ - 44192, - 13 - ], - [ - 44213, - 60 - ], - [ - 44307, - 74 - ], - [ - 44445, - 43 - ], - [ - 44495, - 10 - ], - [ - 44513, - 60 - ], - [ - 44603, - 78 - ], - [ - 44745, - 45 - ], - [ - 44795, - 10 - ], - [ - 44813, - 61 - ], - [ - 44898, - 84 - ], - [ - 45044, - 46 - ], - [ - 45095, - 11 - ], - [ - 45112, - 62 - ], - [ - 45194, - 88 - ], - [ - 45344, - 46 - ], - [ - 45395, - 13 - ], - [ - 45417, - 58 - ], - [ - 45490, - 92 - ], - [ - 45644, - 48 - ], - [ - 45693, - 1 - ], - [ - 45695, - 7 - ], - [ - 45703, - 3 - ], - [ - 45708, - 1 - ], - [ - 45710, - 7 - ], - [ - 45718, - 57 - ], - [ - 45786, - 97 - ], - [ - 45944, - 51 - ], - [ - 45996, - 5 - ], - [ - 46002, - 2 - ], - [ - 46007, - 10 - ], - [ - 46018, - 57 - ], - [ - 46082, - 101 - ], - [ - 46243, - 53 - ], - [ - 46297, - 3 - ], - [ - 46301, - 2 - ], - [ - 46305, - 1 - ], - [ - 46308, - 9 - ], - [ - 46318, - 165 - ], - [ - 46543, - 55 - ], - [ - 46603, - 1 - ], - [ - 46605, - 1 - ], - [ - 46608, - 9 - ], - [ - 46618, - 165 - ], - [ - 46843, - 54 - ], - [ - 46904, - 2 - ], - [ - 46908, - 9 - ], - [ - 46918, - 166 - ], - [ - 47143, - 53 - ], - [ - 47202, - 1 - ], - [ - 47212, - 4 - ], - [ - 47217, - 167 - ], - [ - 47443, - 50 - ], - [ - 47502, - 11 - ], - [ - 47517, - 167 - ], - [ - 47742, - 48 - ], - [ - 47801, - 184 - ], - [ - 48042, - 49 - ], - [ - 48094, - 191 - ], - [ - 48342, - 243 - ], - [ - 48642, - 244 - ], - [ - 48941, - 245 - ], - [ - 49241, - 245 - ], - [ - 49541, - 245 - ], - [ - 49841, - 246 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan303", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.75, - "y": 0.901000142, - "z": -1.0 - }, - "object_poses": [ - { - "objectName": "Mug_79472253", - "position": { - "x": -1.51596332, - "y": 0.5971, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_79472253", - "position": { - "x": -1.51596332, - "y": 0.5971, - "z": -0.5338481 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 1.78888452, - "y": 1.57837439, - "z": -2.2986 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": -1.91229057, - "y": 0.5987067, - "z": -0.5338481 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": -1.82818234, - "y": 0.5146528, - "z": -1.27434993 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": 1.72364938, - "y": 0.0604724623, - "z": -2.26131058 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": 1.72364938, - "y": 0.359174818, - "z": -2.28225541 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": -1.79454088, - "y": 0.216880172, - "z": -1.07677782 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_20fa9a67", - "position": { - "x": -0.79438436, - "y": 0.415540248, - "z": -2.100039 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": 0.07691854, - "y": 0.730703354, - "z": -2.76407933 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ddebce5c", - "position": { - "x": 1.996, - "y": 0.316, - "z": -1.042 - }, - "rotation": { - "x": 0.0, - "y": 254.839432, - "z": 0.0 - } - }, - { - "objectName": "Book_bd6507e1", - "position": { - "x": 0.339, - "y": 0.7234131, - "z": -2.65 - }, - "rotation": { - "x": 0.0, - "y": 165.000366, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0d1fa29c", - "position": { - "x": -1.54828632, - "y": 0.457, - "z": -1.83189642 - }, - "rotation": { - "x": 0.0, - "y": 89.9999847, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.48550236, - "y": 0.417449743, - "z": -1.48869348 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 1.19420123, - "y": 0.05551854, - "z": -2.3032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_a983eb51", - "position": { - "x": -1.62947965, - "y": 0.649, - "z": 0.416 - }, - "rotation": { - "x": 14.4914894, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": -1.90125084, - "y": 0.50899595, - "z": -1.06529272 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_2d36a6ad", - "position": { - "x": 2.244, - "y": 0.279, - "z": -1.901 - }, - "rotation": { - "x": 335.40213, - "y": 251.97406, - "z": 201.7148 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": 0.6515214, - "y": 0.731248856, - "z": -2.471631 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": 0.766442, - "y": 0.730703354, - "z": -2.70558977 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_d24bf320", - "position": { - "x": 2.17615461, - "y": 0.0, - "z": -0.5715845 - }, - "rotation": { - "x": 0.0, - "y": 335.474518, - "z": 0.0 - } - }, - { - "objectName": "Laptop_20fa9a67", - "position": { - "x": -1.764, - "y": 0.5911203, - "z": -0.112 - }, - "rotation": { - "x": 0.0, - "y": 113.510445, - "z": 0.0 - } - }, - { - "objectName": "CD_10494eb8", - "position": { - "x": 1.9813447, - "y": 1.57728219, - "z": -2.31954455 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": -1.91229057, - "y": 0.5987067, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": -1.714127, - "y": 0.604752839, - "z": -0.5338481 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": 0.450656772, - "y": 0.418675363, - "z": -2.55001283 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_79472253", - "position": { - "x": -1.75511384, - "y": 0.506999969, - "z": -1.190727 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 481995705, - "scene_num": 303 - }, - "task_id": "trial_T20190907_020711_573457", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AM2KK02JXXW48_352YTHGROYUHTRG95E0A1MMJGWGH4M", - "high_descs": [ - "Move to the bed stand.", - "Pick up the pen on the bed stand. ", - "Put the pen in the mug on the bed stand.", - "Pick up the mug on the bed stand. ", - "Bring the mug to the dresser.", - "Put the mug on the dresser. " - ], - "task_desc": "Put a mug with a pen in it on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_354GIDR5ZENPJ3SCO56NJRXPD5B004", - "high_descs": [ - "Walk ahead to the end table.", - "Pick up the black pen.", - "Put the pen in the white mug.", - "Pick up the mug.", - "Turn around, walk past the bed, and turn right and walk to the dresser near the mirror.", - "Put the mug to the right of the keys on the counter." - ], - "task_desc": "Place a mug with a pen in it on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_39PAAFCODPH6SDQJP4IMOVPK4AETVQ", - "high_descs": [ - "Go straight ahead, to the end table and near the lamp.", - "Pick up the pencil on the end table, to the left of the mug.", - "Place the pencil in the mug on the end table.", - "Pick up the mug on the end table. ", - "Turn around, go past the bed, then turn right and go to the dresser with the clocks on it.", - "Place the mug on the dresser, to the right of the keys." - ], - "task_desc": "Put a mug with a pencil in it on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020734_453750/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020734_453750/traj_data.json deleted file mode 100644 index 82f559a10..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020734_453750/traj_data.json +++ /dev/null @@ -1,3614 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000037.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "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": 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": 6 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 6 - }, - { - "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": 7 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 7 - }, - { - "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": 8 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000100.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000102.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000103.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000104.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000105.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "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": 14 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000134.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000138.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000139.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000140.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000141.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000157.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000158.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000209.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000210.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000211.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 31 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|0|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -6.59228992, - -6.59228992, - -0.43795836, - -0.43795836, - 2.419011356, - 2.419011356 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -6.84, - -6.84, - -1.496, - -1.496, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.65|+00.60|-00.11" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -6.59228992, - -6.59228992, - -0.43795836, - -0.43795836, - 2.419011356, - 2.419011356 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - -7.12072564, - -7.12072564, - -2.1353924, - -2.1353924, - 2.3884, - 2.3884 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.65|+00.60|-00.11", - "receptacleObjectId": "Mug|-01.78|+00.60|-00.53" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - -7.12072564, - -7.12072564, - -2.1353924, - -2.1353924, - 2.3884, - 2.3884 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -6.84, - -6.84, - -1.496, - -1.496, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.78|+00.60|-00.53" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - -7.12072564, - -7.12072564, - -2.1353924, - -2.1353924, - 2.3884, - 2.3884 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.78|+00.60|-00.53", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - }, - { - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-01.65|+00.60|-00.11" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 124, - 119, - 127, - 154 - ], - "mask": [ - [ - 35526, - 1 - ], - [ - 35826, - 1 - ], - [ - 36125, - 3 - ], - [ - 36425, - 3 - ], - [ - 36725, - 3 - ], - [ - 37025, - 3 - ], - [ - 37325, - 3 - ], - [ - 37625, - 3 - ], - [ - 37925, - 3 - ], - [ - 38225, - 2 - ], - [ - 38525, - 2 - ], - [ - 38825, - 2 - ], - [ - 39125, - 2 - ], - [ - 39425, - 2 - ], - [ - 39725, - 2 - ], - [ - 40025, - 2 - ], - [ - 40325, - 2 - ], - [ - 40625, - 2 - ], - [ - 40924, - 2 - ], - [ - 41224, - 2 - ], - [ - 41524, - 2 - ], - [ - 41824, - 2 - ], - [ - 42124, - 2 - ], - [ - 42424, - 2 - ], - [ - 42724, - 2 - ], - [ - 43024, - 2 - ], - [ - 43324, - 2 - ], - [ - 43624, - 2 - ], - [ - 43924, - 2 - ], - [ - 44224, - 2 - ], - [ - 44524, - 2 - ], - [ - 44824, - 2 - ], - [ - 45124, - 2 - ], - [ - 45424, - 1 - ], - [ - 45724, - 1 - ], - [ - 46024, - 1 - ] - ], - "point": [ - 125, - 135 - ] - } - }, - "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": "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": "Pen|-01.65|+00.60|-00.11", - "placeStationary": true, - "receptacleObjectId": "Mug|-01.78|+00.60|-00.53" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 131, - 88, - 153, - 120 - ], - "mask": [ - [ - 26241, - 4 - ], - [ - 26540, - 5 - ], - [ - 26838, - 9 - ], - [ - 27136, - 13 - ], - [ - 27434, - 17 - ], - [ - 27733, - 19 - ], - [ - 28032, - 20 - ], - [ - 28332, - 21 - ], - [ - 28631, - 22 - ], - [ - 28931, - 23 - ], - [ - 29231, - 23 - ], - [ - 29531, - 23 - ], - [ - 29831, - 23 - ], - [ - 30131, - 23 - ], - [ - 30432, - 22 - ], - [ - 30732, - 22 - ], - [ - 31032, - 22 - ], - [ - 31332, - 22 - ], - [ - 31632, - 21 - ], - [ - 31932, - 21 - ], - [ - 32232, - 21 - ], - [ - 32532, - 21 - ], - [ - 32832, - 21 - ], - [ - 33132, - 21 - ], - [ - 33432, - 21 - ], - [ - 33733, - 20 - ], - [ - 34033, - 20 - ], - [ - 34333, - 20 - ], - [ - 34634, - 18 - ], - [ - 34935, - 16 - ], - [ - 35236, - 14 - ], - [ - 35537, - 11 - ], - [ - 35840, - 6 - ] - ], - "point": [ - 142, - 103 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|-01.78|+00.60|-00.53" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 131, - 88, - 153, - 120 - ], - "mask": [ - [ - 26241, - 4 - ], - [ - 26540, - 5 - ], - [ - 26838, - 9 - ], - [ - 27136, - 11 - ], - [ - 27434, - 13 - ], - [ - 27450, - 1 - ], - [ - 27733, - 14 - ], - [ - 27750, - 2 - ], - [ - 28032, - 15 - ], - [ - 28050, - 2 - ], - [ - 28332, - 16 - ], - [ - 28350, - 3 - ], - [ - 28631, - 17 - ], - [ - 28650, - 3 - ], - [ - 28931, - 17 - ], - [ - 28950, - 4 - ], - [ - 29231, - 17 - ], - [ - 29250, - 4 - ], - [ - 29531, - 17 - ], - [ - 29550, - 4 - ], - [ - 29831, - 17 - ], - [ - 29850, - 4 - ], - [ - 30131, - 17 - ], - [ - 30150, - 4 - ], - [ - 30432, - 16 - ], - [ - 30450, - 4 - ], - [ - 30732, - 16 - ], - [ - 30750, - 4 - ], - [ - 31032, - 22 - ], - [ - 31332, - 22 - ], - [ - 31632, - 21 - ], - [ - 31932, - 21 - ], - [ - 32232, - 21 - ], - [ - 32532, - 21 - ], - [ - 32832, - 21 - ], - [ - 33132, - 21 - ], - [ - 33432, - 21 - ], - [ - 33733, - 20 - ], - [ - 34033, - 20 - ], - [ - 34333, - 20 - ], - [ - 34634, - 18 - ], - [ - 34935, - 16 - ], - [ - 35236, - 14 - ], - [ - 35537, - 11 - ], - [ - 35840, - 6 - ] - ], - "point": [ - 142, - 103 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|-01.78|+00.60|-00.53", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23162, - 199 - ], - [ - 23461, - 200 - ], - [ - 23761, - 149 - ], - [ - 23929, - 32 - ], - [ - 24061, - 149 - ], - [ - 24229, - 32 - ], - [ - 24361, - 149 - ], - [ - 24529, - 33 - ], - [ - 24660, - 150 - ], - [ - 24830, - 32 - ], - [ - 24960, - 150 - ], - [ - 25130, - 32 - ], - [ - 25260, - 151 - ], - [ - 25430, - 33 - ], - [ - 25560, - 151 - ], - [ - 25730, - 33 - ], - [ - 25859, - 152 - ], - [ - 26030, - 33 - ], - [ - 26159, - 152 - ], - [ - 26331, - 33 - ], - [ - 26459, - 205 - ], - [ - 26759, - 205 - ], - [ - 27058, - 206 - ], - [ - 27358, - 207 - ], - [ - 27658, - 207 - ], - [ - 27958, - 207 - ], - [ - 28258, - 208 - ], - [ - 28557, - 209 - ], - [ - 28857, - 201 - ], - [ - 29157, - 198 - ], - [ - 29457, - 195 - ], - [ - 29756, - 194 - ], - [ - 30056, - 191 - ], - [ - 30356, - 189 - ], - [ - 30656, - 187 - ], - [ - 30955, - 187 - ], - [ - 31255, - 185 - ], - [ - 31555, - 184 - ], - [ - 31855, - 183 - ], - [ - 32154, - 182 - ], - [ - 32454, - 56 - ], - [ - 32515, - 120 - ], - [ - 32754, - 37 - ], - [ - 32793, - 16 - ], - [ - 32816, - 118 - ], - [ - 33054, - 37 - ], - [ - 33095, - 14 - ], - [ - 33116, - 117 - ], - [ - 33354, - 39 - ], - [ - 33399, - 10 - ], - [ - 33416, - 116 - ], - [ - 33653, - 41 - ], - [ - 33700, - 9 - ], - [ - 33716, - 116 - ], - [ - 33953, - 42 - ], - [ - 34000, - 10 - ], - [ - 34015, - 116 - ], - [ - 34253, - 42 - ], - [ - 34299, - 11 - ], - [ - 34316, - 2 - ], - [ - 34320, - 110 - ], - [ - 34553, - 46 - ], - [ - 34600, - 5 - ], - [ - 34608, - 2 - ], - [ - 34613, - 116 - ], - [ - 34852, - 48 - ], - [ - 34901, - 6 - ], - [ - 34911, - 9 - ], - [ - 34921, - 108 - ], - [ - 35152, - 49 - ], - [ - 35207, - 1 - ], - [ - 35210, - 1 - ], - [ - 35212, - 8 - ], - [ - 35221, - 107 - ], - [ - 35452, - 50 - ], - [ - 35508, - 1 - ], - [ - 35511, - 8 - ], - [ - 35520, - 108 - ], - [ - 35752, - 48 - ], - [ - 35806, - 2 - ], - [ - 35810, - 1 - ], - [ - 35817, - 1 - ], - [ - 35820, - 107 - ], - [ - 36051, - 46 - ], - [ - 36106, - 121 - ], - [ - 36351, - 44 - ], - [ - 36400, - 3 - ], - [ - 36404, - 123 - ], - [ - 36651, - 45 - ], - [ - 36697, - 129 - ], - [ - 36951, - 175 - ], - [ - 37250, - 176 - ], - [ - 37550, - 176 - ], - [ - 37850, - 176 - ], - [ - 38150, - 176 - ], - [ - 38450, - 177 - ], - [ - 38749, - 178 - ], - [ - 39049, - 178 - ], - [ - 39349, - 178 - ], - [ - 39649, - 178 - ], - [ - 39948, - 180 - ], - [ - 40248, - 180 - ], - [ - 40548, - 180 - ], - [ - 40848, - 180 - ], - [ - 41147, - 181 - ], - [ - 41447, - 181 - ], - [ - 41747, - 181 - ], - [ - 42047, - 182 - ], - [ - 42347, - 182 - ], - [ - 42646, - 183 - ], - [ - 42946, - 183 - ], - [ - 43246, - 183 - ], - [ - 43546, - 184 - ], - [ - 43845, - 185 - ], - [ - 44145, - 186 - ], - [ - 44445, - 186 - ], - [ - 44647, - 14 - ], - [ - 44745, - 187 - ], - [ - 44947, - 14 - ], - [ - 44980, - 2 - ], - [ - 45044, - 189 - ], - [ - 45247, - 14 - ], - [ - 45278, - 4 - ], - [ - 45344, - 190 - ], - [ - 45547, - 14 - ], - [ - 45577, - 5 - ], - [ - 45644, - 191 - ], - [ - 45848, - 14 - ], - [ - 45875, - 8 - ], - [ - 45944, - 192 - ], - [ - 46148, - 14 - ], - [ - 46173, - 10 - ], - [ - 46243, - 240 - ], - [ - 46543, - 240 - ], - [ - 46843, - 241 - ], - [ - 47143, - 241 - ], - [ - 47443, - 241 - ], - [ - 47742, - 243 - ], - [ - 48042, - 243 - ], - [ - 48342, - 243 - ], - [ - 48642, - 244 - ], - [ - 48941, - 245 - ], - [ - 49241, - 245 - ], - [ - 49541, - 245 - ], - [ - 49841, - 246 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan303", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.75, - "y": 0.901000142, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.90125084, - "y": 0.508909464, - "z": -1.190727 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.71587491, - "y": 0.417449743, - "z": -1.48869348 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": 1.72473109, - "y": 1.58332837, - "z": -2.235766 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": -1.64807248, - "y": 0.604752839, - "z": -0.10948959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": 1.25756264, - "y": 0.361152261, - "z": -2.26131058 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": 1.19420123, - "y": 1.18265092, - "z": -2.235766 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": -1.82818234, - "y": 0.50899595, - "z": -1.27434993 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": 0.1918391, - "y": 0.730409145, - "z": -2.822569 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": 0.6515214, - "y": 0.731248856, - "z": -2.6471 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": -1.5820179, - "y": 0.599390268, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ddebce5c", - "position": { - "x": 1.996, - "y": 0.316, - "z": -1.042 - }, - "rotation": { - "x": 0.0, - "y": 254.839432, - "z": 0.0 - } - }, - { - "objectName": "Book_bd6507e1", - "position": { - "x": -0.5640116, - "y": 0.418530971, - "z": -1.61096263 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0d1fa29c", - "position": { - "x": -1.54828632, - "y": 0.457, - "z": -1.83189642 - }, - "rotation": { - "x": 0.0, - "y": 89.9999847, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.51596332, - "y": 0.5990095, - "z": -0.816753745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": -1.64807248, - "y": 0.5997989, - "z": 0.03196323 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_a983eb51", - "position": { - "x": -1.62947965, - "y": 0.649, - "z": 0.416 - }, - "rotation": { - "x": 14.4914894, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": 1.320924, - "y": 1.17897153, - "z": -2.25671053 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_2d36a6ad", - "position": { - "x": 2.244, - "y": 0.279, - "z": -1.901 - }, - "rotation": { - "x": 335.40213, - "y": 251.97406, - "z": 201.7148 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.71857965, - "y": 0.5098357, - "z": -1.14891553 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": 0.07691851, - "y": 0.7290902, - "z": -2.53012061 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_d24bf320", - "position": { - "x": 2.17615461, - "y": 0.0, - "z": -0.5715845 - }, - "rotation": { - "x": 0.0, - "y": 335.474518, - "z": 0.0 - } - }, - { - "objectName": "Laptop_20fa9a67", - "position": { - "x": -0.7943843, - "y": 0.415540248, - "z": -1.97777 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_10494eb8", - "position": { - "x": 0.07691854, - "y": 0.7300198, - "z": -2.6471 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": 0.541369438, - "y": 0.415300846, - "z": -2.52177215 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": 1.98022413, - "y": 0.0604724623, - "z": -2.28225541 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": -1.5820179, - "y": 0.6027754, - "z": -0.2509424 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_79472253", - "position": { - "x": -1.78018141, - "y": 0.5971, - "z": -0.5338481 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2008645926, - "scene_num": 303 - }, - "task_id": "trial_T20190907_020734_453750", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A10AVWALIHR4UQ_3300DTYQT5YCYMC5DAZHJMQBK34QEL", - "high_descs": [ - "Move towards the bed and then turn right and move to desk in the corner of the room.", - "Pick up the pen to the left of the gold lid on the desk.", - "Turn left and move towards the bed and then turn right and face the desk.", - "Place the pen in the mug on the desk next to the lamp.", - "Pick up the mug containing the pen from the desk.", - "Turn around, move towards the green recycling bin then turn right and move to the dresser in front of the mirror.", - "Place the mug containing the pen on the edge of the dresser in front of the keys." - ], - "task_desc": "Place a mug containing a pen on the dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_35K3O9HUAEUF7XMWZUON7NMXD12FEN", - "high_descs": [ - "Turn right and walk over to the wooden table.", - "Pick up the pen to the left of the yellow disc off of the wooden table.", - "Turn to the left, begin walking to the bed then stop and turn right to face the table again.", - "Place the pen into the white mug that is on the wooden table.", - "Pick up the white mug with the pen in it off of the wooden table.", - "Turn around and begin walking across the room, then hang a right and walk up to the small wooden dresser that is wedged between two walls.", - "Place the white mug with the pen in it on the front edge of the wooden dresser." - ], - "task_desc": "Place a white mug with a pen in it on the wooden dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3PH3VY7DJOEFTEZNL6C0WL9FWAVZW5", - "high_descs": [ - "turn and walk over to the desk next to the bed", - "grab a pen off of the desk", - "move a bit to the left and face the desk again", - "put the pen inside a white cup on the desk", - "pick up the white cup off of the desk", - "walk over to the brown cabinet", - "place the white cup on top of the brown cabinet" - ], - "task_desc": "put a cup with a pen on it on the brown cabinet", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020814_247238/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020814_247238/traj_data.json deleted file mode 100644 index 868c16e14..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-303/trial_T20190907_020814_247238/traj_data.json +++ /dev/null @@ -1,4598 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 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": 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": 1, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "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": 2, - "image_name": "000000183.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 54 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-4|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -7.1665926, - -7.1665926, - -4.59566212, - -4.59566212, - 2.0586112, - 2.0586112 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -7.2984, - -7.2984, - -4.5772, - -4.5772, - 0.0116, - 0.0116 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.79|+00.51|-01.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -7.1665926, - -7.1665926, - -4.59566212, - -4.59566212, - 2.0586112, - 2.0586112 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 7.15553808, - 7.15553808, - -9.11062144, - -9.11062144, - 4.70790196, - 4.70790196 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.79|+00.51|-01.15", - "receptacleObjectId": "Mug|+01.79|+01.18|-02.28" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 7.15553808, - 7.15553808, - -9.11062144, - -9.11062144, - 4.70790196, - 4.70790196 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 7.3752, - 7.3752, - -9.1944, - -9.1944, - 4.6852, - 4.6852 - ] - ], - "forceVisible": true, - "objectId": "Mug|+01.79|+01.18|-02.28" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 7.15553808, - 7.15553808, - -9.11062144, - -9.11062144, - 4.70790196, - 4.70790196 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "Mug|+01.79|+01.18|-02.28", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - } - ], - "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": "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": "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": "Pen|-01.79|+00.51|-01.15" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 97, - 164, - 135, - 166 - ], - "mask": [ - [ - 48998, - 36 - ], - [ - 49297, - 39 - ], - [ - 49624, - 2 - ] - ], - "point": [ - 116, - 164 - ] - } - }, - "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": "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "Pen|-01.79|+00.51|-01.15", - "placeStationary": true, - "receptacleObjectId": "Mug|+01.79|+01.18|-02.28" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 92, - 86, - 172, - 152 - ], - "mask": [ - [ - 25595, - 61 - ], - [ - 25894, - 62 - ], - [ - 26194, - 62 - ], - [ - 26494, - 62 - ], - [ - 26793, - 64 - ], - [ - 27093, - 71 - ], - [ - 27393, - 74 - ], - [ - 27692, - 77 - ], - [ - 27992, - 78 - ], - [ - 28292, - 78 - ], - [ - 28592, - 79 - ], - [ - 28892, - 79 - ], - [ - 29193, - 79 - ], - [ - 29493, - 79 - ], - [ - 29793, - 79 - ], - [ - 30093, - 80 - ], - [ - 30393, - 64 - ], - [ - 30465, - 7 - ], - [ - 30694, - 63 - ], - [ - 30767, - 5 - ], - [ - 30994, - 63 - ], - [ - 31067, - 5 - ], - [ - 31294, - 63 - ], - [ - 31367, - 5 - ], - [ - 31594, - 63 - ], - [ - 31666, - 6 - ], - [ - 31895, - 62 - ], - [ - 31966, - 6 - ], - [ - 32195, - 62 - ], - [ - 32266, - 6 - ], - [ - 32495, - 62 - ], - [ - 32565, - 7 - ], - [ - 32796, - 61 - ], - [ - 32865, - 7 - ], - [ - 33096, - 61 - ], - [ - 33164, - 7 - ], - [ - 33396, - 61 - ], - [ - 33463, - 8 - ], - [ - 33696, - 61 - ], - [ - 33762, - 9 - ], - [ - 33997, - 59 - ], - [ - 34061, - 9 - ], - [ - 34297, - 59 - ], - [ - 34359, - 11 - ], - [ - 34597, - 72 - ], - [ - 34898, - 71 - ], - [ - 35198, - 70 - ], - [ - 35498, - 69 - ], - [ - 35798, - 69 - ], - [ - 36099, - 67 - ], - [ - 36399, - 65 - ], - [ - 36699, - 64 - ], - [ - 37000, - 62 - ], - [ - 37300, - 59 - ], - [ - 37600, - 56 - ], - [ - 37900, - 56 - ], - [ - 38201, - 55 - ], - [ - 38501, - 55 - ], - [ - 38801, - 55 - ], - [ - 39102, - 54 - ], - [ - 39402, - 54 - ], - [ - 39702, - 53 - ], - [ - 40002, - 53 - ], - [ - 40303, - 52 - ], - [ - 40603, - 52 - ], - [ - 40904, - 50 - ], - [ - 41204, - 50 - ], - [ - 41504, - 49 - ], - [ - 41805, - 48 - ], - [ - 42105, - 47 - ], - [ - 42406, - 45 - ], - [ - 42707, - 44 - ], - [ - 43007, - 43 - ], - [ - 43308, - 41 - ], - [ - 43609, - 39 - ], - [ - 43911, - 35 - ], - [ - 44212, - 33 - ], - [ - 44513, - 30 - ], - [ - 44815, - 26 - ], - [ - 45118, - 20 - ], - [ - 45421, - 15 - ] - ], - "point": [ - 132, - 118 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+01.79|+01.18|-02.28" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 92, - 86, - 172, - 152 - ], - "mask": [ - [ - 25602, - 54 - ], - [ - 25894, - 1 - ], - [ - 25902, - 54 - ], - [ - 26194, - 1 - ], - [ - 26202, - 54 - ], - [ - 26494, - 2 - ], - [ - 26502, - 54 - ], - [ - 26793, - 3 - ], - [ - 26803, - 54 - ], - [ - 27093, - 3 - ], - [ - 27103, - 61 - ], - [ - 27393, - 3 - ], - [ - 27403, - 64 - ], - [ - 27692, - 5 - ], - [ - 27703, - 66 - ], - [ - 27992, - 5 - ], - [ - 28003, - 67 - ], - [ - 28292, - 5 - ], - [ - 28304, - 66 - ], - [ - 28592, - 6 - ], - [ - 28604, - 67 - ], - [ - 28892, - 6 - ], - [ - 28904, - 67 - ], - [ - 29193, - 5 - ], - [ - 29204, - 68 - ], - [ - 29493, - 5 - ], - [ - 29505, - 67 - ], - [ - 29793, - 6 - ], - [ - 29805, - 67 - ], - [ - 30093, - 6 - ], - [ - 30105, - 68 - ], - [ - 30393, - 6 - ], - [ - 30405, - 52 - ], - [ - 30465, - 7 - ], - [ - 30694, - 5 - ], - [ - 30705, - 52 - ], - [ - 30767, - 5 - ], - [ - 30994, - 6 - ], - [ - 31006, - 51 - ], - [ - 31067, - 5 - ], - [ - 31294, - 6 - ], - [ - 31306, - 51 - ], - [ - 31367, - 5 - ], - [ - 31594, - 6 - ], - [ - 31606, - 51 - ], - [ - 31666, - 6 - ], - [ - 31895, - 5 - ], - [ - 31906, - 51 - ], - [ - 31966, - 6 - ], - [ - 32195, - 6 - ], - [ - 32207, - 50 - ], - [ - 32266, - 6 - ], - [ - 32495, - 7 - ], - [ - 32507, - 50 - ], - [ - 32565, - 7 - ], - [ - 32796, - 7 - ], - [ - 32807, - 50 - ], - [ - 32865, - 7 - ], - [ - 33096, - 9 - ], - [ - 33107, - 50 - ], - [ - 33164, - 7 - ], - [ - 33396, - 61 - ], - [ - 33463, - 8 - ], - [ - 33696, - 61 - ], - [ - 33762, - 9 - ], - [ - 33997, - 59 - ], - [ - 34061, - 9 - ], - [ - 34297, - 59 - ], - [ - 34359, - 11 - ], - [ - 34597, - 72 - ], - [ - 34898, - 71 - ], - [ - 35198, - 70 - ], - [ - 35498, - 69 - ], - [ - 35798, - 69 - ], - [ - 36099, - 67 - ], - [ - 36399, - 65 - ], - [ - 36699, - 64 - ], - [ - 37000, - 62 - ], - [ - 37300, - 59 - ], - [ - 37600, - 56 - ], - [ - 37900, - 56 - ], - [ - 38201, - 55 - ], - [ - 38501, - 55 - ], - [ - 38801, - 55 - ], - [ - 39102, - 54 - ], - [ - 39402, - 54 - ], - [ - 39702, - 53 - ], - [ - 40002, - 53 - ], - [ - 40303, - 52 - ], - [ - 40603, - 52 - ], - [ - 40904, - 50 - ], - [ - 41204, - 50 - ], - [ - 41504, - 49 - ], - [ - 41805, - 48 - ], - [ - 42105, - 47 - ], - [ - 42406, - 45 - ], - [ - 42707, - 44 - ], - [ - 43007, - 43 - ], - [ - 43308, - 41 - ], - [ - 43609, - 39 - ], - [ - 43911, - 35 - ], - [ - 44212, - 33 - ], - [ - 44513, - 30 - ], - [ - 44815, - 26 - ], - [ - 45118, - 20 - ], - [ - 45421, - 15 - ] - ], - "point": [ - 132, - 118 - ] - } - }, - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "Mug|+01.79|+01.18|-02.28", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23162, - 156 - ], - [ - 23461, - 157 - ], - [ - 23761, - 157 - ], - [ - 24061, - 157 - ], - [ - 24361, - 157 - ], - [ - 24660, - 158 - ], - [ - 24960, - 159 - ], - [ - 25260, - 159 - ], - [ - 25560, - 159 - ], - [ - 25859, - 160 - ], - [ - 26159, - 161 - ], - [ - 26459, - 161 - ], - [ - 26759, - 161 - ], - [ - 27058, - 162 - ], - [ - 27358, - 162 - ], - [ - 27658, - 162 - ], - [ - 27958, - 162 - ], - [ - 28258, - 162 - ], - [ - 28557, - 163 - ], - [ - 28857, - 164 - ], - [ - 29157, - 164 - ], - [ - 29457, - 165 - ], - [ - 29756, - 166 - ], - [ - 30056, - 167 - ], - [ - 30266, - 1 - ], - [ - 30356, - 167 - ], - [ - 30537, - 12 - ], - [ - 30565, - 3 - ], - [ - 30656, - 168 - ], - [ - 30837, - 12 - ], - [ - 30863, - 5 - ], - [ - 30955, - 170 - ], - [ - 31137, - 12 - ], - [ - 31162, - 6 - ], - [ - 31255, - 171 - ], - [ - 31437, - 13 - ], - [ - 31461, - 8 - ], - [ - 31555, - 214 - ], - [ - 31855, - 112 - ], - [ - 31971, - 98 - ], - [ - 32154, - 85 - ], - [ - 32242, - 21 - ], - [ - 32275, - 94 - ], - [ - 32454, - 80 - ], - [ - 32548, - 13 - ], - [ - 32577, - 93 - ], - [ - 32754, - 77 - ], - [ - 32851, - 8 - ], - [ - 32879, - 91 - ], - [ - 33054, - 75 - ], - [ - 33152, - 6 - ], - [ - 33180, - 90 - ], - [ - 33354, - 73 - ], - [ - 33454, - 3 - ], - [ - 33480, - 91 - ], - [ - 33653, - 73 - ], - [ - 33755, - 2 - ], - [ - 33781, - 90 - ], - [ - 33953, - 72 - ], - [ - 34082, - 89 - ], - [ - 34253, - 71 - ], - [ - 34382, - 89 - ], - [ - 34553, - 70 - ], - [ - 34668, - 2 - ], - [ - 34682, - 90 - ], - [ - 34852, - 71 - ], - [ - 34967, - 4 - ], - [ - 34983, - 89 - ], - [ - 35152, - 70 - ], - [ - 35267, - 4 - ], - [ - 35283, - 89 - ], - [ - 35452, - 69 - ], - [ - 35568, - 2 - ], - [ - 35583, - 90 - ], - [ - 35752, - 69 - ], - [ - 35882, - 91 - ], - [ - 36051, - 70 - ], - [ - 36182, - 91 - ], - [ - 36351, - 69 - ], - [ - 36482, - 91 - ], - [ - 36651, - 69 - ], - [ - 36781, - 93 - ], - [ - 36951, - 69 - ], - [ - 37081, - 93 - ], - [ - 37250, - 70 - ], - [ - 37380, - 94 - ], - [ - 37550, - 70 - ], - [ - 37679, - 96 - ], - [ - 37850, - 70 - ], - [ - 37961, - 2 - ], - [ - 37977, - 98 - ], - [ - 38150, - 70 - ], - [ - 38260, - 5 - ], - [ - 38275, - 100 - ], - [ - 38450, - 71 - ], - [ - 38560, - 116 - ], - [ - 38749, - 72 - ], - [ - 38860, - 116 - ], - [ - 39049, - 73 - ], - [ - 39159, - 117 - ], - [ - 39349, - 73 - ], - [ - 39459, - 117 - ], - [ - 39649, - 74 - ], - [ - 39758, - 119 - ], - [ - 39948, - 76 - ], - [ - 40057, - 120 - ], - [ - 40248, - 76 - ], - [ - 40356, - 121 - ], - [ - 40548, - 77 - ], - [ - 40655, - 123 - ], - [ - 40848, - 78 - ], - [ - 40955, - 123 - ], - [ - 41147, - 81 - ], - [ - 41253, - 125 - ], - [ - 41447, - 82 - ], - [ - 41552, - 126 - ], - [ - 41747, - 84 - ], - [ - 41850, - 129 - ], - [ - 42047, - 87 - ], - [ - 42147, - 132 - ], - [ - 42347, - 92 - ], - [ - 42441, - 138 - ], - [ - 42646, - 234 - ], - [ - 42946, - 234 - ], - [ - 43246, - 234 - ], - [ - 43546, - 235 - ], - [ - 43845, - 236 - ], - [ - 44145, - 236 - ], - [ - 44445, - 176 - ], - [ - 44643, - 38 - ], - [ - 44745, - 176 - ], - [ - 44943, - 39 - ], - [ - 45044, - 177 - ], - [ - 45243, - 39 - ], - [ - 45344, - 177 - ], - [ - 45544, - 38 - ], - [ - 45644, - 177 - ], - [ - 45844, - 39 - ], - [ - 45944, - 103 - ], - [ - 46094, - 27 - ], - [ - 46144, - 39 - ], - [ - 46243, - 104 - ], - [ - 46396, - 26 - ], - [ - 46444, - 39 - ], - [ - 46543, - 179 - ], - [ - 46745, - 38 - ], - [ - 46843, - 179 - ], - [ - 47045, - 39 - ], - [ - 47143, - 179 - ], - [ - 47345, - 39 - ], - [ - 47443, - 179 - ], - [ - 47645, - 39 - ], - [ - 47742, - 180 - ], - [ - 47945, - 40 - ], - [ - 48042, - 243 - ], - [ - 48342, - 243 - ], - [ - 48642, - 244 - ], - [ - 48941, - 245 - ], - [ - 49241, - 245 - ], - [ - 49541, - 245 - ], - [ - 49841, - 246 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan303", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.75, - "y": 0.901000142, - "z": -0.5 - }, - "object_poses": [ - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 1.38428545, - "y": 0.05551854, - "z": -2.3032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -0.79438436, - "y": 0.417449743, - "z": -2.22230816 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": 0.421680272, - "y": 0.7324754, - "z": -2.471631 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": 0.7227947, - "y": 0.414995968, - "z": -2.52177215 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.75511384, - "y": 0.5098357, - "z": -1.27434993 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.78018141, - "y": 0.59993577, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ddebce5c", - "position": { - "x": 1.996, - "y": 0.316, - "z": -1.042 - }, - "rotation": { - "x": 0.0, - "y": 254.839432, - "z": 0.0 - } - }, - { - "objectName": "Book_bd6507e1", - "position": { - "x": -1.64807248, - "y": 0.600090742, - "z": -0.10948959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0d1fa29c", - "position": { - "x": -1.54828632, - "y": 0.457, - "z": -1.83189642 - }, - "rotation": { - "x": 0.0, - "y": 89.9999847, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.71587491, - "y": 0.417449743, - "z": -2.22230816 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 0.5366008, - "y": 0.731112, - "z": -2.58861017 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_a983eb51", - "position": { - "x": -1.62947965, - "y": 0.649, - "z": 0.416 - }, - "rotation": { - "x": 14.4914894, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": 0.1918391, - "y": 0.728796, - "z": -2.471631 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_2d36a6ad", - "position": { - "x": 2.244, - "y": 0.279, - "z": -1.901 - }, - "rotation": { - "x": 335.40213, - "y": 251.97406, - "z": 201.7148 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.844796, - "y": 0.07023575, - "z": -1.25952315 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": 0.07691854, - "y": 0.730703354, - "z": -2.76407933 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_d24bf320", - "position": { - "x": 2.17615461, - "y": 0.0, - "z": -0.5715845 - }, - "rotation": { - "x": 0.0, - "y": 335.474518, - "z": 0.0 - } - }, - { - "objectName": "Laptop_20fa9a67", - "position": { - "x": -1.02475691, - "y": 0.415540248, - "z": -1.85550082 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_10494eb8", - "position": { - "x": 0.421680272, - "y": 0.728406668, - "z": -2.6471 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": -1.51596332, - "y": 0.5987067, - "z": -0.816753745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": -1.79164815, - "y": 0.5146528, - "z": -1.14891553 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": -1.78018141, - "y": 0.6027754, - "z": 0.03196323 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_79472253", - "position": { - "x": 1.78888452, - "y": 1.17697549, - "z": -2.27765536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3071926970, - "scene_num": 303 - }, - "task_id": "trial_T20190907_020814_247238", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJNQ2PBD07FKE_39O5D9O87W95UNMPJ8HQGQXXP2V3CQ", - "high_descs": [ - "Turn left and then right, go towards the night stand and desk with a lamp.", - "Pick up the pen off of the night stand.", - "Turn around and go forward and then right to the shelves", - "Put the pen in the white mug. ", - "Pick up the mug with the pen in it.", - "Turn right, go forward and turn left to the drawers on the left.", - "Put the white mug with the pen in it on top the drawers." - ], - "task_desc": "Moving a pen around the room.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3E337GFOLCPPF3V43DXOFVGISD4NGU", - "high_descs": [ - "turn around and walk over to the nightstand on the right side of the bed", - "grab a pen off of the nightstand", - "turn around and walk forwards to the end of the room, then turn right and walk over to the cabinets on the wall", - "place the pen inside the cup on the cabinet on the wall", - "grab the cup with the pen in it", - "move to the right a bit and face the left wall with the lower cabinet embedded in between the walls", - "place the cup down on the cabinet there" - ], - "task_desc": "place a cup with a pen in it down on the cabinet inbetween the walls", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AHBWX3WYMAB0E_3EICBYG647DGF1OEMT9DWXEMLXACJ0", - "high_descs": [ - "Turn left and approach the chest of drawers to the right of the bed.", - "Pick the pen up from the chest.", - "Turn around and go across the room to the bookcases on your right. ", - "Put the pen in the white mug.", - "Take the mug with pen off the shelf.", - "Take a couple steps to the right and face the dresser", - "Set the mug on the dresser close to the edge just left of the yellow disc." - ], - "task_desc": "Put the pen and mug on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190908_052714_004152/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190908_052714_004152/traj_data.json deleted file mode 100644 index 5fa536c00..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190908_052714_004152/traj_data.json +++ /dev/null @@ -1,4196 +0,0 @@ -{ - "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": 5 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 9 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 11 - }, - { - "high_idx": 3, - "image_name": "000000095.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000096.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000097.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000098.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000099.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000100.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000102.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000103.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000104.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000105.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "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": 19 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 30 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-6|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 9.98604964, - 9.98604964, - -5.48927784, - -5.48927784, - 3.006098984, - 3.006098984 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.50|+00.75|-01.37" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 9.98604964, - 9.98604964, - -5.48927784, - -5.48927784, - 3.006098984, - 3.006098984 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 9.596714, - 9.596714, - -6.47997044, - -6.47997044, - 2.975488, - 2.975488 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.50|+00.75|-01.37", - "receptacleObjectId": "Mug|+02.40|+00.74|-01.62" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 9.596714, - 9.596714, - -6.47997044, - -6.47997044, - 2.975488, - 2.975488 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.40|+00.74|-01.62" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 9.596714, - 9.596714, - -6.47997044, - -6.47997044, - 2.975488, - 2.975488 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.40|+00.74|-01.62", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "Pen|+02.50|+00.75|-01.37" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 113, - 127, - 118, - 169 - ], - "mask": [ - [ - 37917, - 1 - ], - [ - 38217, - 1 - ], - [ - 38517, - 2 - ], - [ - 38816, - 3 - ], - [ - 39116, - 3 - ], - [ - 39416, - 3 - ], - [ - 39716, - 2 - ], - [ - 40016, - 2 - ], - [ - 40316, - 2 - ], - [ - 40616, - 2 - ], - [ - 40916, - 2 - ], - [ - 41216, - 2 - ], - [ - 41516, - 2 - ], - [ - 41816, - 2 - ], - [ - 42116, - 2 - ], - [ - 42415, - 3 - ], - [ - 42715, - 3 - ], - [ - 43015, - 3 - ], - [ - 43315, - 3 - ], - [ - 43615, - 2 - ], - [ - 43915, - 2 - ], - [ - 44215, - 2 - ], - [ - 44515, - 2 - ], - [ - 44815, - 2 - ], - [ - 45115, - 2 - ], - [ - 45415, - 2 - ], - [ - 45715, - 2 - ], - [ - 46015, - 2 - ], - [ - 46314, - 3 - ], - [ - 46614, - 3 - ], - [ - 46914, - 3 - ], - [ - 47214, - 3 - ], - [ - 47513, - 4 - ], - [ - 47813, - 3 - ], - [ - 48113, - 3 - ], - [ - 48413, - 3 - ], - [ - 48713, - 3 - ], - [ - 49013, - 3 - ], - [ - 49313, - 3 - ], - [ - 49613, - 3 - ], - [ - 49914, - 1 - ], - [ - 50214, - 1 - ], - [ - 50514, - 1 - ] - ], - "point": [ - 115, - 147 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+02.50|+00.75|-01.37", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.40|+00.74|-01.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 170, - 146, - 201, - 185 - ], - "mask": [ - [ - 43681, - 9 - ], - [ - 43979, - 14 - ], - [ - 44277, - 18 - ], - [ - 44576, - 21 - ], - [ - 44875, - 23 - ], - [ - 45174, - 25 - ], - [ - 45473, - 27 - ], - [ - 45773, - 27 - ], - [ - 46072, - 29 - ], - [ - 46372, - 29 - ], - [ - 46672, - 30 - ], - [ - 46972, - 30 - ], - [ - 47271, - 31 - ], - [ - 47571, - 31 - ], - [ - 47871, - 31 - ], - [ - 48171, - 31 - ], - [ - 48471, - 31 - ], - [ - 48771, - 31 - ], - [ - 49071, - 31 - ], - [ - 49370, - 31 - ], - [ - 49670, - 31 - ], - [ - 49970, - 30 - ], - [ - 50270, - 30 - ], - [ - 50570, - 30 - ], - [ - 50870, - 29 - ], - [ - 51170, - 29 - ], - [ - 51470, - 29 - ], - [ - 51770, - 28 - ], - [ - 52070, - 28 - ], - [ - 52370, - 27 - ], - [ - 52671, - 26 - ], - [ - 52971, - 26 - ], - [ - 53272, - 24 - ], - [ - 53572, - 24 - ], - [ - 53873, - 22 - ], - [ - 54174, - 20 - ], - [ - 54476, - 17 - ], - [ - 54777, - 14 - ], - [ - 55080, - 10 - ], - [ - 55384, - 5 - ] - ], - "point": [ - 185, - 164 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.40|+00.74|-01.62" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 170, - 146, - 201, - 185 - ], - "mask": [ - [ - 43681, - 9 - ], - [ - 43980, - 13 - ], - [ - 44280, - 15 - ], - [ - 44576, - 1 - ], - [ - 44580, - 17 - ], - [ - 44875, - 2 - ], - [ - 44879, - 19 - ], - [ - 45174, - 2 - ], - [ - 45179, - 20 - ], - [ - 45473, - 3 - ], - [ - 45479, - 21 - ], - [ - 45773, - 3 - ], - [ - 45779, - 21 - ], - [ - 46072, - 4 - ], - [ - 46079, - 22 - ], - [ - 46372, - 3 - ], - [ - 46378, - 23 - ], - [ - 46672, - 4 - ], - [ - 46678, - 24 - ], - [ - 46972, - 3 - ], - [ - 46978, - 24 - ], - [ - 47271, - 4 - ], - [ - 47278, - 24 - ], - [ - 47571, - 4 - ], - [ - 47578, - 24 - ], - [ - 47871, - 3 - ], - [ - 47877, - 25 - ], - [ - 48171, - 4 - ], - [ - 48177, - 25 - ], - [ - 48471, - 4 - ], - [ - 48476, - 26 - ], - [ - 48771, - 31 - ], - [ - 49071, - 31 - ], - [ - 49370, - 31 - ], - [ - 49670, - 31 - ], - [ - 49970, - 30 - ], - [ - 50270, - 30 - ], - [ - 50570, - 30 - ], - [ - 50870, - 29 - ], - [ - 51170, - 29 - ], - [ - 51470, - 29 - ], - [ - 51770, - 28 - ], - [ - 52070, - 28 - ], - [ - 52370, - 27 - ], - [ - 52671, - 26 - ], - [ - 52971, - 26 - ], - [ - 53272, - 24 - ], - [ - 53572, - 24 - ], - [ - 53873, - 22 - ], - [ - 54174, - 20 - ], - [ - 54476, - 17 - ], - [ - 54777, - 14 - ], - [ - 55080, - 10 - ], - [ - 55384, - 5 - ] - ], - "point": [ - 185, - 164 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.40|+00.74|-01.62", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 65 - ], - [ - 19985, - 1 - ], - [ - 19988, - 27 - ], - [ - 20017, - 26 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 66 - ], - [ - 20285, - 30 - ], - [ - 20317, - 26 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 66 - ], - [ - 20585, - 30 - ], - [ - 20617, - 26 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 65 - ], - [ - 20886, - 29 - ], - [ - 20917, - 26 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 66 - ], - [ - 21186, - 29 - ], - [ - 21217, - 25 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 66 - ], - [ - 21486, - 29 - ], - [ - 21517, - 25 - ], - [ - 21561, - 39 - ], - [ - 21651, - 32 - ], - [ - 21684, - 19 - ], - [ - 21719, - 96 - ], - [ - 21817, - 25 - ], - [ - 21860, - 40 - ], - [ - 21950, - 32 - ], - [ - 21984, - 20 - ], - [ - 22020, - 96 - ], - [ - 22118, - 24 - ], - [ - 22160, - 40 - ], - [ - 22250, - 32 - ], - [ - 22284, - 20 - ], - [ - 22320, - 96 - ], - [ - 22418, - 23 - ], - [ - 22460, - 40 - ], - [ - 22550, - 31 - ], - [ - 22584, - 21 - ], - [ - 22620, - 96 - ], - [ - 22718, - 23 - ], - [ - 22760, - 40 - ], - [ - 22849, - 32 - ], - [ - 22884, - 21 - ], - [ - 22921, - 95 - ], - [ - 23018, - 23 - ], - [ - 23059, - 41 - ], - [ - 23149, - 32 - ], - [ - 23183, - 23 - ], - [ - 23222, - 94 - ], - [ - 23318, - 22 - ], - [ - 23359, - 41 - ], - [ - 23449, - 32 - ], - [ - 23483, - 23 - ], - [ - 23522, - 94 - ], - [ - 23618, - 22 - ], - [ - 23659, - 41 - ], - [ - 23749, - 32 - ], - [ - 23783, - 23 - ], - [ - 23823, - 93 - ], - [ - 23918, - 21 - ], - [ - 23959, - 41 - ], - [ - 24048, - 33 - ], - [ - 24083, - 24 - ], - [ - 24124, - 92 - ], - [ - 24218, - 20 - ], - [ - 24258, - 42 - ], - [ - 24348, - 32 - ], - [ - 24383, - 24 - ], - [ - 24425, - 91 - ], - [ - 24519, - 19 - ], - [ - 24558, - 42 - ], - [ - 24648, - 32 - ], - [ - 24683, - 25 - ], - [ - 24726, - 91 - ], - [ - 24819, - 18 - ], - [ - 24857, - 43 - ], - [ - 24948, - 32 - ], - [ - 24982, - 27 - ], - [ - 25027, - 90 - ], - [ - 25119, - 17 - ], - [ - 25156, - 44 - ], - [ - 25247, - 33 - ], - [ - 25282, - 27 - ], - [ - 25328, - 89 - ], - [ - 25419, - 16 - ], - [ - 25456, - 44 - ], - [ - 25547, - 33 - ], - [ - 25582, - 28 - ], - [ - 25629, - 88 - ], - [ - 25719, - 15 - ], - [ - 25755, - 45 - ], - [ - 25847, - 32 - ], - [ - 25882, - 29 - ], - [ - 25930, - 87 - ], - [ - 26019, - 14 - ], - [ - 26055, - 45 - ], - [ - 26147, - 32 - ], - [ - 26182, - 29 - ], - [ - 26231, - 86 - ], - [ - 26319, - 13 - ], - [ - 26354, - 46 - ], - [ - 26446, - 33 - ], - [ - 26482, - 30 - ], - [ - 26532, - 85 - ], - [ - 26619, - 12 - ], - [ - 26653, - 47 - ], - [ - 26746, - 33 - ], - [ - 26781, - 32 - ], - [ - 26834, - 83 - ], - [ - 26919, - 11 - ], - [ - 26953, - 47 - ], - [ - 27046, - 33 - ], - [ - 27081, - 33 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 34 - ], - [ - 27381, - 34 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 33 - ], - [ - 27681, - 35 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 33 - ], - [ - 27981, - 36 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 33 - ], - [ - 28280, - 38 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 34 - ], - [ - 28580, - 39 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 34 - ], - [ - 28880, - 40 - ], - [ - 28946, - 73 - ], - [ - 29046, - 41 - ], - [ - 29089, - 11 - ], - [ - 29144, - 33 - ], - [ - 29180, - 42 - ], - [ - 29248, - 70 - ], - [ - 29345, - 37 - ], - [ - 29395, - 5 - ], - [ - 29444, - 33 - ], - [ - 29480, - 43 - ], - [ - 29550, - 65 - ], - [ - 29644, - 36 - ], - [ - 29697, - 3 - ], - [ - 29743, - 33 - ], - [ - 29780, - 44 - ], - [ - 29853, - 60 - ], - [ - 29943, - 35 - ], - [ - 29999, - 1 - ], - [ - 30043, - 33 - ], - [ - 30079, - 47 - ], - [ - 30156, - 54 - ], - [ - 30242, - 36 - ], - [ - 30343, - 33 - ], - [ - 30379, - 48 - ], - [ - 30460, - 46 - ], - [ - 30540, - 37 - ], - [ - 30643, - 33 - ], - [ - 30679, - 50 - ], - [ - 30764, - 39 - ], - [ - 30839, - 38 - ], - [ - 30942, - 34 - ], - [ - 30979, - 51 - ], - [ - 31069, - 29 - ], - [ - 31137, - 39 - ], - [ - 31242, - 34 - ], - [ - 31279, - 53 - ], - [ - 31436, - 40 - ], - [ - 31542, - 33 - ], - [ - 31579, - 55 - ], - [ - 31734, - 42 - ], - [ - 31841, - 35 - ], - [ - 31878, - 58 - ], - [ - 32032, - 44 - ], - [ - 32090, - 2 - ], - [ - 32141, - 35 - ], - [ - 32177, - 60 - ], - [ - 32331, - 45 - ], - [ - 32389, - 5 - ], - [ - 32441, - 35 - ], - [ - 32477, - 62 - ], - [ - 32628, - 49 - ], - [ - 32690, - 4 - ], - [ - 32741, - 101 - ], - [ - 32926, - 51 - ], - [ - 32991, - 3 - ], - [ - 33040, - 104 - ], - [ - 33224, - 54 - ], - [ - 33340, - 107 - ], - [ - 33522, - 56 - ], - [ - 33640, - 109 - ], - [ - 33819, - 60 - ], - [ - 33940, - 113 - ], - [ - 34116, - 64 - ], - [ - 34239, - 117 - ], - [ - 34412, - 69 - ], - [ - 34539, - 121 - ], - [ - 34708, - 74 - ], - [ - 34839, - 127 - ], - [ - 35002, - 81 - ], - [ - 35139, - 135 - ], - [ - 35294, - 91 - ], - [ - 35438, - 249 - ], - [ - 35738, - 252 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.25, - "y": 0.9101201, - "z": -1.0 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.6841401, - "y": 0.911498964, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.3991785, - "y": 0.743872, - "z": -1.61999261 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -1.01247966, - "y": 0.911498964, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.576072, - "y": 0.8107594, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.6451336, - "y": 0.04980806, - "z": 3.72242832 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.9482056, - "y": 0.3994214, - "z": -1.31475186 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.85065842, - "y": 0.84865284, - "z": 0.6240001 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.49651241, - "y": 0.751524746, - "z": -1.37231946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.618261, - "y": 0.464640856, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.57583427, - "y": 0.100667894, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.471079, - "y": 0.7477785, - "z": -1.52147233 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.18511152, - "y": 0.399810672, - "z": -0.420247763 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.27501822, - "y": 0.399810672, - "z": -0.6816067 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.57583427, - "y": 0.460222185, - "z": 0.721920133 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.946811736, - "y": 0.9215688, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.5946238, - "y": 0.7123361, - "z": 3.105091 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.68043351, - "y": 0.8053905, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.36734867, - "y": 0.807592869, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.749808, - "y": 0.9215688, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.57583427, - "y": 0.0972365141, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -1.01247966, - "y": 0.915931046, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.618261, - "y": 0.097323, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.36734867, - "y": 0.8091631, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -0.6841401, - "y": 0.9147331, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.21792436, - "y": 0.3978147, - "z": -1.05339348 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.77032924, - "y": 0.8463409, - "z": 0.49285984 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.312467, - "y": 0.785215139, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.60967064, - "y": 0.8426067, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.69, - "y": 0.84865284, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.749808, - "y": 0.911498964, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2574819664, - "scene_num": 311 - }, - "task_id": "trial_T20190908_052714_004152", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_3300DTYQT5YCYMC5DAZHJMQBLN4EQE", - "high_descs": [ - "Turn right move forward then turn left on the side table", - "Pick up the pen on the table", - "Put the pen in the mug", - "Pick up the mug with pen on the table", - "Turn left walk straight then head to the tv stand", - "Put the mug with pen on the tv stand" - ], - "task_desc": "Put mug with pen on the tv stand", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A255A9FFZD8PQW_3OLQQLKKNV6VCZ8SIKF8MLEP7R1JEF", - "high_descs": [ - "Turn to the right and step forward. Face the side table with the lamp on it. ", - "Pick up the pen from the side table.", - "Place the pen inside the mug on the side table. ", - "Pick up the mug with the pen. ", - "Turn left and go forward. Walk over to the tv stand and turn to the right to face it.", - "Place the mug on the tv stand by the left corner of it." - ], - "task_desc": "Move the pen and mug to the tv stand. ", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3ND9UOO81NJVOPIJ65LRO6YHJQVLWW", - "high_descs": [ - " Turn right and walk to the circular table ini the corner.", - "Pick up the black pen.", - "Place black pencil in the white mug.", - "Pick up the mug.", - "Turn left and walk to the TV stand, then face it.", - "Place the mug on the TV stand, just in front of the TV on the left side." - ], - "task_desc": "Place a mug with a pen in it on a TV stand.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190909_152355_259303/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190909_152355_259303/traj_data.json deleted file mode 100644 index 9286d8a6f..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190909_152355_259303/traj_data.json +++ /dev/null @@ -1,4783 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 6 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 51 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 71 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|6|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 10.43868256, - 10.43868256, - 4.06968308, - 4.06968308, - 3.39461136, - 3.39461136 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.61|+00.85|+01.02" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 10.43868256, - 10.43868256, - 4.06968308, - 4.06968308, - 3.39461136, - 3.39461136 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 9.78900908, - 9.78900908, - -5.20167636, - -5.20167636, - 2.9697504, - 2.9697504 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.61|+00.85|+01.02", - "receptacleObjectId": "Mug|+02.45|+00.74|-01.30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 9.78900908, - 9.78900908, - -5.20167636, - -5.20167636, - 2.9697504, - 2.9697504 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.45|+00.74|-01.30" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 9.78900908, - 9.78900908, - -5.20167636, - -5.20167636, - 2.9697504, - 2.9697504 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.45|+00.74|-01.30", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "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": "Pen|+02.61|+00.85|+01.02" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 88, - 136, - 143, - 138 - ], - "mask": [ - [ - 40591, - 49 - ], - [ - 40888, - 56 - ], - [ - 41192, - 48 - ] - ], - "point": [ - 115, - 136 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+02.61|+00.85|+01.02", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.45|+00.74|-01.30" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 75, - 134, - 108, - 172 - ], - "mask": [ - [ - 39987, - 9 - ], - [ - 40284, - 15 - ], - [ - 40583, - 17 - ], - [ - 40881, - 21 - ], - [ - 41180, - 23 - ], - [ - 41479, - 24 - ], - [ - 41778, - 26 - ], - [ - 42077, - 27 - ], - [ - 42377, - 28 - ], - [ - 42676, - 29 - ], - [ - 42976, - 29 - ], - [ - 43276, - 30 - ], - [ - 43575, - 31 - ], - [ - 43875, - 31 - ], - [ - 44175, - 32 - ], - [ - 44475, - 32 - ], - [ - 44775, - 32 - ], - [ - 45076, - 31 - ], - [ - 45376, - 32 - ], - [ - 45677, - 31 - ], - [ - 45977, - 31 - ], - [ - 46278, - 31 - ], - [ - 46578, - 31 - ], - [ - 46879, - 30 - ], - [ - 47179, - 30 - ], - [ - 47480, - 29 - ], - [ - 47780, - 29 - ], - [ - 48080, - 29 - ], - [ - 48381, - 28 - ], - [ - 48681, - 28 - ], - [ - 48982, - 26 - ], - [ - 49282, - 25 - ], - [ - 49583, - 24 - ], - [ - 49884, - 22 - ], - [ - 50184, - 21 - ], - [ - 50485, - 19 - ], - [ - 50787, - 15 - ], - [ - 51088, - 12 - ], - [ - 51390, - 6 - ] - ], - "point": [ - 91, - 152 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.45|+00.74|-01.30" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 75, - 134, - 108, - 172 - ], - "mask": [ - [ - 39987, - 9 - ], - [ - 40284, - 15 - ], - [ - 40584, - 16 - ], - [ - 40884, - 18 - ], - [ - 41180, - 2 - ], - [ - 41184, - 19 - ], - [ - 41479, - 3 - ], - [ - 41485, - 18 - ], - [ - 41778, - 4 - ], - [ - 41785, - 19 - ], - [ - 42077, - 6 - ], - [ - 42086, - 18 - ], - [ - 42377, - 6 - ], - [ - 42386, - 19 - ], - [ - 42676, - 8 - ], - [ - 42687, - 18 - ], - [ - 42976, - 7 - ], - [ - 42987, - 18 - ], - [ - 43276, - 9 - ], - [ - 43287, - 19 - ], - [ - 43575, - 9 - ], - [ - 43588, - 18 - ], - [ - 43875, - 10 - ], - [ - 43888, - 18 - ], - [ - 44175, - 10 - ], - [ - 44189, - 18 - ], - [ - 44475, - 11 - ], - [ - 44488, - 19 - ], - [ - 44775, - 12 - ], - [ - 44789, - 18 - ], - [ - 45076, - 31 - ], - [ - 45376, - 32 - ], - [ - 45677, - 31 - ], - [ - 45977, - 31 - ], - [ - 46278, - 31 - ], - [ - 46578, - 31 - ], - [ - 46879, - 30 - ], - [ - 47179, - 30 - ], - [ - 47480, - 29 - ], - [ - 47780, - 29 - ], - [ - 48080, - 29 - ], - [ - 48381, - 28 - ], - [ - 48681, - 28 - ], - [ - 48982, - 26 - ], - [ - 49282, - 25 - ], - [ - 49583, - 24 - ], - [ - 49884, - 22 - ], - [ - 50184, - 21 - ], - [ - 50485, - 19 - ], - [ - 50787, - 15 - ], - [ - 51088, - 12 - ], - [ - 51390, - 6 - ] - ], - "point": [ - 91, - 152 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.45|+00.74|-01.30", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 262 - ], - [ - 35738, - 262 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 2.75, - "y": 0.9101201, - "z": 5.5 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.44725227, - "y": 0.7424376, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.576072, - "y": 0.8053905, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.47171044, - "y": 0.806327343, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.78479528, - "y": 0.809822559, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.26298714, - "y": 0.813980162, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.60967064, - "y": 0.84865284, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.576072, - "y": 0.8154603, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.59503245, - "y": 0.752507448, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.116061687, - "y": 0.785215139, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.946811736, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.18511176, - "y": 0.3978147, - "z": -0.5073675 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.53340769, - "y": 0.460885167, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.68043351, - "y": 0.8154603, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -0.355342746, - "y": 0.7142456, - "z": 3.105091 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.78479528, - "y": 0.8107594, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.39799213, - "y": 0.7458679, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.618261, - "y": 0.09816277, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.26298714, - "y": 0.8086246, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.5946238, - "y": 0.7123361, - "z": 2.82226515 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.32727814, - "y": 0.7477785, - "z": -1.422952 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -1.21792412, - "y": 0.4706937, - "z": -1.1405133 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.833904862, - "y": 0.785215139, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.5904608, - "y": 0.0537162535, - "z": 3.743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.47171044, - "y": 0.813980162, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.946811736, - "y": 0.911498964, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2041109238, - "scene_num": 311 - }, - "task_id": "trial_T20190909_152355_259303", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A24RGLS3BRZ60J_3NLZY2D53S6Q4SMXUWMLWHGVUL2QLC", - "high_descs": [ - "Move forward, then left to move past the dining table, and then turn right and face the TV on the right.", - "Pick up a pen from the front side of the white dresser.", - "Carry the pen and turn right, then left to find the black table in the corner.", - "Place the pen in the cup on the left side of the table.", - "Pick up the cup from the left side of the table.", - "Take the cup and turn to the left and face the front of the TV on the right side.", - "Place the pen and cup in front of the TV on the left side." - ], - "task_desc": "Move a cup and pen to the dresser with the TV.", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3VE8AYVF8PEYYWC5MR2NFDQB3KB8FX", - "high_descs": [ - "Move forward then turn left head to the left side of the tv stand ", - "Pick up the pen on the tv stand ", - "Turn right then head to the side table beside the couch ", - "Put the pen in the mug on the side table", - "Pick up the mug with pen ", - "Turn left then head in front of the tv stand", - "Put the mug with pen on the left side of tv stand" - ], - "task_desc": "Put the mug with pen on the tv stand", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1SX8IVV82M0LW_3K2755HG5VKAFR8W3ZD3154CFFEFDP", - "high_descs": [ - "Walk to the TV stand on the left.", - "Grab the pen from the stand.", - "Walk to the end table on the left.", - "Place the pencil in the coffee mug.", - "Grab the mug from the table.", - "Walk to the front of the TV stand.", - "Place the cup on the stand." - ], - "task_desc": "Put a pencil in a cup and move it to the stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_083114_148001/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_083114_148001/traj_data.json deleted file mode 100644 index a4e081a0f..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_083114_148001/traj_data.json +++ /dev/null @@ -1,3099 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000030.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000031.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000032.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000033.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000034.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000035.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000036.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000037.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000052.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000053.png", - "low_idx": 7 - }, - { - "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": 3, - "image_name": "000000060.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000061.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000062.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000063.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000064.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000065.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000066.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000067.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000068.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000069.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000070.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000071.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000072.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000073.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000074.png", - "low_idx": 8 - }, - { - "high_idx": 4, - "image_name": "000000075.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000078.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000079.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000080.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000081.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000082.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000083.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000084.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000085.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 4, - "image_name": "000000088.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 4, - "image_name": "000000090.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000097.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000098.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000099.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000100.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000101.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000102.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000103.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000104.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000105.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000106.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000108.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000109.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000126.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000127.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000128.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000129.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000130.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000131.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000132.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000138.png", - "low_idx": 20 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|0|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 7.62166452, - 7.62166452, - -0.040928632, - -0.040928632, - 2.9305452, - 2.9305452 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.91|+00.73|-00.01" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 7.62166452, - 7.62166452, - -0.040928632, - -0.040928632, - 2.9305452, - 2.9305452 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 8.012036, - 8.012036, - -0.040928662, - -0.040928662, - 2.898, - 2.898 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.91|+00.73|-00.01", - "receptacleObjectId": "Mug|+02.00|+00.72|-00.01" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 8.012036, - 8.012036, - -0.040928662, - -0.040928662, - 2.898, - 2.898 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.00|+00.72|-00.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 8.012036, - 8.012036, - -0.040928662, - -0.040928662, - 2.898, - 2.898 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.00|+00.72|-00.01", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "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": "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": "PickupObject", - "objectId": "Pen|+01.91|+00.73|-00.01" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 132, - 142, - 169, - 143 - ], - "mask": [ - [ - 42432, - 38 - ], - [ - 42733, - 35 - ] - ], - "point": [ - 150, - 141 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.91|+00.73|-00.01", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.00|+00.72|-00.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 142, - 108, - 167, - 136 - ], - "mask": [ - [ - 32248, - 8 - ], - [ - 32545, - 14 - ], - [ - 32844, - 16 - ], - [ - 33143, - 18 - ], - [ - 33442, - 20 - ], - [ - 33742, - 20 - ], - [ - 34042, - 24 - ], - [ - 34342, - 25 - ], - [ - 34642, - 25 - ], - [ - 34942, - 20 - ], - [ - 34966, - 2 - ], - [ - 35242, - 20 - ], - [ - 35266, - 2 - ], - [ - 35542, - 20 - ], - [ - 35566, - 2 - ], - [ - 35842, - 20 - ], - [ - 35865, - 2 - ], - [ - 36142, - 20 - ], - [ - 36165, - 2 - ], - [ - 36442, - 20 - ], - [ - 36465, - 2 - ], - [ - 36742, - 20 - ], - [ - 36764, - 3 - ], - [ - 37042, - 24 - ], - [ - 37342, - 23 - ], - [ - 37642, - 22 - ], - [ - 37942, - 20 - ], - [ - 38242, - 20 - ], - [ - 38542, - 20 - ], - [ - 38842, - 20 - ], - [ - 39142, - 20 - ], - [ - 39443, - 18 - ], - [ - 39743, - 18 - ], - [ - 40045, - 15 - ], - [ - 40346, - 12 - ], - [ - 40649, - 6 - ] - ], - "point": [ - 154, - 121 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.00|+00.72|-00.01" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 142, - 108, - 167, - 136 - ], - "mask": [ - [ - 32248, - 8 - ], - [ - 32547, - 12 - ], - [ - 32844, - 1 - ], - [ - 32847, - 13 - ], - [ - 33143, - 2 - ], - [ - 33147, - 14 - ], - [ - 33442, - 3 - ], - [ - 33447, - 15 - ], - [ - 33742, - 3 - ], - [ - 33747, - 15 - ], - [ - 34042, - 3 - ], - [ - 34047, - 19 - ], - [ - 34342, - 3 - ], - [ - 34347, - 20 - ], - [ - 34642, - 3 - ], - [ - 34647, - 20 - ], - [ - 34942, - 3 - ], - [ - 34947, - 15 - ], - [ - 34966, - 2 - ], - [ - 35242, - 4 - ], - [ - 35247, - 15 - ], - [ - 35266, - 2 - ], - [ - 35542, - 20 - ], - [ - 35566, - 2 - ], - [ - 35842, - 20 - ], - [ - 35865, - 2 - ], - [ - 36142, - 20 - ], - [ - 36165, - 2 - ], - [ - 36442, - 20 - ], - [ - 36465, - 2 - ], - [ - 36742, - 20 - ], - [ - 36764, - 3 - ], - [ - 37042, - 24 - ], - [ - 37342, - 23 - ], - [ - 37642, - 22 - ], - [ - 37942, - 20 - ], - [ - 38242, - 20 - ], - [ - 38542, - 20 - ], - [ - 38842, - 20 - ], - [ - 39142, - 20 - ], - [ - 39443, - 18 - ], - [ - 39743, - 18 - ], - [ - 40045, - 15 - ], - [ - 40346, - 12 - ], - [ - 40649, - 6 - ] - ], - "point": [ - 154, - 121 - ] - } - }, - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.00|+00.72|-00.01", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 90 - ], - [ - 3132, - 95 - ], - [ - 3335, - 90 - ], - [ - 3432, - 96 - ], - [ - 3634, - 91 - ], - [ - 3729, - 2 - ], - [ - 3732, - 96 - ], - [ - 3934, - 92 - ], - [ - 4031, - 97 - ], - [ - 4234, - 91 - ], - [ - 4332, - 96 - ], - [ - 4533, - 92 - ], - [ - 4632, - 97 - ], - [ - 4833, - 92 - ], - [ - 4933, - 96 - ], - [ - 5133, - 91 - ], - [ - 5233, - 96 - ], - [ - 5432, - 92 - ], - [ - 5533, - 96 - ], - [ - 5732, - 92 - ], - [ - 5833, - 97 - ], - [ - 6031, - 93 - ], - [ - 6133, - 97 - ], - [ - 6331, - 93 - ], - [ - 6433, - 97 - ], - [ - 6631, - 93 - ], - [ - 6733, - 97 - ], - [ - 6930, - 94 - ], - [ - 7033, - 98 - ], - [ - 7230, - 94 - ], - [ - 7332, - 99 - ], - [ - 7530, - 201 - ], - [ - 7829, - 202 - ], - [ - 8129, - 203 - ], - [ - 8428, - 204 - ], - [ - 8728, - 204 - ], - [ - 9028, - 204 - ], - [ - 9327, - 206 - ], - [ - 9627, - 206 - ], - [ - 9927, - 206 - ], - [ - 10226, - 207 - ], - [ - 10526, - 208 - ], - [ - 10825, - 209 - ], - [ - 11125, - 209 - ], - [ - 11425, - 209 - ], - [ - 11724, - 211 - ], - [ - 12024, - 211 - ], - [ - 12324, - 211 - ], - [ - 12623, - 212 - ], - [ - 12923, - 213 - ], - [ - 13223, - 213 - ], - [ - 13522, - 214 - ], - [ - 13822, - 214 - ], - [ - 14121, - 216 - ], - [ - 14421, - 216 - ], - [ - 14721, - 216 - ], - [ - 15020, - 217 - ], - [ - 15320, - 218 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 93 - ], - [ - 50583, - 14 - ], - [ - 50782, - 92 - ], - [ - 50883, - 14 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.25, - "y": 0.9017602, - "z": -0.25 - }, - "object_poses": [ - { - "objectName": "CD_e7609414", - "position": { - "x": 1.75690293, - "y": 0.436990321, - "z": 1.3267293 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.600201964, - "y": 0.0654450953, - "z": 2.09177852 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.949556231, - "y": 0.6710072, - "z": 2.728516 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.90541613, - "y": 0.7326363, - "z": -0.010232158 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.692786336, - "y": 0.6833528, - "z": 1.24522126 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.692788541, - "y": 0.6813754, - "z": 1.99140584 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.761808157, - "y": 0.672675, - "z": 2.81531 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.5135485, - "y": 0.677696, - "z": 1.99140644 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.5740597, - "y": 0.6691651, - "z": 2.81531072 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.6682143, - "y": 0.9788428, - "z": -1.32223451 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.692787468, - "y": 0.681197, - "z": 1.61831367 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": 1.61263728, - "y": 0.724983454, - "z": 0.4822775 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.7618091, - "y": 0.6724966, - "z": 3.16248274 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.60316956, - "y": 0.6833528, - "z": 2.36449862 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.782409132, - "y": 0.678465664, - "z": 2.17795181 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.8297901, - "y": 1.549, - "z": -1.5335114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -1.272764, - "y": 1.5027765, - "z": -0.273132682 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.872028053, - "y": 0.6778471, - "z": 1.80485928 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.6087718, - "y": 0.106836796, - "z": -0.408762574 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.8175837, - "y": 0.0654450953, - "z": 2.01972532 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.90541613, - "y": 0.7306588, - "z": 0.2360227 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": 1.79976654, - "y": 0.719983459, - "z": -0.6269823 - }, - "rotation": { - "x": 0.0, - "y": 336.963165, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": 2.003009, - "y": 0.7245, - "z": -0.0102321655 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 824440540, - "scene_num": 318 - }, - "task_id": "trial_T20190908_083114_148001", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A320QA9HJFUOZO_3GNCZX450LEWTMGCT07NOKUCPITAP6", - "high_descs": [ - "Turn right and walk up to the wooden desk", - "Pick up the blue pen from the desk", - "Put the pen in the mug on the desk", - "Pick up the mug from the desk", - "Turn around and walk over to the wooden dresser below the bunk bed", - "Put the mug on the dresser" - ], - "task_desc": "Put the mug with pen on the dresser", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AFU00NU09CFXE_3X08E93BHY9NWEM4ORR22F19YVU66P", - "high_descs": [ - "Turn right and move to stand in front of the brown desk.", - "Pick up the blue pen from in front of the white mug on the desk.", - "Place the pen inside the white mug on the desk.", - "Pick up the mug with the pen inside from the desk.", - "Turn right, and when you get to the rust-colored wall, turn right and move to the dark brown dresser.", - "Place the mug with the pen inside on the brown dresser." - ], - "task_desc": "Move a mug with a pen in it to the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A17TKHT8FEVH0R_3RYC5T2D76KOS32TVBT9JAJMPMHRPV", - "high_descs": [ - "Turn right and go to the brown desk", - "Grab the blue pen off of the desk", - "Put the pen in the white mug", - "Grab the mug off of the desk", - "Turn around and go to the brown drawer", - "Put the mug on top of the drawer" - ], - "task_desc": "Putting a mug with a pen inside on a drawer", - "votes": [ - 1, - 1, - 0 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_083127_735120/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_083127_735120/traj_data.json deleted file mode 100644 index 0c21ca550..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_083127_735120/traj_data.json +++ /dev/null @@ -1,3694 +0,0 @@ -{ - "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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "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": 15 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000138.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000139.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000140.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000141.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 21 - }, - { - "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": 22 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "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": 27 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "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 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-2|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 8.012036, - 8.012036, - -2.0109672, - -2.0109672, - 2.9286112, - 2.9286112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.00|+00.73|-00.50" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|0|1|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 8.012036, - 8.012036, - -2.0109672, - -2.0109672, - 2.9286112, - 2.9286112 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 8.4024086, - 8.4024086, - -0.040928662, - -0.040928662, - 2.899933816, - 2.899933816 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.00|+00.73|-00.50", - "receptacleObjectId": "Mug|+02.10|+00.72|-00.01" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 8.4024086, - 8.4024086, - -0.040928662, - -0.040928662, - 2.899933816, - 2.899933816 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.10|+00.72|-00.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 8.4024086, - 8.4024086, - -0.040928662, - -0.040928662, - 2.899933816, - 2.899933816 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.10|+00.72|-00.01", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "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": "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": "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": "Pen|+02.00|+00.73|-00.50" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 131, - 129, - 167, - 130 - ], - "mask": [ - [ - 38531, - 37 - ], - [ - 38834, - 32 - ] - ], - "point": [ - 149, - 128 - ] - } - }, - "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": "PutObject", - "forceAction": true, - "objectId": "Pen|+02.00|+00.73|-00.50", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.10|+00.72|-00.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 142, - 97, - 166, - 123 - ], - "mask": [ - [ - 28948, - 8 - ], - [ - 29245, - 14 - ], - [ - 29544, - 16 - ], - [ - 29843, - 18 - ], - [ - 30142, - 20 - ], - [ - 30442, - 22 - ], - [ - 30742, - 24 - ], - [ - 31042, - 24 - ], - [ - 31342, - 20 - ], - [ - 31365, - 2 - ], - [ - 31642, - 20 - ], - [ - 31665, - 2 - ], - [ - 31942, - 20 - ], - [ - 31965, - 2 - ], - [ - 32242, - 20 - ], - [ - 32265, - 2 - ], - [ - 32542, - 20 - ], - [ - 32564, - 2 - ], - [ - 32842, - 20 - ], - [ - 32864, - 2 - ], - [ - 33142, - 20 - ], - [ - 33163, - 3 - ], - [ - 33442, - 23 - ], - [ - 33742, - 22 - ], - [ - 34042, - 21 - ], - [ - 34342, - 19 - ], - [ - 34642, - 19 - ], - [ - 34942, - 19 - ], - [ - 35243, - 18 - ], - [ - 35543, - 18 - ], - [ - 35843, - 18 - ], - [ - 36144, - 16 - ], - [ - 36445, - 14 - ], - [ - 36747, - 10 - ] - ], - "point": [ - 154, - 109 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.10|+00.72|-00.01" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 142, - 97, - 166, - 123 - ], - "mask": [ - [ - 28948, - 8 - ], - [ - 29247, - 12 - ], - [ - 29544, - 1 - ], - [ - 29547, - 13 - ], - [ - 29843, - 2 - ], - [ - 29847, - 14 - ], - [ - 30142, - 3 - ], - [ - 30147, - 15 - ], - [ - 30442, - 3 - ], - [ - 30447, - 17 - ], - [ - 30742, - 3 - ], - [ - 30747, - 19 - ], - [ - 31042, - 3 - ], - [ - 31047, - 19 - ], - [ - 31342, - 3 - ], - [ - 31347, - 15 - ], - [ - 31365, - 2 - ], - [ - 31642, - 4 - ], - [ - 31647, - 15 - ], - [ - 31665, - 2 - ], - [ - 31942, - 20 - ], - [ - 31965, - 2 - ], - [ - 32242, - 20 - ], - [ - 32265, - 2 - ], - [ - 32542, - 20 - ], - [ - 32564, - 2 - ], - [ - 32842, - 20 - ], - [ - 32864, - 2 - ], - [ - 33142, - 20 - ], - [ - 33163, - 3 - ], - [ - 33442, - 23 - ], - [ - 33742, - 22 - ], - [ - 34042, - 21 - ], - [ - 34342, - 19 - ], - [ - 34642, - 19 - ], - [ - 34942, - 19 - ], - [ - 35243, - 18 - ], - [ - 35543, - 18 - ], - [ - 35843, - 18 - ], - [ - 36144, - 16 - ], - [ - 36445, - 14 - ], - [ - 36747, - 10 - ] - ], - "point": [ - 154, - 109 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.10|+00.72|-00.01", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 70 - ], - [ - 3152, - 27 - ], - [ - 3181, - 46 - ], - [ - 3335, - 70 - ], - [ - 3452, - 27 - ], - [ - 3481, - 47 - ], - [ - 3634, - 66 - ], - [ - 3703, - 2 - ], - [ - 3752, - 27 - ], - [ - 3781, - 47 - ], - [ - 3934, - 67 - ], - [ - 4003, - 2 - ], - [ - 4052, - 27 - ], - [ - 4081, - 47 - ], - [ - 4234, - 67 - ], - [ - 4303, - 2 - ], - [ - 4352, - 27 - ], - [ - 4381, - 47 - ], - [ - 4533, - 68 - ], - [ - 4603, - 2 - ], - [ - 4652, - 27 - ], - [ - 4681, - 48 - ], - [ - 4833, - 67 - ], - [ - 4952, - 27 - ], - [ - 4982, - 47 - ], - [ - 5133, - 66 - ], - [ - 5252, - 27 - ], - [ - 5282, - 47 - ], - [ - 5432, - 67 - ], - [ - 5552, - 28 - ], - [ - 5582, - 47 - ], - [ - 5732, - 69 - ], - [ - 5803, - 2 - ], - [ - 5852, - 28 - ], - [ - 5882, - 48 - ], - [ - 6031, - 69 - ], - [ - 6152, - 28 - ], - [ - 6182, - 48 - ], - [ - 6331, - 68 - ], - [ - 6452, - 28 - ], - [ - 6482, - 48 - ], - [ - 6631, - 68 - ], - [ - 6752, - 28 - ], - [ - 6782, - 48 - ], - [ - 6930, - 69 - ], - [ - 7052, - 28 - ], - [ - 7082, - 49 - ], - [ - 7230, - 68 - ], - [ - 7352, - 28 - ], - [ - 7382, - 49 - ], - [ - 7530, - 68 - ], - [ - 7652, - 28 - ], - [ - 7682, - 49 - ], - [ - 7829, - 69 - ], - [ - 7952, - 28 - ], - [ - 7983, - 48 - ], - [ - 8129, - 68 - ], - [ - 8252, - 28 - ], - [ - 8283, - 49 - ], - [ - 8428, - 69 - ], - [ - 8552, - 29 - ], - [ - 8583, - 49 - ], - [ - 8728, - 69 - ], - [ - 8852, - 29 - ], - [ - 8883, - 49 - ], - [ - 9028, - 69 - ], - [ - 9152, - 29 - ], - [ - 9183, - 49 - ], - [ - 9327, - 71 - ], - [ - 9452, - 29 - ], - [ - 9483, - 50 - ], - [ - 9627, - 75 - ], - [ - 9703, - 3 - ], - [ - 9752, - 29 - ], - [ - 9783, - 50 - ], - [ - 9927, - 79 - ], - [ - 10052, - 29 - ], - [ - 10083, - 50 - ], - [ - 10226, - 81 - ], - [ - 10352, - 30 - ], - [ - 10383, - 50 - ], - [ - 10526, - 81 - ], - [ - 10651, - 83 - ], - [ - 10825, - 83 - ], - [ - 10950, - 84 - ], - [ - 11125, - 85 - ], - [ - 11249, - 85 - ], - [ - 11425, - 209 - ], - [ - 11724, - 211 - ], - [ - 12024, - 211 - ], - [ - 12324, - 211 - ], - [ - 12623, - 212 - ], - [ - 12923, - 213 - ], - [ - 13223, - 213 - ], - [ - 13522, - 214 - ], - [ - 13822, - 214 - ], - [ - 14121, - 216 - ], - [ - 14421, - 216 - ], - [ - 14721, - 216 - ], - [ - 15020, - 217 - ], - [ - 15320, - 218 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 93 - ], - [ - 50583, - 14 - ], - [ - 50782, - 92 - ], - [ - 50883, - 14 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.9017602, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "CD_e7609414", - "position": { - "x": 1.80782318, - "y": 0.726590157, - "z": -0.0102321506 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.42392844, - "y": 0.679538131, - "z": 1.99140668 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.761809349, - "y": 0.67083776, - "z": 3.24927616 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.70391047, - "y": 0.422266215, - "z": -1.48638725 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.7618089, - "y": 0.67284447, - "z": 3.07568955 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.423926234, - "y": 0.6813754, - "z": 1.24522209 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.5135474, - "y": 0.677696, - "z": 1.61831427 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.67208242, - "y": 0.451963753, - "z": 1.60509109 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.848040342, - "y": 0.73769325, - "z": -1.15415478 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": 1.71023023, - "y": 0.729997, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.5964906, - "y": 1.49893832, - "z": -0.719627142 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.8556823, - "y": 0.6726661, - "z": 2.81530976 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 2.003009, - "y": 0.7321528, - "z": -0.5027418 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.626557052, - "y": 0.9794614, - "z": -1.32223451 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.6327728, - "y": 1.922522, - "z": 2.48124051 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": 1.71023035, - "y": 0.7283381, - "z": 0.7285323 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.626557052, - "y": 0.978594959, - "z": -1.41610873 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.3863124, - "y": 0.6691651, - "z": 3.162484 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.48018533, - "y": 0.6687758, - "z": 2.72851753 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.6682143, - "y": 0.982123256, - "z": -1.1344862 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.6327728, - "y": 1.83552992, - "z": 1.6313374 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": 2.10060215, - "y": 0.724983454, - "z": -0.0102321655 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2760272646, - "scene_num": 318 - }, - "task_id": "trial_T20190908_083127_735120", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2Q3FS9G8ITCN7_3Y9N9SS8L12NK4E1FC1I1IZH5PY3DP", - "high_descs": [ - "Turn to the right and walk to the desk.", - "Lift the blue pen from the desk.", - "Move to the left so that you are behind the chair at the desk.", - "Place the pen into the mug at the back of the dusk.", - "Pick up the mug from the back of the desk.", - "Turn to the right, walk to the wall, turn to the right, walk to the chest of drawers.", - "Place the mug on the front right hand corner of the chest of drawers." - ], - "task_desc": "Move a mug containing a pen from a desk to a chest of drawers.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A98E8M4QLI9RS_3NVC2EB65TQQIF9SB8OWE39IND3Y3R", - "high_descs": [ - "turn around and move forward to the right side of the desk", - "pick up the blue pencil that is on the right side of the desk near the back", - "move slightly to the left, still facing the desk", - "put the pencil into the white coffee mug sitting on the back of the desk", - "pick up the mug with the pencil inside of it", - "turn around and move to the dresser that is under the bunk bed", - "put the mug with the pencil inside of it on the right front corner of the dresser" - ], - "task_desc": "put a mug with a pencil on to the dresser", - "votes": [ - 1, - 1, - 0 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3PXX5PX6L0PUPSF2AVPMT0PN8FRBA1", - "high_descs": [ - "Turn right and walk to the right side of the desk.", - "Pick up the blue pen on the desk.", - "Look at the mug to the left.", - "Put the blue pen in the mug.", - "Pick up the mug.", - "Turn around and veer left to the dresser.", - "Put the mug on the front right corner of the dresser." - ], - "task_desc": "Place a mug with a pen in it on a dresser.", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_104602_593753/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_104602_593753/traj_data.json deleted file mode 100644 index d4b1c9a9b..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-318/trial_T20190908_104602_593753/traj_data.json +++ /dev/null @@ -1,3637 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000066.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "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": 4, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000123.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000124.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000125.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000126.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000127.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000128.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000129.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000130.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000131.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 25 - }, - { - "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": 6, - "image_name": "000000171.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000172.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000173.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000174.png", - "low_idx": 30 - }, - { - "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 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|0|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 6.45054912, - 6.45054912, - -0.0409286024, - -0.0409286024, - 2.9286112, - 2.9286112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.61|+00.73|-00.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|0|1|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 6.45054912, - 6.45054912, - -0.0409286024, - -0.0409286024, - 2.9286112, - 2.9286112 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 7.62166452, - 7.62166452, - -0.040928632, - -0.040928632, - 2.899933816, - 2.899933816 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.61|+00.73|-00.01", - "receptacleObjectId": "Mug|+01.91|+00.72|-00.01" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 7.62166452, - 7.62166452, - -0.040928632, - -0.040928632, - 2.899933816, - 2.899933816 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Mug|+01.91|+00.72|-00.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 7.62166452, - 7.62166452, - -0.040928632, - -0.040928632, - 2.899933816, - 2.899933816 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Mug|+01.91|+00.72|-00.01", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.61|+00.73|-00.01" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 128, - 124, - 174, - 125 - ], - "mask": [ - [ - 37028, - 47 - ], - [ - 37330, - 42 - ] - ], - "point": [ - 151, - 123 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.61|+00.73|-00.01", - "placeStationary": true, - "receptacleObjectId": "Mug|+01.91|+00.72|-00.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 141, - 120, - 168, - 150 - ], - "mask": [ - [ - 35851, - 3 - ], - [ - 36146, - 12 - ], - [ - 36444, - 16 - ], - [ - 36743, - 18 - ], - [ - 37042, - 20 - ], - [ - 37342, - 21 - ], - [ - 37641, - 22 - ], - [ - 37941, - 26 - ], - [ - 38241, - 27 - ], - [ - 38541, - 27 - ], - [ - 38841, - 22 - ], - [ - 38866, - 3 - ], - [ - 39141, - 22 - ], - [ - 39167, - 2 - ], - [ - 39441, - 22 - ], - [ - 39467, - 2 - ], - [ - 39741, - 22 - ], - [ - 39766, - 3 - ], - [ - 40041, - 22 - ], - [ - 40066, - 2 - ], - [ - 40341, - 22 - ], - [ - 40366, - 2 - ], - [ - 40641, - 22 - ], - [ - 40665, - 3 - ], - [ - 40942, - 25 - ], - [ - 41242, - 24 - ], - [ - 41542, - 23 - ], - [ - 41842, - 22 - ], - [ - 42142, - 21 - ], - [ - 42442, - 21 - ], - [ - 42742, - 21 - ], - [ - 43042, - 20 - ], - [ - 43342, - 20 - ], - [ - 43643, - 19 - ], - [ - 43943, - 18 - ], - [ - 44245, - 15 - ], - [ - 44546, - 12 - ], - [ - 44849, - 6 - ] - ], - "point": [ - 154, - 134 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+01.91|+00.72|-00.01" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 141, - 120, - 168, - 150 - ], - "mask": [ - [ - 35851, - 3 - ], - [ - 36146, - 12 - ], - [ - 36446, - 14 - ], - [ - 36743, - 1 - ], - [ - 36746, - 15 - ], - [ - 37042, - 2 - ], - [ - 37046, - 16 - ], - [ - 37342, - 2 - ], - [ - 37346, - 17 - ], - [ - 37641, - 3 - ], - [ - 37646, - 17 - ], - [ - 37941, - 3 - ], - [ - 37946, - 21 - ], - [ - 38241, - 3 - ], - [ - 38246, - 22 - ], - [ - 38541, - 3 - ], - [ - 38546, - 22 - ], - [ - 38841, - 3 - ], - [ - 38846, - 17 - ], - [ - 38866, - 3 - ], - [ - 39141, - 3 - ], - [ - 39146, - 17 - ], - [ - 39167, - 2 - ], - [ - 39441, - 22 - ], - [ - 39467, - 2 - ], - [ - 39741, - 22 - ], - [ - 39766, - 3 - ], - [ - 40041, - 22 - ], - [ - 40066, - 2 - ], - [ - 40341, - 22 - ], - [ - 40366, - 2 - ], - [ - 40641, - 22 - ], - [ - 40665, - 3 - ], - [ - 40942, - 25 - ], - [ - 41242, - 24 - ], - [ - 41542, - 23 - ], - [ - 41842, - 22 - ], - [ - 42142, - 21 - ], - [ - 42442, - 21 - ], - [ - 42742, - 21 - ], - [ - 43042, - 20 - ], - [ - 43342, - 20 - ], - [ - 43643, - 19 - ], - [ - 43943, - 18 - ], - [ - 44245, - 15 - ], - [ - 44546, - 12 - ], - [ - 44849, - 6 - ] - ], - "point": [ - 154, - 134 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+01.91|+00.72|-00.01", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 10 - ], - [ - 3073, - 154 - ], - [ - 3335, - 10 - ], - [ - 3358, - 1 - ], - [ - 3373, - 100 - ], - [ - 3486, - 42 - ], - [ - 3634, - 10 - ], - [ - 3656, - 5 - ], - [ - 3673, - 98 - ], - [ - 3789, - 39 - ], - [ - 3934, - 10 - ], - [ - 3956, - 4 - ], - [ - 3973, - 96 - ], - [ - 4091, - 37 - ], - [ - 4234, - 10 - ], - [ - 4272, - 96 - ], - [ - 4392, - 36 - ], - [ - 4533, - 11 - ], - [ - 4571, - 96 - ], - [ - 4693, - 36 - ], - [ - 4833, - 11 - ], - [ - 4871, - 96 - ], - [ - 4994, - 35 - ], - [ - 5133, - 12 - ], - [ - 5169, - 97 - ], - [ - 5295, - 34 - ], - [ - 5432, - 13 - ], - [ - 5468, - 98 - ], - [ - 5579, - 3 - ], - [ - 5595, - 34 - ], - [ - 5732, - 15 - ], - [ - 5766, - 100 - ], - [ - 5878, - 5 - ], - [ - 5895, - 35 - ], - [ - 6031, - 18 - ], - [ - 6063, - 103 - ], - [ - 6179, - 3 - ], - [ - 6195, - 35 - ], - [ - 6331, - 22 - ], - [ - 6359, - 107 - ], - [ - 6495, - 35 - ], - [ - 6631, - 136 - ], - [ - 6795, - 35 - ], - [ - 6930, - 138 - ], - [ - 7094, - 37 - ], - [ - 7230, - 139 - ], - [ - 7393, - 38 - ], - [ - 7530, - 140 - ], - [ - 7692, - 39 - ], - [ - 7829, - 143 - ], - [ - 7991, - 40 - ], - [ - 8129, - 145 - ], - [ - 8289, - 43 - ], - [ - 8428, - 150 - ], - [ - 8584, - 48 - ], - [ - 8728, - 204 - ], - [ - 9028, - 204 - ], - [ - 9327, - 122 - ], - [ - 9463, - 70 - ], - [ - 9627, - 122 - ], - [ - 9763, - 70 - ], - [ - 9927, - 122 - ], - [ - 10064, - 69 - ], - [ - 10226, - 123 - ], - [ - 10364, - 69 - ], - [ - 10526, - 123 - ], - [ - 10664, - 70 - ], - [ - 10825, - 124 - ], - [ - 10964, - 70 - ], - [ - 11125, - 124 - ], - [ - 11264, - 70 - ], - [ - 11425, - 124 - ], - [ - 11564, - 70 - ], - [ - 11724, - 125 - ], - [ - 11864, - 71 - ], - [ - 12024, - 125 - ], - [ - 12164, - 71 - ], - [ - 12324, - 125 - ], - [ - 12464, - 71 - ], - [ - 12623, - 126 - ], - [ - 12764, - 71 - ], - [ - 12923, - 126 - ], - [ - 13064, - 72 - ], - [ - 13223, - 126 - ], - [ - 13364, - 72 - ], - [ - 13522, - 127 - ], - [ - 13664, - 72 - ], - [ - 13822, - 127 - ], - [ - 13964, - 72 - ], - [ - 14121, - 216 - ], - [ - 14421, - 216 - ], - [ - 14721, - 216 - ], - [ - 15020, - 217 - ], - [ - 15320, - 218 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 93 - ], - [ - 50583, - 14 - ], - [ - 50782, - 92 - ], - [ - 50883, - 14 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.75, - "y": 0.9017602, - "z": 2.5 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.45528087, - "y": 0.06383839, - "z": 2.09177852 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 2.10060215, - "y": 0.7261067, - "z": -0.5027418 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.6682143, - "y": 0.9783024, - "z": -1.1344862 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.589910448, - "y": 0.286691517, - "z": 2.71155429 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.66208363, - "y": 0.112493679, - "z": -0.7318188 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.761808157, - "y": 0.672675, - "z": 2.81531 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.51504409, - "y": 0.7301754, - "z": -0.5027419 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.543242455, - "y": 0.9786917, - "z": -1.2283603 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.541867137, - "y": 0.285315722, - "z": 2.87767076 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.5964906, - "y": 1.5044353, - "z": -0.4963799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.867, - "y": 1.49893832, - "z": -0.9428743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -1.13750923, - "y": 1.49893832, - "z": -0.4963799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": 2.10060215, - "y": 0.7277491, - "z": -0.256486982 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.745123148, - "y": 0.06933537, - "z": 2.16383171 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.61263728, - "y": 0.7321528, - "z": -0.0102321506 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.4239295, - "y": 0.678465664, - "z": 2.364499 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.6327728, - "y": 1.922522, - "z": 1.6313374 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.386311144, - "y": 0.67083776, - "z": 2.72851777 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.961648643, - "y": 0.6778471, - "z": 1.991405 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.6558672, - "y": 0.737542152, - "z": -1.2372129 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.70987165, - "y": 0.9783024, - "z": -1.603857 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.71539545, - "y": 0.317813724, - "z": -0.362581432 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": 1.79976654, - "y": 0.719983459, - "z": -0.6269823 - }, - "rotation": { - "x": 0.0, - "y": 336.963165, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": 1.90541613, - "y": 0.724983454, - "z": -0.010232158 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2609895143, - "scene_num": 318 - }, - "task_id": "trial_T20190908_104602_593753", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A002160837SWJFPIAI7L7_32AT8R96GO0DLNA2RMS8JQBHJ5SSUG", - "high_descs": [ - "Turn left and walk to face the desk on the left.", - "Pick up the pen from the desk.", - "Adjust gaze upwards towards the cup on the desk.", - "Place the pen inside the cup..", - "Pick up the cup.", - "Turn right and walk then turn right again to the dresser.", - "Place the cup on top of the dresser." - ], - "task_desc": "Place the cup with the pen inside on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2Q3FS9G8ITCN7_3QXNC7EIPLMF0M2NK9EXDOIKBSZ09A", - "high_descs": [ - "Turn around to the left, walk to the desk, turning left at the chair. ", - "Pick up the blue pen from the desk top. ", - "Walk forward and closer to the desk. ", - "Place the pen into the white mug that is on the desk. ", - "Lift the mug with the pen off of the desk. ", - "Turn to the right, walk to the wall, turn to the right after reaching the wall, walk to the chest of drawers with the mug in hand. ", - "Place the mug on the top of the chest of drawers. " - ], - "task_desc": "Move a mug containing a pen from a desk to a chest of drawers. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A320QA9HJFUOZO_3Y4W8Q93L2B7WDGKZM7OKDR0W9RDVW", - "high_descs": [ - "Turn left and walk over to the dark wooden desk", - "Pick up the blue pen from the desk", - "Look up toward the mug on the desk", - "Put the pen in the white mug on the desk", - "Pick up the white mug from the desk", - "Turn around and walk over to the dark wooden dresser", - "Put the mug on top of the dresser" - ], - "task_desc": "Put the mug with pen on the dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190906_190334_250149/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190906_190334_250149/traj_data.json deleted file mode 100644 index 787e41c66..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190906_190334_250149/traj_data.json +++ /dev/null @@ -1,3674 +0,0 @@ -{ - "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": 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": 1, - "image_name": "000000043.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000062.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 3, - "image_name": "000000108.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 16 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "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": 18 - }, - { - "high_idx": 5, - "image_name": "000000141.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000157.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000158.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 27 - }, - { - "high_idx": 6, - "image_name": "000000203.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000204.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000205.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000206.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000207.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000208.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000209.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000210.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000211.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 28 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-9|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 6.87975692, - 6.87975692, - -8.87806224, - -8.87806224, - 3.2226112, - 3.2226112 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.72|+00.81|-02.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-9|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 6.87975692, - 6.87975692, - -8.87806224, - -8.87806224, - 3.2226112, - 3.2226112 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 1.021898508, - 1.021898508, - -10.43599796, - -10.43599796, - 2.6855072, - 2.6855072 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.72|+00.81|-02.22", - "receptacleObjectId": "Mug|+00.26|+00.67|-02.61" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 1.021898508, - 1.021898508, - -10.43599796, - -10.43599796, - 2.6855072, - 2.6855072 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 0.9724, - 0.9724, - -10.35994528, - -10.35994528, - 2.6625408, - 2.6625408 - ] - ], - "forceVisible": true, - "objectId": "Mug|+00.26|+00.67|-02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 1.021898508, - 1.021898508, - -10.43599796, - -10.43599796, - 2.6855072, - 2.6855072 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Mug|+00.26|+00.67|-02.61", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "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": "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": "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": "PickupObject", - "objectId": "Pen|+01.72|+00.81|-02.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 141, - 144, - 143, - 174 - ], - "mask": [ - [ - 43043, - 1 - ], - [ - 43342, - 2 - ], - [ - 43642, - 2 - ], - [ - 43942, - 2 - ], - [ - 44242, - 2 - ], - [ - 44542, - 2 - ], - [ - 44842, - 2 - ], - [ - 45142, - 2 - ], - [ - 45442, - 2 - ], - [ - 45742, - 2 - ], - [ - 46042, - 2 - ], - [ - 46342, - 2 - ], - [ - 46642, - 2 - ], - [ - 46942, - 2 - ], - [ - 47242, - 2 - ], - [ - 47542, - 2 - ], - [ - 47842, - 2 - ], - [ - 48142, - 2 - ], - [ - 48442, - 2 - ], - [ - 48741, - 3 - ], - [ - 49041, - 3 - ], - [ - 49341, - 3 - ], - [ - 49641, - 3 - ], - [ - 49941, - 3 - ], - [ - 50241, - 3 - ], - [ - 50541, - 3 - ], - [ - 50841, - 3 - ], - [ - 51141, - 3 - ], - [ - 51441, - 2 - ], - [ - 51741, - 2 - ], - [ - 52041, - 2 - ] - ], - "point": [ - 142, - 158 - ] - } - }, - "high_idx": 1 - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Pen|+01.72|+00.81|-02.22", - "placeStationary": true, - "receptacleObjectId": "Mug|+00.26|+00.67|-02.61" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 135, - 167, - 166, - 199 - ], - "mask": [ - [ - 49944, - 9 - ], - [ - 50242, - 13 - ], - [ - 50540, - 16 - ], - [ - 50839, - 19 - ], - [ - 51138, - 21 - ], - [ - 51437, - 23 - ], - [ - 51737, - 23 - ], - [ - 52036, - 25 - ], - [ - 52336, - 25 - ], - [ - 52636, - 25 - ], - [ - 52935, - 26 - ], - [ - 53235, - 31 - ], - [ - 53535, - 32 - ], - [ - 53835, - 32 - ], - [ - 54136, - 25 - ], - [ - 54164, - 3 - ], - [ - 54436, - 25 - ], - [ - 54463, - 4 - ], - [ - 54736, - 25 - ], - [ - 54762, - 4 - ], - [ - 55037, - 28 - ], - [ - 55337, - 27 - ], - [ - 55637, - 26 - ], - [ - 55937, - 24 - ], - [ - 56237, - 23 - ], - [ - 56538, - 21 - ], - [ - 56838, - 21 - ], - [ - 57138, - 21 - ], - [ - 57438, - 21 - ], - [ - 57739, - 19 - ], - [ - 58039, - 19 - ], - [ - 58340, - 17 - ], - [ - 58640, - 17 - ], - [ - 58942, - 13 - ], - [ - 59243, - 11 - ], - [ - 59545, - 7 - ] - ], - "point": [ - 150, - 182 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+00.26|+00.67|-02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 135, - 167, - 166, - 199 - ], - "mask": [ - [ - 49944, - 9 - ], - [ - 50242, - 13 - ], - [ - 50540, - 16 - ], - [ - 50839, - 19 - ], - [ - 51138, - 21 - ], - [ - 51437, - 23 - ], - [ - 51739, - 21 - ], - [ - 52036, - 1 - ], - [ - 52039, - 22 - ], - [ - 52336, - 1 - ], - [ - 52340, - 21 - ], - [ - 52636, - 1 - ], - [ - 52640, - 21 - ], - [ - 52935, - 2 - ], - [ - 52940, - 21 - ], - [ - 53235, - 2 - ], - [ - 53240, - 26 - ], - [ - 53535, - 2 - ], - [ - 53540, - 27 - ], - [ - 53835, - 2 - ], - [ - 53840, - 27 - ], - [ - 54136, - 1 - ], - [ - 54140, - 21 - ], - [ - 54164, - 3 - ], - [ - 54436, - 1 - ], - [ - 54440, - 21 - ], - [ - 54463, - 4 - ], - [ - 54736, - 2 - ], - [ - 54740, - 21 - ], - [ - 54762, - 4 - ], - [ - 55037, - 1 - ], - [ - 55040, - 25 - ], - [ - 55337, - 1 - ], - [ - 55340, - 24 - ], - [ - 55637, - 1 - ], - [ - 55641, - 22 - ], - [ - 55937, - 1 - ], - [ - 55939, - 22 - ], - [ - 56237, - 1 - ], - [ - 56240, - 20 - ], - [ - 56540, - 19 - ], - [ - 56840, - 19 - ], - [ - 57140, - 19 - ], - [ - 57438, - 1 - ], - [ - 57441, - 18 - ], - [ - 57741, - 17 - ], - [ - 58041, - 17 - ], - [ - 58340, - 17 - ], - [ - 58640, - 17 - ], - [ - 58942, - 13 - ], - [ - 59243, - 11 - ], - [ - 59545, - 7 - ] - ], - "point": [ - 150, - 182 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+00.26|+00.67|-02.61", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18081, - 63 - ], - [ - 18241, - 79 - ], - [ - 18381, - 56 - ], - [ - 18439, - 10 - ], - [ - 18541, - 80 - ], - [ - 18682, - 55 - ], - [ - 18744, - 10 - ], - [ - 18840, - 82 - ], - [ - 18983, - 53 - ], - [ - 19048, - 10 - ], - [ - 19140, - 84 - ], - [ - 19283, - 53 - ], - [ - 19353, - 7 - ], - [ - 19440, - 85 - ], - [ - 19584, - 52 - ], - [ - 19657, - 3 - ], - [ - 19739, - 88 - ], - [ - 19884, - 51 - ], - [ - 20039, - 92 - ], - [ - 20185, - 50 - ], - [ - 20338, - 97 - ], - [ - 20486, - 48 - ], - [ - 20638, - 100 - ], - [ - 20786, - 48 - ], - [ - 20938, - 101 - ], - [ - 21087, - 46 - ], - [ - 21237, - 102 - ], - [ - 21387, - 46 - ], - [ - 21537, - 93 - ], - [ - 21688, - 45 - ], - [ - 21837, - 93 - ], - [ - 21988, - 44 - ], - [ - 22136, - 94 - ], - [ - 22289, - 43 - ], - [ - 22408, - 1 - ], - [ - 22436, - 93 - ], - [ - 22589, - 42 - ], - [ - 22708, - 5 - ], - [ - 22735, - 94 - ], - [ - 22889, - 42 - ], - [ - 23008, - 10 - ], - [ - 23035, - 94 - ], - [ - 23190, - 40 - ], - [ - 23312, - 10 - ], - [ - 23335, - 93 - ], - [ - 23490, - 40 - ], - [ - 23617, - 10 - ], - [ - 23634, - 94 - ], - [ - 23790, - 39 - ], - [ - 23921, - 11 - ], - [ - 23934, - 94 - ], - [ - 24090, - 39 - ], - [ - 24226, - 101 - ], - [ - 24390, - 38 - ], - [ - 24530, - 97 - ], - [ - 24690, - 38 - ], - [ - 24833, - 94 - ], - [ - 24940, - 1 - ], - [ - 24990, - 37 - ], - [ - 25132, - 94 - ], - [ - 25240, - 1 - ], - [ - 25290, - 37 - ], - [ - 25432, - 94 - ], - [ - 25539, - 2 - ], - [ - 25590, - 36 - ], - [ - 25732, - 94 - ], - [ - 25839, - 2 - ], - [ - 25889, - 37 - ], - [ - 26032, - 109 - ], - [ - 26189, - 36 - ], - [ - 26331, - 111 - ], - [ - 26488, - 37 - ], - [ - 26631, - 111 - ], - [ - 26788, - 36 - ], - [ - 26931, - 112 - ], - [ - 27087, - 37 - ], - [ - 27231, - 112 - ], - [ - 27386, - 37 - ], - [ - 27531, - 113 - ], - [ - 27685, - 38 - ], - [ - 27830, - 115 - ], - [ - 27984, - 38 - ], - [ - 28130, - 115 - ], - [ - 28283, - 39 - ], - [ - 28430, - 116 - ], - [ - 28582, - 40 - ], - [ - 28730, - 117 - ], - [ - 28881, - 41 - ], - [ - 29029, - 119 - ], - [ - 29179, - 43 - ], - [ - 29329, - 121 - ], - [ - 29478, - 44 - ], - [ - 29629, - 123 - ], - [ - 29777, - 45 - ], - [ - 29929, - 125 - ], - [ - 30073, - 1 - ], - [ - 30077, - 44 - ], - [ - 30229, - 131 - ], - [ - 30366, - 8 - ], - [ - 30376, - 45 - ], - [ - 30528, - 146 - ], - [ - 30676, - 45 - ], - [ - 30828, - 145 - ], - [ - 30976, - 45 - ], - [ - 31128, - 145 - ], - [ - 31275, - 46 - ], - [ - 31428, - 144 - ], - [ - 31575, - 46 - ], - [ - 31728, - 144 - ], - [ - 31875, - 46 - ], - [ - 32027, - 145 - ], - [ - 32174, - 47 - ], - [ - 32327, - 39 - ], - [ - 32379, - 92 - ], - [ - 32474, - 47 - ], - [ - 32627, - 39 - ], - [ - 32680, - 91 - ], - [ - 32773, - 48 - ], - [ - 32927, - 39 - ], - [ - 32980, - 90 - ], - [ - 33073, - 48 - ], - [ - 33227, - 39 - ], - [ - 33281, - 89 - ], - [ - 33373, - 48 - ], - [ - 33526, - 41 - ], - [ - 33581, - 89 - ], - [ - 33672, - 48 - ], - [ - 33826, - 41 - ], - [ - 33881, - 88 - ], - [ - 33972, - 48 - ], - [ - 34126, - 41 - ], - [ - 34182, - 87 - ], - [ - 34272, - 48 - ], - [ - 34426, - 42 - ], - [ - 34482, - 87 - ], - [ - 34571, - 50 - ], - [ - 34726, - 42 - ], - [ - 34782, - 86 - ], - [ - 34871, - 54 - ], - [ - 35025, - 43 - ], - [ - 35082, - 86 - ], - [ - 35170, - 59 - ], - [ - 35325, - 43 - ], - [ - 35383, - 84 - ], - [ - 35470, - 63 - ], - [ - 35625, - 44 - ], - [ - 35683, - 84 - ], - [ - 35770, - 67 - ], - [ - 35925, - 44 - ], - [ - 35983, - 84 - ], - [ - 36069, - 72 - ], - [ - 36224, - 45 - ], - [ - 36284, - 82 - ], - [ - 36369, - 76 - ], - [ - 36524, - 46 - ], - [ - 36584, - 82 - ], - [ - 36669, - 80 - ], - [ - 36823, - 47 - ], - [ - 36884, - 82 - ], - [ - 36968, - 85 - ], - [ - 37123, - 47 - ], - [ - 37185, - 80 - ], - [ - 37268, - 89 - ], - [ - 37422, - 48 - ], - [ - 37485, - 80 - ], - [ - 37567, - 94 - ], - [ - 37721, - 143 - ], - [ - 37867, - 98 - ], - [ - 38021, - 143 - ], - [ - 38167, - 102 - ], - [ - 38320, - 144 - ], - [ - 38466, - 107 - ], - [ - 38619, - 144 - ], - [ - 38766, - 110 - ], - [ - 38919, - 144 - ], - [ - 39066, - 114 - ], - [ - 39218, - 145 - ], - [ - 39365, - 119 - ], - [ - 39517, - 146 - ], - [ - 39664, - 124 - ], - [ - 39817, - 145 - ], - [ - 39964, - 128 - ], - [ - 40116, - 146 - ], - [ - 40263, - 133 - ], - [ - 40415, - 285 - ], - [ - 40715, - 289 - ], - [ - 41014, - 294 - ], - [ - 41313, - 6987 - ], - [ - 48474, - 2 - ], - [ - 48774, - 2 - ], - [ - 49074, - 1 - ], - [ - 49373, - 2 - ], - [ - 49673, - 2 - ], - [ - 49973, - 2 - ], - [ - 50273, - 2 - ], - [ - 50573, - 2 - ], - [ - 50873, - 1 - ], - [ - 51172, - 2 - ], - [ - 51472, - 2 - ], - [ - 51772, - 2 - ], - [ - 52072, - 2 - ], - [ - 52372, - 1 - ], - [ - 52672, - 1 - ], - [ - 52971, - 2 - ], - [ - 53271, - 2 - ], - [ - 53571, - 2 - ], - [ - 53871, - 1 - ], - [ - 54171, - 1 - ], - [ - 54470, - 2 - ], - [ - 54770, - 2 - ], - [ - 55070, - 2 - ], - [ - 55370, - 2 - ], - [ - 55670, - 1 - ], - [ - 55970, - 1 - ], - [ - 56269, - 2 - ], - [ - 56569, - 2 - ], - [ - 56869, - 2 - ], - [ - 57000, - 2 - ], - [ - 57169, - 2 - ], - [ - 57300, - 3 - ], - [ - 57469, - 2 - ], - [ - 57600, - 6 - ], - [ - 57768, - 2 - ], - [ - 57902, - 4 - ], - [ - 58068, - 2 - ], - [ - 58203, - 4 - ], - [ - 58368, - 2 - ], - [ - 58505, - 3 - ], - [ - 58668, - 1 - ], - [ - 58806, - 4 - ], - [ - 58968, - 1 - ], - [ - 59107, - 4 - ], - [ - 59268, - 1 - ], - [ - 59409, - 3 - ], - [ - 59568, - 1 - ], - [ - 59710, - 4 - ], - [ - 59867, - 2 - ], - [ - 60012, - 3 - ], - [ - 60167, - 2 - ], - [ - 60313, - 3 - ], - [ - 60467, - 1 - ], - [ - 60614, - 4 - ], - [ - 60767, - 1 - ], - [ - 60916, - 3 - ], - [ - 61067, - 1 - ], - [ - 61217, - 4 - ], - [ - 61366, - 2 - ], - [ - 61519, - 3 - ], - [ - 61666, - 2 - ], - [ - 61820, - 3 - ], - [ - 61966, - 1 - ], - [ - 62121, - 4 - ], - [ - 62266, - 1 - ], - [ - 62423, - 3 - ], - [ - 62566, - 1 - ], - [ - 62724, - 3 - ], - [ - 62866, - 1 - ], - [ - 63025, - 4 - ], - [ - 63165, - 2 - ], - [ - 63327, - 3 - ], - [ - 63465, - 2 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 149, - 140 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.75, - "y": 0.9020053, - "z": -1.25 - }, - "object_poses": [ - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.680097, - "y": 0.6557894, - "z": -1.289492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": 1.540219, - "y": 0.0150061008, - "z": -1.46409988 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": 1.540219, - "y": 0.5012799, - "z": -2.47346067 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.71993923, - "y": 0.8056528, - "z": -2.21951556 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.59746075, - "y": 0.800177455, - "z": -1.467111 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": -0.000171717315 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.4749825, - "y": 0.8015286, - "z": -2.40761662 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.59746075, - "y": 0.8015286, - "z": -2.21951556 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.633471, - "y": 0.5016058, - "z": -1.94963694 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.680097, - "y": 0.1737695, - "z": -2.47346067 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.8180689, - "y": 0.6930849, - "z": 0.281510353 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.3314289, - "y": 0.694788158, - "z": -0.1461632 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.58684492, - "y": 0.1737695, - "z": -1.289492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900014, - "y": 0.6659413, - "z": -2.57899928 - }, - "rotation": { - "x": 0.0205480568, - "y": -0.000269980344, - "z": -9.024747e-05 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.78117836, - "y": 0.8015286, - "z": -1.27900982 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": 1.663567, - "y": 0.7945326, - "z": -1.84243464 - }, - "rotation": { - "x": 0.0, - "y": 287.390442, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.633471, - "y": 0.339171976, - "z": -2.124245 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.58684492, - "y": 0.0179988947, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -0.8180689, - "y": 0.7552619, - "z": -1.00151038 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -0.08810884, - "y": 0.7552619, - "z": -0.7876737 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -0.3314289, - "y": 0.6954822, - "z": -0.787673652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.680097, - "y": 0.5004893, - "z": -2.47346067 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.255474627, - "y": 0.6713768, - "z": -2.60899949 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4156767007, - "scene_num": 324 - }, - "task_id": "trial_T20190906_190334_250149", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A35C0II2FFV18S_3GLB5JMZF0CGTR4REJJLJQ4OE2IGD7", - "high_descs": [ - "Turn to the right, walk forward, turn to the left towards the dresser.", - "Pick up the red pen above the credit card on the left.", - "Turn around, walk forward, turn to the left and face the bookcase between two windows.", - "Place the pen in the black cup on the bookcase.", - "Pick up the black cup with the pen in it.", - "Turn around, walk forward to the bed, turn to the right and walk to the dresser.", - "Place the black cup on the dresser on top of the credit card that is to the right of the laptop." - ], - "task_desc": "Place a pen in a black cup on a dresser near a computer.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3I0BTBYZA02MGYOXWDHWBJR9PBBY0A", - "high_descs": [ - "Turn right and walk to the other side of the dresser.", - "Pick up the red pen.", - "Turn around and face the small stand with the alarm clock on it.", - "Place the pen into the mug.", - "Pick up the mug.", - "Turn left again and walk to the dresser.", - "Put the mug down on the dresser in front of the credit card." - ], - "task_desc": "Put a mug with a pen in it on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3LEIZ60CDMG4HIMFSV28I114YD59ZS", - "high_descs": [ - "Turn right and begin walking across the room, then hang a left and walk up to the right side of the wooden dresser.", - "Pick up the red pen that is to the right of the laptop on the wooden dresser.", - "Turn around and walk up to the small wooden shelf with a digital alarm clock and a mug on it that is against the wall to your left.", - "Place the pen into the mug.", - "Pick up the mug with the pen in it.", - "Turn around and walk up to the bed, then turn right and continue over to the wooden dresser.", - "Place the mug with a pen in it onto the wooden dresser to the right of the laptop." - ], - "task_desc": "Put a mug with a pen in it on the wooden dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190906_190353_820051/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190906_190353_820051/traj_data.json deleted file mode 100644 index d78ed575a..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190906_190353_820051/traj_data.json +++ /dev/null @@ -1,4148 +0,0 @@ -{ - "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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 25 - }, - { - "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 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 37 - }, - { - "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": 6, - "image_name": "000000232.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 38 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-9|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 6.6348, - 6.6348, - -9.63046648, - -9.63046648, - 3.2287416, - 3.2287416 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.66|+00.81|-02.41" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-9|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 6.6348, - 6.6348, - -9.63046648, - -9.63046648, - 3.2287416, - 3.2287416 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 1.36564064, - 1.36564064, - -10.43599796, - -10.43599796, - 2.6855072, - 2.6855072 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.66|+00.81|-02.41", - "receptacleObjectId": "Mug|+00.34|+00.67|-02.61" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 1.36564064, - 1.36564064, - -10.43599796, - -10.43599796, - 2.6855072, - 2.6855072 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 0.9724, - 0.9724, - -10.35994528, - -10.35994528, - 2.6625408, - 2.6625408 - ] - ], - "forceVisible": true, - "objectId": "Mug|+00.34|+00.67|-02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 1.36564064, - 1.36564064, - -10.43599796, - -10.43599796, - 2.6855072, - 2.6855072 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Mug|+00.34|+00.67|-02.61", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.66|+00.81|-02.41" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 187, - 154, - 193, - 190 - ], - "mask": [ - [ - 46087, - 1 - ], - [ - 46387, - 2 - ], - [ - 46687, - 2 - ], - [ - 46987, - 2 - ], - [ - 47287, - 3 - ], - [ - 47588, - 2 - ], - [ - 47888, - 2 - ], - [ - 48188, - 2 - ], - [ - 48488, - 2 - ], - [ - 48788, - 2 - ], - [ - 49088, - 2 - ], - [ - 49388, - 3 - ], - [ - 49689, - 2 - ], - [ - 49989, - 2 - ], - [ - 50289, - 2 - ], - [ - 50589, - 2 - ], - [ - 50889, - 2 - ], - [ - 51189, - 2 - ], - [ - 51489, - 3 - ], - [ - 51789, - 3 - ], - [ - 52090, - 2 - ], - [ - 52390, - 2 - ], - [ - 52690, - 2 - ], - [ - 52990, - 2 - ], - [ - 53290, - 3 - ], - [ - 53590, - 3 - ], - [ - 53890, - 3 - ], - [ - 54190, - 3 - ], - [ - 54490, - 3 - ], - [ - 54790, - 3 - ], - [ - 55090, - 3 - ], - [ - 55391, - 3 - ], - [ - 55691, - 3 - ], - [ - 55991, - 3 - ], - [ - 56291, - 3 - ], - [ - 56592, - 1 - ], - [ - 56893, - 1 - ] - ], - "point": [ - 190, - 171 - ] - } - }, - "high_idx": 1 - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Pen|+01.66|+00.81|-02.41", - "placeStationary": true, - "receptacleObjectId": "Mug|+00.34|+00.67|-02.61" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 110, - 167, - 141, - 199 - ], - "mask": [ - [ - 49920, - 8 - ], - [ - 50217, - 13 - ], - [ - 50516, - 16 - ], - [ - 50814, - 19 - ], - [ - 51113, - 21 - ], - [ - 51412, - 23 - ], - [ - 51712, - 23 - ], - [ - 52011, - 24 - ], - [ - 52311, - 25 - ], - [ - 52610, - 26 - ], - [ - 52910, - 26 - ], - [ - 53210, - 31 - ], - [ - 53510, - 32 - ], - [ - 53810, - 32 - ], - [ - 54110, - 26 - ], - [ - 54139, - 3 - ], - [ - 54410, - 26 - ], - [ - 54438, - 4 - ], - [ - 54711, - 25 - ], - [ - 54738, - 3 - ], - [ - 55011, - 25 - ], - [ - 55037, - 3 - ], - [ - 55312, - 27 - ], - [ - 55612, - 27 - ], - [ - 55913, - 24 - ], - [ - 56213, - 23 - ], - [ - 56514, - 22 - ], - [ - 56814, - 22 - ], - [ - 57115, - 21 - ], - [ - 57415, - 21 - ], - [ - 57715, - 20 - ], - [ - 58016, - 19 - ], - [ - 58316, - 18 - ], - [ - 58617, - 16 - ], - [ - 58918, - 14 - ], - [ - 59220, - 11 - ], - [ - 59522, - 6 - ] - ], - "point": [ - 125, - 182 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+00.34|+00.67|-02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 110, - 167, - 141, - 199 - ], - "mask": [ - [ - 49920, - 8 - ], - [ - 50217, - 13 - ], - [ - 50516, - 16 - ], - [ - 50814, - 19 - ], - [ - 51113, - 21 - ], - [ - 51412, - 23 - ], - [ - 51712, - 23 - ], - [ - 52011, - 24 - ], - [ - 52312, - 24 - ], - [ - 52612, - 24 - ], - [ - 52912, - 24 - ], - [ - 53213, - 28 - ], - [ - 53513, - 29 - ], - [ - 53813, - 29 - ], - [ - 54110, - 1 - ], - [ - 54113, - 23 - ], - [ - 54139, - 3 - ], - [ - 54410, - 1 - ], - [ - 54414, - 22 - ], - [ - 54438, - 4 - ], - [ - 54714, - 22 - ], - [ - 54738, - 3 - ], - [ - 55011, - 1 - ], - [ - 55014, - 22 - ], - [ - 55037, - 3 - ], - [ - 55315, - 24 - ], - [ - 55615, - 24 - ], - [ - 55913, - 24 - ], - [ - 56214, - 22 - ], - [ - 56515, - 21 - ], - [ - 56815, - 21 - ], - [ - 57116, - 20 - ], - [ - 57416, - 20 - ], - [ - 57716, - 19 - ], - [ - 58017, - 18 - ], - [ - 58316, - 18 - ], - [ - 58617, - 16 - ], - [ - 58918, - 14 - ], - [ - 59220, - 11 - ], - [ - 59522, - 6 - ] - ], - "point": [ - 125, - 182 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+00.34|+00.67|-02.61", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 64 - ], - [ - 18241, - 79 - ], - [ - 18381, - 56 - ], - [ - 18439, - 10 - ], - [ - 18541, - 80 - ], - [ - 18682, - 55 - ], - [ - 18744, - 10 - ], - [ - 18840, - 82 - ], - [ - 18983, - 53 - ], - [ - 19048, - 10 - ], - [ - 19140, - 84 - ], - [ - 19283, - 53 - ], - [ - 19353, - 7 - ], - [ - 19440, - 85 - ], - [ - 19584, - 52 - ], - [ - 19657, - 3 - ], - [ - 19739, - 88 - ], - [ - 19884, - 51 - ], - [ - 20039, - 92 - ], - [ - 20185, - 50 - ], - [ - 20338, - 94 - ], - [ - 20486, - 48 - ], - [ - 20638, - 93 - ], - [ - 20786, - 48 - ], - [ - 20938, - 93 - ], - [ - 21087, - 46 - ], - [ - 21237, - 94 - ], - [ - 21387, - 46 - ], - [ - 21537, - 93 - ], - [ - 21688, - 45 - ], - [ - 21837, - 93 - ], - [ - 21988, - 44 - ], - [ - 22136, - 94 - ], - [ - 22289, - 43 - ], - [ - 22408, - 1 - ], - [ - 22436, - 94 - ], - [ - 22589, - 42 - ], - [ - 22708, - 5 - ], - [ - 22735, - 104 - ], - [ - 22889, - 42 - ], - [ - 23008, - 10 - ], - [ - 23035, - 104 - ], - [ - 23190, - 40 - ], - [ - 23312, - 10 - ], - [ - 23335, - 105 - ], - [ - 23490, - 40 - ], - [ - 23617, - 10 - ], - [ - 23634, - 106 - ], - [ - 23790, - 39 - ], - [ - 23921, - 11 - ], - [ - 23934, - 106 - ], - [ - 24090, - 39 - ], - [ - 24226, - 114 - ], - [ - 24390, - 38 - ], - [ - 24530, - 110 - ], - [ - 24690, - 38 - ], - [ - 24833, - 108 - ], - [ - 24990, - 37 - ], - [ - 25132, - 109 - ], - [ - 25290, - 37 - ], - [ - 25432, - 109 - ], - [ - 25590, - 36 - ], - [ - 25732, - 33 - ], - [ - 25767, - 74 - ], - [ - 25889, - 37 - ], - [ - 26032, - 34 - ], - [ - 26068, - 73 - ], - [ - 26189, - 36 - ], - [ - 26331, - 35 - ], - [ - 26368, - 74 - ], - [ - 26488, - 37 - ], - [ - 26631, - 35 - ], - [ - 26668, - 74 - ], - [ - 26788, - 36 - ], - [ - 26931, - 36 - ], - [ - 26969, - 74 - ], - [ - 27087, - 37 - ], - [ - 27231, - 36 - ], - [ - 27269, - 74 - ], - [ - 27386, - 37 - ], - [ - 27531, - 36 - ], - [ - 27569, - 75 - ], - [ - 27685, - 38 - ], - [ - 27830, - 37 - ], - [ - 27870, - 75 - ], - [ - 27984, - 38 - ], - [ - 28130, - 38 - ], - [ - 28170, - 75 - ], - [ - 28284, - 38 - ], - [ - 28430, - 38 - ], - [ - 28470, - 76 - ], - [ - 28584, - 38 - ], - [ - 28730, - 38 - ], - [ - 28770, - 77 - ], - [ - 28885, - 37 - ], - [ - 29029, - 40 - ], - [ - 29071, - 77 - ], - [ - 29185, - 37 - ], - [ - 29329, - 40 - ], - [ - 29371, - 76 - ], - [ - 29485, - 37 - ], - [ - 29629, - 40 - ], - [ - 29671, - 76 - ], - [ - 29786, - 36 - ], - [ - 29929, - 41 - ], - [ - 29972, - 75 - ], - [ - 30086, - 35 - ], - [ - 30229, - 41 - ], - [ - 30272, - 74 - ], - [ - 30386, - 35 - ], - [ - 30528, - 42 - ], - [ - 30572, - 74 - ], - [ - 30686, - 35 - ], - [ - 30828, - 42 - ], - [ - 30873, - 73 - ], - [ - 30987, - 34 - ], - [ - 31128, - 43 - ], - [ - 31173, - 73 - ], - [ - 31287, - 34 - ], - [ - 31428, - 43 - ], - [ - 31473, - 72 - ], - [ - 31587, - 34 - ], - [ - 31728, - 43 - ], - [ - 31773, - 72 - ], - [ - 31887, - 34 - ], - [ - 32027, - 45 - ], - [ - 32074, - 71 - ], - [ - 32186, - 35 - ], - [ - 32327, - 45 - ], - [ - 32374, - 71 - ], - [ - 32486, - 35 - ], - [ - 32627, - 45 - ], - [ - 32674, - 71 - ], - [ - 32786, - 35 - ], - [ - 32927, - 46 - ], - [ - 32975, - 69 - ], - [ - 33086, - 35 - ], - [ - 33227, - 46 - ], - [ - 33275, - 69 - ], - [ - 33386, - 35 - ], - [ - 33526, - 47 - ], - [ - 33575, - 69 - ], - [ - 33686, - 34 - ], - [ - 33826, - 47 - ], - [ - 33876, - 68 - ], - [ - 33986, - 34 - ], - [ - 34126, - 48 - ], - [ - 34176, - 68 - ], - [ - 34285, - 35 - ], - [ - 34426, - 48 - ], - [ - 34476, - 68 - ], - [ - 34585, - 36 - ], - [ - 34726, - 48 - ], - [ - 34777, - 67 - ], - [ - 34885, - 40 - ], - [ - 35025, - 50 - ], - [ - 35077, - 67 - ], - [ - 35185, - 44 - ], - [ - 35325, - 50 - ], - [ - 35377, - 67 - ], - [ - 35485, - 48 - ], - [ - 35625, - 50 - ], - [ - 35677, - 67 - ], - [ - 35785, - 52 - ], - [ - 35925, - 51 - ], - [ - 35978, - 66 - ], - [ - 36084, - 57 - ], - [ - 36224, - 52 - ], - [ - 36278, - 66 - ], - [ - 36384, - 61 - ], - [ - 36524, - 52 - ], - [ - 36578, - 66 - ], - [ - 36684, - 65 - ], - [ - 36823, - 53 - ], - [ - 36878, - 66 - ], - [ - 36984, - 69 - ], - [ - 37123, - 121 - ], - [ - 37284, - 73 - ], - [ - 37422, - 122 - ], - [ - 37584, - 77 - ], - [ - 37721, - 123 - ], - [ - 37884, - 81 - ], - [ - 38021, - 123 - ], - [ - 38183, - 86 - ], - [ - 38320, - 124 - ], - [ - 38483, - 90 - ], - [ - 38619, - 125 - ], - [ - 38783, - 93 - ], - [ - 38919, - 125 - ], - [ - 39083, - 97 - ], - [ - 39218, - 126 - ], - [ - 39383, - 101 - ], - [ - 39517, - 127 - ], - [ - 39683, - 105 - ], - [ - 39817, - 128 - ], - [ - 39983, - 109 - ], - [ - 40116, - 84 - ], - [ - 40236, - 9 - ], - [ - 40282, - 114 - ], - [ - 40415, - 85 - ], - [ - 40537, - 8 - ], - [ - 40582, - 118 - ], - [ - 40715, - 85 - ], - [ - 40837, - 8 - ], - [ - 40882, - 122 - ], - [ - 41014, - 86 - ], - [ - 41137, - 8 - ], - [ - 41182, - 126 - ], - [ - 41313, - 87 - ], - [ - 41436, - 9 - ], - [ - 41482, - 218 - ], - [ - 41736, - 10 - ], - [ - 41782, - 218 - ], - [ - 42036, - 10 - ], - [ - 42081, - 219 - ], - [ - 42336, - 10 - ], - [ - 42381, - 219 - ], - [ - 42635, - 12 - ], - [ - 42681, - 219 - ], - [ - 42935, - 12 - ], - [ - 42981, - 219 - ], - [ - 43235, - 12 - ], - [ - 43281, - 219 - ], - [ - 43535, - 12 - ], - [ - 43581, - 219 - ], - [ - 43834, - 14 - ], - [ - 43881, - 219 - ], - [ - 44134, - 14 - ], - [ - 44180, - 220 - ], - [ - 44434, - 15 - ], - [ - 44480, - 220 - ], - [ - 44734, - 15 - ], - [ - 44780, - 220 - ], - [ - 45033, - 17 - ], - [ - 45080, - 220 - ], - [ - 45333, - 18 - ], - [ - 45379, - 273 - ], - [ - 45679, - 274 - ], - [ - 45978, - 2322 - ], - [ - 48474, - 2 - ], - [ - 48774, - 2 - ], - [ - 49074, - 1 - ], - [ - 49373, - 2 - ], - [ - 49673, - 2 - ], - [ - 49973, - 2 - ], - [ - 50273, - 2 - ], - [ - 50573, - 2 - ], - [ - 50873, - 1 - ], - [ - 51172, - 2 - ], - [ - 51472, - 2 - ], - [ - 51772, - 2 - ], - [ - 52072, - 2 - ], - [ - 52372, - 1 - ], - [ - 52672, - 1 - ], - [ - 52971, - 2 - ], - [ - 53271, - 2 - ], - [ - 53571, - 2 - ], - [ - 53871, - 1 - ], - [ - 54171, - 1 - ], - [ - 54470, - 2 - ], - [ - 54770, - 2 - ], - [ - 55070, - 2 - ], - [ - 55370, - 2 - ], - [ - 55670, - 1 - ], - [ - 55970, - 1 - ], - [ - 56269, - 2 - ], - [ - 56569, - 2 - ], - [ - 56869, - 2 - ], - [ - 57000, - 2 - ], - [ - 57169, - 2 - ], - [ - 57300, - 3 - ], - [ - 57469, - 2 - ], - [ - 57600, - 6 - ], - [ - 57768, - 2 - ], - [ - 57902, - 4 - ], - [ - 58068, - 2 - ], - [ - 58203, - 4 - ], - [ - 58368, - 2 - ], - [ - 58505, - 3 - ], - [ - 58668, - 1 - ], - [ - 58806, - 4 - ], - [ - 58968, - 1 - ], - [ - 59107, - 4 - ], - [ - 59268, - 1 - ], - [ - 59409, - 3 - ], - [ - 59568, - 1 - ], - [ - 59710, - 4 - ], - [ - 59867, - 2 - ], - [ - 60012, - 3 - ], - [ - 60167, - 2 - ], - [ - 60313, - 3 - ], - [ - 60467, - 1 - ], - [ - 60614, - 4 - ], - [ - 60767, - 1 - ], - [ - 60916, - 3 - ], - [ - 61067, - 1 - ], - [ - 61217, - 4 - ], - [ - 61366, - 2 - ], - [ - 61519, - 3 - ], - [ - 61666, - 2 - ], - [ - 61820, - 3 - ], - [ - 61966, - 1 - ], - [ - 62121, - 4 - ], - [ - 62266, - 1 - ], - [ - 62423, - 3 - ], - [ - 62566, - 1 - ], - [ - 62724, - 3 - ], - [ - 62866, - 1 - ], - [ - 63025, - 4 - ], - [ - 63165, - 2 - ], - [ - 63327, - 3 - ], - [ - 63465, - 2 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 149, - 140 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 2.75, - "y": 0.9020053, - "z": -0.5 - }, - "object_poses": [ - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -0.3314289, - "y": 0.6954822, - "z": 0.06767362 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -0.3314289, - "y": 0.6954822, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.680097, - "y": 0.6618355, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.680097, - "y": 0.6609717, - "z": -2.124245 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.6587, - "y": 0.8042539, - "z": -2.21951556 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.58684492, - "y": 0.5042727, - "z": -2.21154881 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.84241748, - "y": 0.799995959, - "z": -1.27900982 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.726723, - "y": 0.6577697, - "z": -1.46409988 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 0.427345663, - "y": 0.674963832, - "z": -2.60899949 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -1.061389, - "y": 0.694788158, - "z": -1.00151038 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.5747489, - "y": 0.694788158, - "z": 0.06767362 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 1.53558934, - "y": 0.7949339, - "z": -1.466706 - }, - "rotation": { - "x": 359.899353, - "y": 359.9397, - "z": 0.388762742 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.5747489, - "y": 0.694788158, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.53622162, - "y": 0.801587, - "z": -2.40761662 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900019, - "y": 0.665941238, - "z": -2.57899952 - }, - "rotation": { - "x": 0.02055555, - "y": -0.00020886783, - "z": -0.000104150909 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.49359286, - "y": 0.655314863, - "z": -2.38615656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": 1.663567, - "y": 0.7945326, - "z": -1.84243464 - }, - "rotation": { - "x": 0.0, - "y": 287.390442, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.6587, - "y": 0.8071854, - "z": -2.40761662 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.680097, - "y": 0.5051365, - "z": -1.55140376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -1.061389, - "y": 0.7552619, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -0.08810878, - "y": 0.7552619, - "z": 0.281510353 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": 1.4749825, - "y": 0.8003973, - "z": -1.27900982 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 3.378, - "y": 0.01641858, - "z": 0.194780037 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.34141016, - "y": 0.6713768, - "z": -2.60899949 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1128273101, - "scene_num": 324 - }, - "task_id": "trial_T20190906_190353_820051", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "ACSS93E03ZUGX_3JPSL1DZ5VGO5CI1HD5EJ95FUC8ANA", - "high_descs": [ - "Turn left, walks towards the bed and turn left again facing the desk.", - "Pick up the red pen off of the desk. ", - "Turn around and walk towards the table to the left. ", - "Place the red pen in the black mug. ", - "Pick up the mug with the red pen. ", - "Turn to the left to face the desk. ", - "Set the black mug on the left side of the desk." - ], - "task_desc": "Set the red pen that's inside the mug onto the desk.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3SBEHTYCWQKXNT5D0362HNR5B4EIY9", - "high_descs": [ - "Move over to the computer on the dresser. ", - "Pick up the pen on the dresser. ", - "Bring the pen over to the mug on the small brown shelf. ", - "Put the pen in the black mug on the shelf. ", - "Pick up the mug from the shelf. ", - "Bring the mug over to the dresser. ", - "Put the mug with pen in it down on the dresser next to the lamp. " - ], - "task_desc": "Put mug with pen on the dresser next to lamp. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3WZ36BJEV6XRJZSDKNRMNJVD1FGBTE", - "high_descs": [ - "turn left and move to the front of the dresser drawers", - "grab a pen off the top of the dresser", - "turn right and move to the smaller brown cabinet against the wall", - "place the pen inside a cup on the cabinet", - "grab the black cup up off of the cabinet", - "turn around and move to the front of the dresser", - "place the cup down on the dresser behind the cell phone" - ], - "task_desc": "place down a cup with a pen in it on the dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190909_145723_528863/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190909_145723_528863/traj_data.json deleted file mode 100644 index 2d5ca47fa..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pen-Mug-Dresser-324/trial_T20190909_145723_528863/traj_data.json +++ /dev/null @@ -1,3847 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 14 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 16 - }, - { - "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": 20 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 20 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "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": 33 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 34 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-9|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 1.2242949, - 1.2242949, - -10.39510156, - -10.39510156, - 1.41168666, - 1.41168666 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 1.0032, - 1.0032, - -10.3268, - -10.3268, - 1.3872, - 1.3872 - ] - ], - "forceVisible": true, - "objectId": "Mug|+00.31|+00.35|-02.60" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 1.2242949, - 1.2242949, - -10.39510156, - -10.39510156, - 1.41168666, - 1.41168666 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Mug|+00.31|+00.35|-02.60", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 6.389843, - 6.389843, - -7.37325288, - -7.37325288, - 3.2287416, - 3.2287416 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.60|+00.81|-01.84" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 6.389843, - 6.389843, - -7.37325288, - -7.37325288, - 3.2287416, - 3.2287416 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 1.2242949, - 1.2242949, - -10.39510156, - -10.39510156, - 1.41168666, - 1.41168666 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.60|+00.81|-01.84", - "receptacleObjectId": "Mug|+00.31|+00.35|-02.60" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+00.31|+00.35|-02.60" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 129, - 216, - 146, - 225 - ], - "mask": [ - [ - 64629, - 18 - ], - [ - 64930, - 17 - ], - [ - 65230, - 16 - ], - [ - 65530, - 16 - ], - [ - 65831, - 15 - ], - [ - 66131, - 14 - ], - [ - 66432, - 12 - ], - [ - 66733, - 10 - ], - [ - 67035, - 6 - ], - [ - 67336, - 3 - ] - ], - "point": [ - 137, - 219 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+00.31|+00.35|-02.60", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18081, - 239 - ], - [ - 18381, - 240 - ], - [ - 18682, - 240 - ], - [ - 18983, - 241 - ], - [ - 19283, - 176 - ], - [ - 19461, - 64 - ], - [ - 19584, - 175 - ], - [ - 19761, - 66 - ], - [ - 19884, - 176 - ], - [ - 20062, - 69 - ], - [ - 20185, - 175 - ], - [ - 20362, - 73 - ], - [ - 20486, - 174 - ], - [ - 20662, - 77 - ], - [ - 20786, - 175 - ], - [ - 20962, - 77 - ], - [ - 21087, - 174 - ], - [ - 21263, - 76 - ], - [ - 21387, - 124 - ], - [ - 21523, - 38 - ], - [ - 21563, - 76 - ], - [ - 21688, - 121 - ], - [ - 21825, - 36 - ], - [ - 21863, - 76 - ], - [ - 21989, - 119 - ], - [ - 22127, - 35 - ], - [ - 22164, - 48 - ], - [ - 22214, - 25 - ], - [ - 22289, - 118 - ], - [ - 22428, - 34 - ], - [ - 22464, - 39 - ], - [ - 22515, - 4 - ], - [ - 22526, - 13 - ], - [ - 22589, - 117 - ], - [ - 22729, - 33 - ], - [ - 22764, - 38 - ], - [ - 22829, - 10 - ], - [ - 22889, - 116 - ], - [ - 23030, - 33 - ], - [ - 23065, - 35 - ], - [ - 23131, - 8 - ], - [ - 23190, - 115 - ], - [ - 23331, - 32 - ], - [ - 23365, - 35 - ], - [ - 23432, - 8 - ], - [ - 23490, - 115 - ], - [ - 23631, - 32 - ], - [ - 23665, - 35 - ], - [ - 23734, - 6 - ], - [ - 23790, - 115 - ], - [ - 23917, - 3 - ], - [ - 23932, - 32 - ], - [ - 23966, - 34 - ], - [ - 24035, - 5 - ], - [ - 24090, - 115 - ], - [ - 24216, - 5 - ], - [ - 24232, - 32 - ], - [ - 24266, - 34 - ], - [ - 24335, - 5 - ], - [ - 24390, - 115 - ], - [ - 24517, - 3 - ], - [ - 24532, - 32 - ], - [ - 24566, - 34 - ], - [ - 24636, - 4 - ], - [ - 24690, - 116 - ], - [ - 24832, - 32 - ], - [ - 24866, - 34 - ], - [ - 24937, - 4 - ], - [ - 24990, - 36 - ], - [ - 25028, - 78 - ], - [ - 25132, - 33 - ], - [ - 25167, - 33 - ], - [ - 25237, - 4 - ], - [ - 25290, - 34 - ], - [ - 25330, - 77 - ], - [ - 25432, - 33 - ], - [ - 25467, - 33 - ], - [ - 25538, - 3 - ], - [ - 25590, - 33 - ], - [ - 25632, - 76 - ], - [ - 25731, - 34 - ], - [ - 25767, - 33 - ], - [ - 25838, - 3 - ], - [ - 25889, - 33 - ], - [ - 25932, - 77 - ], - [ - 26030, - 36 - ], - [ - 26068, - 32 - ], - [ - 26138, - 3 - ], - [ - 26189, - 33 - ], - [ - 26231, - 79 - ], - [ - 26330, - 36 - ], - [ - 26368, - 32 - ], - [ - 26439, - 3 - ], - [ - 26488, - 35 - ], - [ - 26530, - 82 - ], - [ - 26628, - 38 - ], - [ - 26668, - 32 - ], - [ - 26739, - 3 - ], - [ - 26788, - 37 - ], - [ - 26829, - 85 - ], - [ - 26926, - 41 - ], - [ - 26969, - 31 - ], - [ - 27039, - 4 - ], - [ - 27087, - 39 - ], - [ - 27129, - 90 - ], - [ - 27221, - 46 - ], - [ - 27269, - 31 - ], - [ - 27340, - 3 - ], - [ - 27386, - 40 - ], - [ - 27429, - 138 - ], - [ - 27569, - 31 - ], - [ - 27640, - 4 - ], - [ - 27685, - 41 - ], - [ - 27730, - 137 - ], - [ - 27869, - 31 - ], - [ - 27940, - 5 - ], - [ - 27984, - 45 - ], - [ - 28031, - 1 - ], - [ - 28036, - 132 - ], - [ - 28170, - 30 - ], - [ - 28240, - 5 - ], - [ - 28283, - 41 - ], - [ - 28326, - 2 - ], - [ - 28329, - 1 - ], - [ - 28336, - 132 - ], - [ - 28470, - 30 - ], - [ - 28539, - 7 - ], - [ - 28582, - 41 - ], - [ - 28624, - 2 - ], - [ - 28628, - 1 - ], - [ - 28638, - 35 - ], - [ - 28674, - 94 - ], - [ - 28770, - 30 - ], - [ - 28839, - 8 - ], - [ - 28881, - 42 - ], - [ - 28924, - 8 - ], - [ - 28940, - 33 - ], - [ - 28975, - 94 - ], - [ - 29071, - 29 - ], - [ - 29139, - 9 - ], - [ - 29179, - 51 - ], - [ - 29232, - 5 - ], - [ - 29242, - 31 - ], - [ - 29275, - 125 - ], - [ - 29439, - 11 - ], - [ - 29477, - 45 - ], - [ - 29527, - 1 - ], - [ - 29533, - 7 - ], - [ - 29541, - 32 - ], - [ - 29575, - 125 - ], - [ - 29739, - 13 - ], - [ - 29775, - 46 - ], - [ - 29834, - 39 - ], - [ - 29875, - 125 - ], - [ - 30039, - 15 - ], - [ - 30073, - 48 - ], - [ - 30127, - 1 - ], - [ - 30135, - 38 - ], - [ - 30175, - 125 - ], - [ - 30338, - 22 - ], - [ - 30366, - 57 - ], - [ - 30425, - 4 - ], - [ - 30436, - 37 - ], - [ - 30475, - 125 - ], - [ - 30637, - 85 - ], - [ - 30724, - 6 - ], - [ - 30737, - 36 - ], - [ - 30775, - 125 - ], - [ - 30937, - 85 - ], - [ - 31024, - 7 - ], - [ - 31036, - 37 - ], - [ - 31076, - 124 - ], - [ - 31237, - 85 - ], - [ - 31323, - 9 - ], - [ - 31335, - 38 - ], - [ - 31376, - 124 - ], - [ - 31537, - 84 - ], - [ - 31623, - 50 - ], - [ - 31676, - 124 - ], - [ - 31836, - 85 - ], - [ - 31923, - 50 - ], - [ - 31976, - 124 - ], - [ - 32136, - 85 - ], - [ - 32222, - 51 - ], - [ - 32276, - 124 - ], - [ - 32436, - 84 - ], - [ - 32522, - 52 - ], - [ - 32576, - 124 - ], - [ - 32736, - 84 - ], - [ - 32821, - 53 - ], - [ - 32876, - 124 - ], - [ - 33035, - 139 - ], - [ - 33176, - 124 - ], - [ - 33335, - 139 - ], - [ - 33476, - 124 - ], - [ - 33635, - 139 - ], - [ - 33776, - 124 - ], - [ - 33935, - 139 - ], - [ - 34076, - 124 - ], - [ - 34234, - 140 - ], - [ - 34376, - 124 - ], - [ - 34534, - 140 - ], - [ - 34676, - 124 - ], - [ - 34834, - 140 - ], - [ - 34976, - 124 - ], - [ - 35134, - 140 - ], - [ - 35276, - 124 - ], - [ - 35433, - 141 - ], - [ - 35576, - 124 - ], - [ - 35733, - 85 - ], - [ - 35831, - 43 - ], - [ - 35877, - 123 - ], - [ - 36033, - 84 - ], - [ - 36132, - 42 - ], - [ - 36177, - 123 - ], - [ - 36332, - 85 - ], - [ - 36431, - 43 - ], - [ - 36477, - 123 - ], - [ - 36632, - 85 - ], - [ - 36731, - 43 - ], - [ - 36777, - 123 - ], - [ - 36932, - 85 - ], - [ - 37031, - 43 - ], - [ - 37077, - 123 - ], - [ - 37232, - 85 - ], - [ - 37331, - 43 - ], - [ - 37377, - 123 - ], - [ - 37531, - 86 - ], - [ - 37631, - 43 - ], - [ - 37677, - 123 - ], - [ - 37831, - 86 - ], - [ - 37931, - 44 - ], - [ - 37977, - 123 - ], - [ - 38131, - 86 - ], - [ - 38231, - 44 - ], - [ - 38277, - 123 - ], - [ - 38431, - 85 - ], - [ - 38531, - 43 - ], - [ - 38577, - 123 - ], - [ - 38730, - 86 - ], - [ - 38831, - 43 - ], - [ - 38877, - 123 - ], - [ - 39030, - 86 - ], - [ - 39131, - 43 - ], - [ - 39177, - 123 - ], - [ - 39330, - 86 - ], - [ - 39431, - 43 - ], - [ - 39477, - 123 - ], - [ - 39630, - 86 - ], - [ - 39731, - 43 - ], - [ - 39777, - 123 - ], - [ - 39930, - 86 - ], - [ - 40031, - 45 - ], - [ - 40077, - 123 - ], - [ - 40229, - 87 - ], - [ - 40331, - 45 - ], - [ - 40377, - 123 - ], - [ - 40529, - 87 - ], - [ - 40631, - 45 - ], - [ - 40677, - 123 - ], - [ - 40828, - 88 - ], - [ - 40931, - 170 - ], - [ - 41127, - 89 - ], - [ - 41231, - 285 - ], - [ - 41530, - 6770 - ], - [ - 48474, - 2 - ], - [ - 48774, - 2 - ], - [ - 49074, - 1 - ], - [ - 49373, - 2 - ], - [ - 49673, - 2 - ], - [ - 49973, - 2 - ], - [ - 50273, - 2 - ], - [ - 50573, - 2 - ], - [ - 50873, - 1 - ], - [ - 51172, - 2 - ], - [ - 51472, - 2 - ], - [ - 51772, - 2 - ], - [ - 52072, - 2 - ], - [ - 52372, - 1 - ], - [ - 52672, - 1 - ], - [ - 52971, - 2 - ], - [ - 53271, - 2 - ], - [ - 53571, - 2 - ], - [ - 53871, - 1 - ], - [ - 54171, - 1 - ], - [ - 54470, - 2 - ], - [ - 54770, - 2 - ], - [ - 55070, - 2 - ], - [ - 55370, - 2 - ], - [ - 55670, - 1 - ], - [ - 55970, - 1 - ], - [ - 56269, - 2 - ], - [ - 56569, - 2 - ], - [ - 56869, - 2 - ], - [ - 57000, - 2 - ], - [ - 57169, - 2 - ], - [ - 57300, - 3 - ], - [ - 57469, - 2 - ], - [ - 57600, - 6 - ], - [ - 57768, - 2 - ], - [ - 57902, - 4 - ], - [ - 58068, - 2 - ], - [ - 58203, - 4 - ], - [ - 58368, - 2 - ], - [ - 58505, - 3 - ], - [ - 58668, - 1 - ], - [ - 58806, - 4 - ], - [ - 58968, - 1 - ], - [ - 59107, - 4 - ], - [ - 59268, - 1 - ], - [ - 59409, - 3 - ], - [ - 59568, - 1 - ], - [ - 59710, - 4 - ], - [ - 59867, - 2 - ], - [ - 60012, - 3 - ], - [ - 60167, - 2 - ], - [ - 60313, - 3 - ], - [ - 60467, - 1 - ], - [ - 60614, - 4 - ], - [ - 60767, - 1 - ], - [ - 60916, - 3 - ], - [ - 61067, - 1 - ], - [ - 61217, - 4 - ], - [ - 61366, - 2 - ], - [ - 61519, - 3 - ], - [ - 61666, - 2 - ], - [ - 61820, - 3 - ], - [ - 61966, - 1 - ], - [ - 62121, - 4 - ], - [ - 62266, - 1 - ], - [ - 62423, - 3 - ], - [ - 62566, - 1 - ], - [ - 62724, - 3 - ], - [ - 62866, - 1 - ], - [ - 63025, - 4 - ], - [ - 63165, - 2 - ], - [ - 63327, - 3 - ], - [ - 63465, - 2 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 149, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.60|+00.81|-01.84" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 173, - 96, - 176, - 136 - ], - "mask": [ - [ - 28673, - 1 - ], - [ - 28973, - 2 - ], - [ - 29273, - 2 - ], - [ - 29573, - 2 - ], - [ - 29873, - 2 - ], - [ - 30173, - 2 - ], - [ - 30473, - 2 - ], - [ - 30773, - 2 - ], - [ - 31073, - 3 - ], - [ - 31373, - 3 - ], - [ - 31673, - 3 - ], - [ - 31973, - 3 - ], - [ - 32273, - 3 - ], - [ - 32574, - 2 - ], - [ - 32874, - 2 - ], - [ - 33174, - 2 - ], - [ - 33474, - 2 - ], - [ - 33774, - 2 - ], - [ - 34074, - 2 - ], - [ - 34374, - 2 - ], - [ - 34674, - 2 - ], - [ - 34974, - 2 - ], - [ - 35274, - 2 - ], - [ - 35574, - 2 - ], - [ - 35874, - 3 - ], - [ - 36174, - 3 - ], - [ - 36474, - 3 - ], - [ - 36774, - 3 - ], - [ - 37074, - 3 - ], - [ - 37374, - 3 - ], - [ - 37674, - 3 - ], - [ - 37975, - 2 - ], - [ - 38275, - 2 - ], - [ - 38574, - 3 - ], - [ - 38874, - 3 - ], - [ - 39174, - 3 - ], - [ - 39474, - 3 - ], - [ - 39774, - 3 - ], - [ - 40076, - 1 - ], - [ - 40376, - 1 - ], - [ - 40676, - 1 - ] - ], - "point": [ - 174, - 115 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.60|+00.81|-01.84", - "placeStationary": true, - "receptacleObjectId": "Mug|+00.31|+00.35|-02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 217, - 102, - 248, - 138 - ], - "mask": [ - [ - 30529, - 9 - ], - [ - 30827, - 14 - ], - [ - 31125, - 18 - ], - [ - 31424, - 20 - ], - [ - 31723, - 23 - ], - [ - 32023, - 24 - ], - [ - 32323, - 24 - ], - [ - 32622, - 26 - ], - [ - 32922, - 27 - ], - [ - 33222, - 27 - ], - [ - 33521, - 28 - ], - [ - 33821, - 28 - ], - [ - 34121, - 28 - ], - [ - 34421, - 28 - ], - [ - 34720, - 29 - ], - [ - 35020, - 29 - ], - [ - 35320, - 28 - ], - [ - 35619, - 29 - ], - [ - 35919, - 28 - ], - [ - 36219, - 27 - ], - [ - 36518, - 27 - ], - [ - 36818, - 27 - ], - [ - 37118, - 26 - ], - [ - 37417, - 27 - ], - [ - 37717, - 26 - ], - [ - 38017, - 25 - ], - [ - 38317, - 25 - ], - [ - 38617, - 24 - ], - [ - 38917, - 24 - ], - [ - 39217, - 23 - ], - [ - 39518, - 22 - ], - [ - 39818, - 21 - ], - [ - 40119, - 19 - ], - [ - 40420, - 18 - ], - [ - 40721, - 16 - ], - [ - 41023, - 12 - ], - [ - 41325, - 8 - ] - ], - "point": [ - 232, - 119 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -0.25, - "y": 0.9020053, - "z": 0.75 - }, - "object_poses": [ - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.78117836, - "y": 0.8011393, - "z": -2.03141451 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -0.5747489, - "y": 0.6954822, - "z": -0.1461632 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -1.061389, - "y": 0.6954822, - "z": -0.787673652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.680097, - "y": 0.177835315, - "z": -1.55140376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.71993923, - "y": 0.801587, - "z": -1.65521216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 1.59783685, - "y": 0.794891655, - "z": -1.27814925 - }, - "rotation": { - "x": 0.26985392, - "y": 359.376617, - "z": 0.0216126665 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.3314289, - "y": 0.6930849, - "z": 0.281510353 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -1.061389, - "y": 0.694788158, - "z": -1.00151038 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.680097, - "y": 0.01619581, - "z": -2.38615656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900016, - "y": 0.6659413, - "z": -2.578999 - }, - "rotation": { - "x": 0.0205680169, - "y": -0.000242467417, - "z": -5.54315957e-05 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.53622162, - "y": 0.799995959, - "z": -1.65521216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.5747489, - "y": 0.6930849, - "z": -0.7876737 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.59746075, - "y": 0.8071854, - "z": -1.84331322 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.78117836, - "y": 0.8057865, - "z": -2.21951556 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -1.489, - "y": 0.685, - "z": -0.854 - }, - "rotation": { - "x": 0.0, - "y": 345.000031, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -1.508, - "y": 0.685, - "z": -0.378 - }, - "rotation": { - "x": 0.0, - "y": 288.596283, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": 1.633471, - "y": 0.334780246, - "z": -1.63870788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.58684492, - "y": 0.0133516993, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.306073725, - "y": 0.352921665, - "z": -2.59877539 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3914163360, - "scene_num": 324 - }, - "task_id": "trial_T20190909_145723_528863", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AM2KK02JXXW48_3RXPCZQMQSSM1WOFYQZQIO3FP961G1", - "high_descs": [ - "Move to the brown shelf. ", - "Pick up the black mug from the shelf. ", - "Bring the mug to the dresser. ", - "Put the mug on the dresser. ", - "Pick up the pen from the dresser.", - "Put the pen in the mug on the dresser. " - ], - "task_desc": "Put a pen in a mug on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "ARL7HOWLEHNOP_3WMINLGALEK5E8LASNW03YB3V86CA6", - "high_descs": [ - "Walk forward, turn right, walk across the room then turn right, and turn left and walk to the brown dresser.", - "Pick up the black mug from the second shelf of the brown dresser.", - "Turn around, walk to the bed, then turn right and walk to the light brown dresser.", - "Place the black mug on top of the light brown dresser in front of the compact disc.", - "Grab the red pen on the light brown dresser.", - "Place the red pen inside of the black mug on the light brown dresser." - ], - "task_desc": "Place the red pen in the black mug on the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3ZSANO2JCIOGHGRE0P8SW4QCEVWFSF", - "high_descs": [ - "Go straight and to the right, past the bed to the shelf beneath the picture.", - "Take the mug from the middle shelf.", - "Turn around and go right toward the dresser.", - "Place the mug on the dresser, in front of the compact disk.", - "Pick up the pen on the dresser, to the right of the keys.", - "Put the pen in the mug." - ], - "task_desc": "Put a pen in a mug, on the dresser. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_002641_567647/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_002641_567647/traj_data.json deleted file mode 100644 index d86242c53..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_002641_567647/traj_data.json +++ /dev/null @@ -1,3318 +0,0 @@ -{ - "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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "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": 15 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000138.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000139.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000140.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000141.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 20 - }, - { - "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": 24 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 24 - }, - { - "high_idx": 6, - "image_name": "000000170.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000171.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000172.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000173.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000174.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000175.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000176.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000177.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000178.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000179.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000180.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000181.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000182.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000183.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000184.png", - "low_idx": 25 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 5.11501552, - 5.11501552, - 4.35970592, - 4.35970592, - 4.56846572, - 4.56846572 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.368, - 5.368, - 5.52000044, - 5.52000044, - 4.52544688, - 4.52544688 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+01.28|+01.14|+01.09" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 5.11501552, - 5.11501552, - 4.35970592, - 4.35970592, - 4.56846572, - 4.56846572 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+01.28|+01.14|+01.09", - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pencil|+01.28|+01.14|+01.09" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 103, - 147, - 141, - 149 - ], - "mask": [ - [ - 43908, - 34 - ], - [ - 44203, - 39 - ], - [ - 44507, - 35 - ] - ], - "point": [ - 122, - 147 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+01.28|+01.14|+01.09", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 154, - 126, - 194, - 159 - ], - "mask": [ - [ - 37668, - 11 - ], - [ - 37964, - 18 - ], - [ - 38262, - 23 - ], - [ - 38560, - 27 - ], - [ - 38858, - 31 - ], - [ - 39157, - 33 - ], - [ - 39456, - 35 - ], - [ - 39756, - 36 - ], - [ - 40055, - 38 - ], - [ - 40355, - 38 - ], - [ - 40654, - 40 - ], - [ - 40954, - 40 - ], - [ - 41254, - 41 - ], - [ - 41554, - 41 - ], - [ - 41854, - 41 - ], - [ - 42154, - 41 - ], - [ - 42454, - 41 - ], - [ - 42755, - 40 - ], - [ - 43055, - 39 - ], - [ - 43355, - 39 - ], - [ - 43655, - 39 - ], - [ - 43956, - 37 - ], - [ - 44256, - 37 - ], - [ - 44557, - 35 - ], - [ - 44857, - 34 - ], - [ - 45158, - 33 - ], - [ - 45458, - 32 - ], - [ - 45759, - 30 - ], - [ - 46060, - 29 - ], - [ - 46361, - 27 - ], - [ - 46663, - 23 - ], - [ - 46965, - 19 - ], - [ - 47267, - 15 - ], - [ - 47570, - 8 - ] - ], - "point": [ - 174, - 141 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 154, - 126, - 194, - 159 - ], - "mask": [ - [ - 37668, - 11 - ], - [ - 37964, - 2 - ], - [ - 37968, - 14 - ], - [ - 38262, - 4 - ], - [ - 38267, - 18 - ], - [ - 38560, - 6 - ], - [ - 38567, - 20 - ], - [ - 38858, - 8 - ], - [ - 38867, - 22 - ], - [ - 39157, - 8 - ], - [ - 39167, - 23 - ], - [ - 39456, - 9 - ], - [ - 39467, - 24 - ], - [ - 39756, - 9 - ], - [ - 39767, - 25 - ], - [ - 40055, - 10 - ], - [ - 40067, - 26 - ], - [ - 40355, - 10 - ], - [ - 40367, - 26 - ], - [ - 40654, - 11 - ], - [ - 40667, - 27 - ], - [ - 40954, - 11 - ], - [ - 40967, - 27 - ], - [ - 41254, - 11 - ], - [ - 41267, - 28 - ], - [ - 41554, - 11 - ], - [ - 41567, - 28 - ], - [ - 41854, - 11 - ], - [ - 41867, - 28 - ], - [ - 42154, - 11 - ], - [ - 42167, - 28 - ], - [ - 42454, - 11 - ], - [ - 42467, - 28 - ], - [ - 42755, - 40 - ], - [ - 43055, - 39 - ], - [ - 43355, - 39 - ], - [ - 43655, - 39 - ], - [ - 43956, - 37 - ], - [ - 44256, - 37 - ], - [ - 44557, - 35 - ], - [ - 44857, - 34 - ], - [ - 45158, - 33 - ], - [ - 45458, - 32 - ], - [ - 45759, - 30 - ], - [ - 46060, - 29 - ], - [ - 46361, - 27 - ], - [ - 46663, - 23 - ], - [ - 46965, - 19 - ], - [ - 47267, - 15 - ], - [ - 47570, - 8 - ] - ], - "point": [ - 174, - 141 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 162 - ], - [ - 26169, - 164 - ], - [ - 26469, - 99 - ], - [ - 26572, - 62 - ], - [ - 26769, - 81 - ], - [ - 26853, - 14 - ], - [ - 26874, - 61 - ], - [ - 27068, - 83 - ], - [ - 27156, - 11 - ], - [ - 27174, - 62 - ], - [ - 27368, - 85 - ], - [ - 27459, - 8 - ], - [ - 27474, - 62 - ], - [ - 27668, - 87 - ], - [ - 27759, - 9 - ], - [ - 27773, - 61 - ], - [ - 27968, - 87 - ], - [ - 28059, - 10 - ], - [ - 28075, - 1 - ], - [ - 28078, - 55 - ], - [ - 28268, - 96 - ], - [ - 28369, - 1 - ], - [ - 28371, - 6 - ], - [ - 28378, - 55 - ], - [ - 28567, - 93 - ], - [ - 28661, - 5 - ], - [ - 28670, - 62 - ], - [ - 28867, - 95 - ], - [ - 28965, - 2 - ], - [ - 28968, - 2 - ], - [ - 28971, - 60 - ], - [ - 29167, - 94 - ], - [ - 29273, - 4 - ], - [ - 29278, - 52 - ], - [ - 29467, - 91 - ], - [ - 29566, - 8 - ], - [ - 29578, - 51 - ], - [ - 29767, - 89 - ], - [ - 29860, - 1 - ], - [ - 29862, - 1 - ], - [ - 29865, - 64 - ], - [ - 30066, - 90 - ], - [ - 30158, - 70 - ], - [ - 30366, - 161 - ], - [ - 30666, - 160 - ], - [ - 30966, - 160 - ], - [ - 31266, - 159 - ], - [ - 31565, - 159 - ], - [ - 31775, - 2 - ], - [ - 31865, - 159 - ], - [ - 32072, - 6 - ], - [ - 32165, - 158 - ], - [ - 32372, - 6 - ], - [ - 32465, - 158 - ], - [ - 32672, - 6 - ], - [ - 32765, - 158 - ], - [ - 32972, - 7 - ], - [ - 33064, - 159 - ], - [ - 33272, - 7 - ], - [ - 33364, - 159 - ], - [ - 33572, - 7 - ], - [ - 33664, - 159 - ], - [ - 33871, - 8 - ], - [ - 33964, - 158 - ], - [ - 34171, - 9 - ], - [ - 34263, - 159 - ], - [ - 34471, - 9 - ], - [ - 34563, - 159 - ], - [ - 34771, - 9 - ], - [ - 34863, - 160 - ], - [ - 35070, - 11 - ], - [ - 35163, - 160 - ], - [ - 35370, - 11 - ], - [ - 35463, - 160 - ], - [ - 35670, - 11 - ], - [ - 35762, - 162 - ], - [ - 35969, - 13 - ], - [ - 36062, - 162 - ], - [ - 36269, - 13 - ], - [ - 36362, - 163 - ], - [ - 36569, - 13 - ], - [ - 36662, - 163 - ], - [ - 36868, - 15 - ], - [ - 36962, - 35 - ], - [ - 36998, - 3 - ], - [ - 37005, - 121 - ], - [ - 37168, - 15 - ], - [ - 37261, - 21 - ], - [ - 37285, - 10 - ], - [ - 37305, - 122 - ], - [ - 37467, - 16 - ], - [ - 37561, - 20 - ], - [ - 37582, - 5 - ], - [ - 37592, - 1 - ], - [ - 37594, - 1 - ], - [ - 37601, - 127 - ], - [ - 37767, - 17 - ], - [ - 37861, - 20 - ], - [ - 37882, - 7 - ], - [ - 37890, - 1 - ], - [ - 37892, - 1 - ], - [ - 37899, - 130 - ], - [ - 38066, - 18 - ], - [ - 38161, - 20 - ], - [ - 38182, - 7 - ], - [ - 38190, - 2 - ], - [ - 38193, - 1 - ], - [ - 38195, - 1 - ], - [ - 38199, - 131 - ], - [ - 38366, - 18 - ], - [ - 38461, - 29 - ], - [ - 38491, - 1 - ], - [ - 38494, - 6 - ], - [ - 38501, - 130 - ], - [ - 38664, - 21 - ], - [ - 38760, - 21 - ], - [ - 38782, - 7 - ], - [ - 38791, - 3 - ], - [ - 38795, - 6 - ], - [ - 38802, - 130 - ], - [ - 38964, - 21 - ], - [ - 39060, - 21 - ], - [ - 39086, - 2 - ], - [ - 39089, - 13 - ], - [ - 39105, - 129 - ], - [ - 39262, - 23 - ], - [ - 39360, - 26 - ], - [ - 39391, - 10 - ], - [ - 39406, - 130 - ], - [ - 39560, - 25 - ], - [ - 39660, - 25 - ], - [ - 39692, - 9 - ], - [ - 39706, - 132 - ], - [ - 39859, - 27 - ], - [ - 39960, - 24 - ], - [ - 39992, - 10 - ], - [ - 40008, - 133 - ], - [ - 40157, - 29 - ], - [ - 40259, - 25 - ], - [ - 40292, - 13 - ], - [ - 40309, - 138 - ], - [ - 40451, - 35 - ], - [ - 40559, - 25 - ], - [ - 40592, - 14 - ], - [ - 40611, - 176 - ], - [ - 40859, - 26 - ], - [ - 40891, - 17 - ], - [ - 40910, - 177 - ], - [ - 41159, - 28 - ], - [ - 41189, - 198 - ], - [ - 41458, - 230 - ], - [ - 41758, - 230 - ], - [ - 42058, - 230 - ], - [ - 42358, - 231 - ], - [ - 42658, - 231 - ], - [ - 42957, - 232 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 10 - ], - [ - 58138, - 8 - ], - [ - 58287, - 9 - ], - [ - 58437, - 8 - ], - [ - 58588, - 9 - ], - [ - 58736, - 8 - ], - [ - 58888, - 9 - ], - [ - 59035, - 9 - ], - [ - 59189, - 9 - ], - [ - 59335, - 8 - ], - [ - 59489, - 9 - ], - [ - 59634, - 8 - ], - [ - 59790, - 9 - ], - [ - 59933, - 8 - ], - [ - 60091, - 7 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.5, - "y": 0.9009992, - "z": 1.75 - }, - "object_poses": [ - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.08474612, - "y": 0.7286067, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.08474612, - "y": 0.7286067, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.22037852, - "y": 0.7346528, - "z": 0.9011624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.17351043, - "y": 0.5581766, - "z": 1.87976277 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.134, - "y": 0.08082468, - "z": 0.588 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.27875388, - "y": 1.14211643, - "z": 1.08992648 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.310377, - "y": 1.14211643, - "z": 1.246216 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.31037664, - "y": 1.13882124, - "z": 1.55879521 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.09598863, - "y": 0.691035748, - "z": -1.794143 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.40524626, - "y": 1.139661, - "z": 1.55879533 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.08003473, - "y": 0.7768329, - "z": -0.4405536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.145, - "y": 0.721387863, - "z": 1.806 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.20506942, - "y": 0.7821378, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.35345471, - "y": 0.721387863, - "z": 0.8918423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.223, - "y": 0.721387863, - "z": 1.342 - }, - "rotation": { - "x": 0.0, - "y": 255.000214, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.22037852, - "y": 0.728996, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 0.255929768, - "y": 0.691035748, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.27875352, - "y": 1.13931763, - "z": 1.40250552 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.248942, - "y": 0.5558149, - "z": 1.5239923 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.704930544, - "y": 0.8492504, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.35601091, - "y": 0.7286067, - "z": 1.72741032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.098079, - "y": 0.0812827, - "z": 1.59514642 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.42382717, - "y": 0.727, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2344879780, - "scene_num": 305 - }, - "task_id": "trial_T20190909_002641_567647", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A24RGLS3BRZ60J_33L7PJKHCJPG2QG4DJWTX3PEO568TD", - "high_descs": [ - "Take a few steps to the right, and continue facing the desk.", - "Pick up the pencil from the right top side of the desk.", - "Hold the pencil and look down to the desk.", - "Hold the pencil and place it in the bowl on the right side of the bottom portion of the desk.", - "Pick up the bowl from the desk.", - "Hold the bowl and turn around, then turn left to go back to the brown dresser.", - "Place the bowl and pencil on the dresser, in the center." - ], - "task_desc": "Move a bowl and pencil to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1O3TWBUDONVLO_3EA3QWIZ4LM9RWSHM58KASJSR1UITE", - "high_descs": [ - "Take a step to the right to face the top shelf of the desk.", - "Pick up the pencil on the top shelf of the desk.", - "Look down to face the bowl on the desk.", - "Place the pencil in the bowl on the desk.", - "Pick up the bowl in the corner of the desk.", - "Turn right and walk around the bed to face the side table.", - "Place the bowl with the pencil in it on the side table." - ], - "task_desc": "To put a pencil in a bowl and place it on the side table.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3C81THYYSBGVD_3YDTZAI2W07EA5HTZXM6ALQEU0614D", - "high_descs": [ - "Turn right and face the desk with the lap top on your left.", - "Take the pencil off of the desk in front of you.", - "Face the cup on the table in front of you.", - "Place the pencil in the cup on the table in front of you.", - "Take the cup with the pencil on the table in front of you.", - "Turn right and face the bed side table in front of you.", - "Place the cup with the pencil on the table in front of you." - ], - "task_desc": "Place a pencil in a cup on a bed side table.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_010619_527487/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_010619_527487/traj_data.json deleted file mode 100644 index 70a2f7a25..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_010619_527487/traj_data.json +++ /dev/null @@ -1,4052 +0,0 @@ -{ - "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": 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": 12 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 3, - "image_name": "000000143.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "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": 4, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "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": 5, - "image_name": "000000184.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 39 - }, - { - "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": 41 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-5|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - -0.38395452, - -0.38395452, - -6.99895336, - -6.99895336, - 2.773964644, - 2.773964644 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-00.10|+00.69|-01.75" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - -0.38395452, - -0.38395452, - -6.99895336, - -6.99895336, - 2.773964644, - 2.773964644 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-00.10|+00.69|-01.75", - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.41381884, - 5.41381884, - 3.5673692, - 3.5673692, - 2.885551452, - 2.885551452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - } - ], - "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": "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": "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": "Pencil|-00.10|+00.69|-01.75" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 156, - 153, - 190, - 153 - ], - "mask": [ - [ - 45756, - 35 - ] - ], - "point": [ - 173, - 152 - ] - } - }, - "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": "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": "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": "Pencil|-00.10|+00.69|-01.75", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 154, - 127, - 194, - 158 - ], - "mask": [ - [ - 37966, - 14 - ], - [ - 38263, - 20 - ], - [ - 38561, - 24 - ], - [ - 38859, - 28 - ], - [ - 39158, - 31 - ], - [ - 39457, - 33 - ], - [ - 39756, - 35 - ], - [ - 40055, - 37 - ], - [ - 40355, - 38 - ], - [ - 40654, - 39 - ], - [ - 40954, - 40 - ], - [ - 41254, - 40 - ], - [ - 41554, - 41 - ], - [ - 41854, - 41 - ], - [ - 42154, - 41 - ], - [ - 42454, - 41 - ], - [ - 42754, - 41 - ], - [ - 43055, - 39 - ], - [ - 43355, - 39 - ], - [ - 43655, - 39 - ], - [ - 43955, - 38 - ], - [ - 44256, - 37 - ], - [ - 44556, - 36 - ], - [ - 44857, - 35 - ], - [ - 45157, - 34 - ], - [ - 45458, - 32 - ], - [ - 45759, - 31 - ], - [ - 46059, - 30 - ], - [ - 46361, - 27 - ], - [ - 46662, - 25 - ], - [ - 46963, - 23 - ], - [ - 47265, - 2 - ] - ], - "point": [ - 174, - 141 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.35|+00.72|+00.89" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 154, - 127, - 194, - 158 - ], - "mask": [ - [ - 37968, - 12 - ], - [ - 38263, - 3 - ], - [ - 38267, - 16 - ], - [ - 38561, - 5 - ], - [ - 38567, - 18 - ], - [ - 38859, - 7 - ], - [ - 38867, - 20 - ], - [ - 39158, - 7 - ], - [ - 39167, - 22 - ], - [ - 39457, - 8 - ], - [ - 39467, - 23 - ], - [ - 39756, - 9 - ], - [ - 39767, - 24 - ], - [ - 40055, - 10 - ], - [ - 40067, - 25 - ], - [ - 40355, - 10 - ], - [ - 40367, - 26 - ], - [ - 40654, - 11 - ], - [ - 40667, - 26 - ], - [ - 40954, - 11 - ], - [ - 40967, - 27 - ], - [ - 41254, - 11 - ], - [ - 41267, - 27 - ], - [ - 41554, - 11 - ], - [ - 41567, - 28 - ], - [ - 41854, - 11 - ], - [ - 41867, - 28 - ], - [ - 42154, - 11 - ], - [ - 42167, - 28 - ], - [ - 42454, - 11 - ], - [ - 42467, - 28 - ], - [ - 42754, - 11 - ], - [ - 42767, - 28 - ], - [ - 43055, - 39 - ], - [ - 43355, - 39 - ], - [ - 43655, - 39 - ], - [ - 43955, - 38 - ], - [ - 44256, - 37 - ], - [ - 44556, - 36 - ], - [ - 44857, - 35 - ], - [ - 45157, - 34 - ], - [ - 45458, - 32 - ], - [ - 45759, - 31 - ], - [ - 46059, - 30 - ], - [ - 46361, - 27 - ], - [ - 46662, - 25 - ], - [ - 46963, - 23 - ], - [ - 47265, - 2 - ] - ], - "point": [ - 174, - 141 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.35|+00.72|+00.89", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 22 - ], - [ - 24998, - 130 - ], - [ - 25270, - 21 - ], - [ - 25292, - 6 - ], - [ - 25299, - 130 - ], - [ - 25570, - 21 - ], - [ - 25592, - 5 - ], - [ - 25598, - 132 - ], - [ - 25869, - 17 - ], - [ - 25890, - 1 - ], - [ - 25892, - 5 - ], - [ - 25898, - 133 - ], - [ - 26169, - 15 - ], - [ - 26192, - 5 - ], - [ - 26198, - 76 - ], - [ - 26316, - 17 - ], - [ - 26469, - 15 - ], - [ - 26492, - 4 - ], - [ - 26497, - 81 - ], - [ - 26614, - 20 - ], - [ - 26769, - 15 - ], - [ - 26797, - 138 - ], - [ - 27068, - 16 - ], - [ - 27090, - 2 - ], - [ - 27093, - 3 - ], - [ - 27097, - 139 - ], - [ - 27368, - 18 - ], - [ - 27388, - 4 - ], - [ - 27393, - 2 - ], - [ - 27396, - 140 - ], - [ - 27668, - 27 - ], - [ - 27698, - 136 - ], - [ - 27968, - 24 - ], - [ - 27998, - 135 - ], - [ - 28268, - 26 - ], - [ - 28298, - 135 - ], - [ - 28567, - 26 - ], - [ - 28594, - 1 - ], - [ - 28598, - 134 - ], - [ - 28867, - 25 - ], - [ - 28893, - 3 - ], - [ - 28898, - 133 - ], - [ - 29167, - 20 - ], - [ - 29192, - 4 - ], - [ - 29198, - 132 - ], - [ - 29467, - 19 - ], - [ - 29490, - 6 - ], - [ - 29498, - 131 - ], - [ - 29767, - 19 - ], - [ - 29791, - 6 - ], - [ - 29798, - 131 - ], - [ - 30066, - 19 - ], - [ - 30090, - 138 - ], - [ - 30366, - 18 - ], - [ - 30387, - 57 - ], - [ - 30447, - 80 - ], - [ - 30666, - 18 - ], - [ - 30686, - 53 - ], - [ - 30751, - 75 - ], - [ - 30966, - 14 - ], - [ - 30988, - 49 - ], - [ - 31053, - 73 - ], - [ - 31266, - 11 - ], - [ - 31291, - 45 - ], - [ - 31355, - 70 - ], - [ - 31565, - 11 - ], - [ - 31593, - 42 - ], - [ - 31655, - 69 - ], - [ - 31775, - 2 - ], - [ - 31865, - 9 - ], - [ - 31894, - 40 - ], - [ - 31956, - 68 - ], - [ - 32072, - 6 - ], - [ - 32165, - 8 - ], - [ - 32194, - 39 - ], - [ - 32257, - 66 - ], - [ - 32372, - 6 - ], - [ - 32465, - 7 - ], - [ - 32495, - 38 - ], - [ - 32557, - 66 - ], - [ - 32672, - 6 - ], - [ - 32765, - 6 - ], - [ - 32795, - 38 - ], - [ - 32858, - 65 - ], - [ - 32972, - 7 - ], - [ - 33064, - 7 - ], - [ - 33096, - 36 - ], - [ - 33143, - 4 - ], - [ - 33158, - 65 - ], - [ - 33272, - 7 - ], - [ - 33364, - 6 - ], - [ - 33396, - 36 - ], - [ - 33443, - 4 - ], - [ - 33458, - 65 - ], - [ - 33572, - 7 - ], - [ - 33664, - 6 - ], - [ - 33701, - 31 - ], - [ - 33744, - 3 - ], - [ - 33758, - 65 - ], - [ - 33871, - 8 - ], - [ - 33964, - 6 - ], - [ - 34002, - 31 - ], - [ - 34058, - 64 - ], - [ - 34171, - 9 - ], - [ - 34263, - 7 - ], - [ - 34303, - 30 - ], - [ - 34357, - 65 - ], - [ - 34471, - 9 - ], - [ - 34563, - 7 - ], - [ - 34603, - 30 - ], - [ - 34657, - 65 - ], - [ - 34771, - 9 - ], - [ - 34863, - 7 - ], - [ - 34904, - 30 - ], - [ - 34956, - 67 - ], - [ - 35070, - 11 - ], - [ - 35163, - 7 - ], - [ - 35198, - 3 - ], - [ - 35204, - 31 - ], - [ - 35255, - 17 - ], - [ - 35273, - 50 - ], - [ - 35370, - 11 - ], - [ - 35463, - 7 - ], - [ - 35498, - 3 - ], - [ - 35504, - 31 - ], - [ - 35555, - 12 - ], - [ - 35578, - 45 - ], - [ - 35670, - 11 - ], - [ - 35762, - 9 - ], - [ - 35798, - 4 - ], - [ - 35804, - 33 - ], - [ - 35853, - 12 - ], - [ - 35880, - 44 - ], - [ - 35969, - 13 - ], - [ - 36062, - 9 - ], - [ - 36099, - 3 - ], - [ - 36104, - 35 - ], - [ - 36151, - 12 - ], - [ - 36182, - 42 - ], - [ - 36269, - 13 - ], - [ - 36362, - 10 - ], - [ - 36399, - 2 - ], - [ - 36404, - 38 - ], - [ - 36448, - 15 - ], - [ - 36483, - 42 - ], - [ - 36569, - 13 - ], - [ - 36662, - 10 - ], - [ - 36703, - 59 - ], - [ - 36784, - 41 - ], - [ - 36868, - 15 - ], - [ - 36962, - 11 - ], - [ - 37003, - 58 - ], - [ - 37085, - 41 - ], - [ - 37168, - 15 - ], - [ - 37261, - 12 - ], - [ - 37302, - 59 - ], - [ - 37385, - 42 - ], - [ - 37467, - 16 - ], - [ - 37561, - 13 - ], - [ - 37601, - 59 - ], - [ - 37686, - 42 - ], - [ - 37767, - 17 - ], - [ - 37861, - 13 - ], - [ - 37900, - 60 - ], - [ - 37986, - 43 - ], - [ - 38066, - 18 - ], - [ - 38161, - 13 - ], - [ - 38200, - 60 - ], - [ - 38271, - 4 - ], - [ - 38286, - 44 - ], - [ - 38366, - 18 - ], - [ - 38461, - 14 - ], - [ - 38500, - 60 - ], - [ - 38571, - 4 - ], - [ - 38587, - 44 - ], - [ - 38664, - 21 - ], - [ - 38760, - 15 - ], - [ - 38800, - 60 - ], - [ - 38872, - 3 - ], - [ - 38887, - 45 - ], - [ - 38964, - 21 - ], - [ - 39060, - 16 - ], - [ - 39100, - 60 - ], - [ - 39186, - 48 - ], - [ - 39262, - 23 - ], - [ - 39360, - 16 - ], - [ - 39399, - 61 - ], - [ - 39486, - 50 - ], - [ - 39560, - 25 - ], - [ - 39660, - 17 - ], - [ - 39699, - 62 - ], - [ - 39786, - 52 - ], - [ - 39859, - 27 - ], - [ - 39960, - 17 - ], - [ - 39998, - 63 - ], - [ - 40085, - 56 - ], - [ - 40157, - 29 - ], - [ - 40259, - 19 - ], - [ - 40297, - 65 - ], - [ - 40385, - 62 - ], - [ - 40451, - 35 - ], - [ - 40559, - 20 - ], - [ - 40596, - 67 - ], - [ - 40684, - 103 - ], - [ - 40859, - 21 - ], - [ - 40894, - 70 - ], - [ - 40983, - 104 - ], - [ - 41159, - 23 - ], - [ - 41192, - 74 - ], - [ - 41281, - 106 - ], - [ - 41458, - 110 - ], - [ - 41580, - 108 - ], - [ - 41758, - 114 - ], - [ - 41875, - 113 - ], - [ - 42058, - 230 - ], - [ - 42358, - 231 - ], - [ - 42658, - 231 - ], - [ - 42957, - 232 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 10 - ], - [ - 58138, - 8 - ], - [ - 58287, - 9 - ], - [ - 58437, - 8 - ], - [ - 58588, - 9 - ], - [ - 58736, - 8 - ], - [ - 58888, - 9 - ], - [ - 59035, - 9 - ], - [ - 59189, - 9 - ], - [ - 59335, - 8 - ], - [ - 59489, - 9 - ], - [ - 59634, - 8 - ], - [ - 59790, - 9 - ], - [ - 59933, - 8 - ], - [ - 60091, - 7 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.25, - "y": 0.9009992, - "z": 0.75 - }, - "object_poses": [ - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.22037852, - "y": 0.727, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 0.255929768, - "y": 0.6882, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.27875376, - "y": 1.13843191, - "z": 1.246216 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": -0.09598863, - "y": 0.692921937, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 0.579895854, - "y": 0.7821378, - "z": -0.166428566 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 0.164923832, - "y": 0.389177024, - "z": -1.68713963 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 1.20506942, - "y": 0.8492504, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.08474612, - "y": 0.7294924, - "z": 0.9011624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.145, - "y": 0.721387863, - "z": 1.806 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.28819478, - "y": 0.732304931, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.35345471, - "y": 0.721387863, - "z": 0.8918423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.955000043, - "y": 0.7768329, - "z": -0.166428566 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": -0.35292387, - "y": 0.388337255, - "z": -1.59397542 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 0.255929768, - "y": 0.694151, - "z": -1.83854759 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.15256226, - "y": 0.7294924, - "z": 1.23166156 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": -0.09598863, - "y": 0.693491161, - "z": -1.74973834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8728, - "y": 0.816, - "z": -1.513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 0.0213174969, - "y": 0.6898067, - "z": -1.70533371 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": -0.213294759, - "y": 0.6958528, - "z": -1.83854759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.27875352, - "y": 1.1368252, - "z": 1.40250552 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1859283360, - "scene_num": 305 - }, - "task_id": "trial_T20190909_010619_527487", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A10AVWALIHR4UQ_351SEKWQS38O6QMBLU6XXH8N5NDDMR", - "high_descs": [ - "Move to the nightstand to the right of the bed and in front of the window.", - "Pick up the yellow pencil located between the two CDs from the nightstand.", - "Turn around, move towards the door, then turn right and move to the desk.", - "Place the pencil in the glass bowl behind the alarm clock near the edge of the desk.", - "Pick up the glass bowl containing the pencil from the desk.", - "Move to the nightstand to the right of the bed and in front of the window.", - "Place the glass bowl containing a pencil between the two CDs on the nightstand." - ], - "task_desc": "Place a bowl containing a pencil on the nightstand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3RYC5T2D76KOS32TVBT9JAJMPTARP2", - "high_descs": [ - "Turn left, step forward, then turn left to go to the end table next to the bed.", - "Pick up the pencil from the end table.", - "Turn around and go forward, then turn right at the end of the bed to face the desk.", - "Put the pencil in the bowl, on the desk.", - "Pick up the bowl from the desk.", - "Turn around and move forward, then turn left and go to the end table.", - "Place the bowl on the end table." - ], - "task_desc": "Put a bowl with a pencil in it on the end table.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3UOUJI6MTG5LH4W1LWYVIYS9YRLXUY", - "high_descs": [ - "Move to the small dresser on the right side of the bed with a lamp on it.", - "Pick up the yellow pencil on the small dresser. ", - "Turn around, bring the pencil to the desk on the right. ", - "Put the pencil in the bowl on the desk.", - "Pick up the bowl with pencil on the desk. ", - "Bring the bowl back to the small dress to the right, on the right side of the bed.", - "Put the bowl with pencil on the dresser, left of the lamp. " - ], - "task_desc": "Put a mug with pencil in it on the small dresser. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_010816_319992/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_010816_319992/traj_data.json deleted file mode 100644 index ee4f1ad88..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-305/trial_T20190909_010816_319992/traj_data.json +++ /dev/null @@ -1,3546 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000037.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "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": 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": 6 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 6 - }, - { - "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": 7 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 7 - }, - { - "high_idx": 3, - "image_name": "000000074.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000075.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000076.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000077.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000078.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000079.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000080.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000081.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000082.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000083.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000084.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000085.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000086.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000087.png", - "low_idx": 8 - }, - { - "high_idx": 3, - "image_name": "000000088.png", - "low_idx": 8 - }, - { - "high_idx": 4, - "image_name": "000000089.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000090.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000091.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000092.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000093.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000094.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000095.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000096.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000097.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000098.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000099.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000100.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000101.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000102.png", - "low_idx": 9 - }, - { - "high_idx": 4, - "image_name": "000000103.png", - "low_idx": 9 - }, - { - "high_idx": 5, - "image_name": "000000104.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000105.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000106.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000107.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000108.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000109.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000110.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000111.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000112.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000113.png", - "low_idx": 10 - }, - { - "high_idx": 5, - "image_name": "000000114.png", - "low_idx": 10 - }, - { - "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": 11 - }, - { - "high_idx": 5, - "image_name": "000000118.png", - "low_idx": 11 - }, - { - "high_idx": 5, - "image_name": "000000119.png", - "low_idx": 11 - }, - { - "high_idx": 5, - "image_name": "000000120.png", - "low_idx": 11 - }, - { - "high_idx": 5, - "image_name": "000000121.png", - "low_idx": 11 - }, - { - "high_idx": 5, - "image_name": "000000122.png", - "low_idx": 11 - }, - { - "high_idx": 5, - "image_name": "000000123.png", - "low_idx": 11 - }, - { - "high_idx": 5, - "image_name": "000000124.png", - "low_idx": 11 - }, - { - "high_idx": 5, - "image_name": "000000125.png", - "low_idx": 11 - }, - { - "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": 12 - }, - { - "high_idx": 5, - "image_name": "000000129.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000130.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000131.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000132.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000134.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 12 - }, - { - "high_idx": 5, - "image_name": "000000137.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000138.png", - "low_idx": 13 - }, - { - "high_idx": 5, - "image_name": "000000139.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000140.png", - "low_idx": 14 - }, - { - "high_idx": 5, - "image_name": "000000141.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 15 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 16 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 17 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000157.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000158.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 22 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 24 - }, - { - "high_idx": 6, - "image_name": "000000179.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000180.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000181.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000182.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000183.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000184.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000185.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000186.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000187.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000188.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000189.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000190.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000191.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000192.png", - "low_idx": 25 - }, - { - "high_idx": 6, - "image_name": "000000193.png", - "low_idx": 25 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 5.49449444, - 5.49449444, - 3.7345484, - 3.7345484, - 4.56846572, - 4.56846572 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.368, - 5.368, - 5.52000044, - 5.52000044, - 4.52544688, - 4.52544688 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+01.37|+01.14|+00.93" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 5.49449444, - 5.49449444, - 3.7345484, - 3.7345484, - 4.56846572, - 4.56846572 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 4.61024904, - 4.61024904, - 3.6046496, - 3.6046496, - 2.916461468, - 2.916461468 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+01.37|+01.14|+00.93", - "receptacleObjectId": "Bowl|+01.15|+00.73|+00.90" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.61024904, - 4.61024904, - 3.6046496, - 3.6046496, - 2.916461468, - 2.916461468 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.15|+00.73|+00.90" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.61024904, - 4.61024904, - 3.6046496, - 3.6046496, - 2.916461468, - 2.916461468 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.15|+00.73|+00.90", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pencil|+01.37|+01.14|+00.93" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 150, - 135, - 183, - 136 - ], - "mask": [ - [ - 40351, - 33 - ], - [ - 40650, - 34 - ] - ], - "point": [ - 166, - 134 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "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": "Pencil|+01.37|+01.14|+00.93", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.15|+00.73|+00.90" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 152, - 87, - 198, - 128 - ], - "mask": [ - [ - 25970, - 9 - ], - [ - 26266, - 18 - ], - [ - 26563, - 23 - ], - [ - 26861, - 27 - ], - [ - 27160, - 30 - ], - [ - 27458, - 34 - ], - [ - 27757, - 36 - ], - [ - 28056, - 38 - ], - [ - 28355, - 40 - ], - [ - 28655, - 41 - ], - [ - 28954, - 43 - ], - [ - 29254, - 43 - ], - [ - 29553, - 45 - ], - [ - 29853, - 45 - ], - [ - 30152, - 47 - ], - [ - 30452, - 47 - ], - [ - 30752, - 47 - ], - [ - 31052, - 47 - ], - [ - 31352, - 47 - ], - [ - 31652, - 47 - ], - [ - 31952, - 47 - ], - [ - 32252, - 47 - ], - [ - 32553, - 46 - ], - [ - 32853, - 46 - ], - [ - 33153, - 46 - ], - [ - 33453, - 45 - ], - [ - 33754, - 44 - ], - [ - 34054, - 43 - ], - [ - 34355, - 42 - ], - [ - 34655, - 41 - ], - [ - 34956, - 40 - ], - [ - 35256, - 39 - ], - [ - 35557, - 37 - ], - [ - 35857, - 36 - ], - [ - 36158, - 34 - ], - [ - 36459, - 33 - ], - [ - 36760, - 31 - ], - [ - 37061, - 29 - ], - [ - 37363, - 25 - ], - [ - 37665, - 21 - ], - [ - 37967, - 17 - ], - [ - 38270, - 11 - ] - ], - "point": [ - 175, - 106 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.15|+00.73|+00.90" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 152, - 87, - 198, - 128 - ], - "mask": [ - [ - 25970, - 9 - ], - [ - 26268, - 16 - ], - [ - 26563, - 3 - ], - [ - 26568, - 18 - ], - [ - 26861, - 5 - ], - [ - 26868, - 20 - ], - [ - 27160, - 6 - ], - [ - 27168, - 22 - ], - [ - 27458, - 8 - ], - [ - 27468, - 24 - ], - [ - 27757, - 9 - ], - [ - 27768, - 25 - ], - [ - 28056, - 10 - ], - [ - 28068, - 26 - ], - [ - 28355, - 11 - ], - [ - 28368, - 27 - ], - [ - 28655, - 11 - ], - [ - 28668, - 28 - ], - [ - 28954, - 11 - ], - [ - 28968, - 29 - ], - [ - 29254, - 11 - ], - [ - 29267, - 30 - ], - [ - 29553, - 12 - ], - [ - 29567, - 31 - ], - [ - 29853, - 12 - ], - [ - 29867, - 31 - ], - [ - 30152, - 13 - ], - [ - 30167, - 32 - ], - [ - 30452, - 13 - ], - [ - 30467, - 32 - ], - [ - 30752, - 13 - ], - [ - 30767, - 32 - ], - [ - 31052, - 13 - ], - [ - 31067, - 32 - ], - [ - 31352, - 13 - ], - [ - 31367, - 32 - ], - [ - 31652, - 13 - ], - [ - 31667, - 32 - ], - [ - 31952, - 13 - ], - [ - 31966, - 33 - ], - [ - 32252, - 47 - ], - [ - 32553, - 46 - ], - [ - 32853, - 46 - ], - [ - 33153, - 46 - ], - [ - 33453, - 45 - ], - [ - 33754, - 44 - ], - [ - 34054, - 43 - ], - [ - 34355, - 42 - ], - [ - 34655, - 41 - ], - [ - 34956, - 40 - ], - [ - 35256, - 39 - ], - [ - 35557, - 37 - ], - [ - 35857, - 36 - ], - [ - 36158, - 34 - ], - [ - 36459, - 33 - ], - [ - 36760, - 31 - ], - [ - 37061, - 29 - ], - [ - 37363, - 25 - ], - [ - 37665, - 21 - ], - [ - 37967, - 17 - ], - [ - 38270, - 11 - ] - ], - "point": [ - 175, - 106 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.15|+00.73|+00.90", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 162 - ], - [ - 26169, - 164 - ], - [ - 26469, - 150 - ], - [ - 26624, - 10 - ], - [ - 26769, - 133 - ], - [ - 26905, - 14 - ], - [ - 26925, - 10 - ], - [ - 27068, - 135 - ], - [ - 27207, - 11 - ], - [ - 27226, - 10 - ], - [ - 27368, - 137 - ], - [ - 27511, - 8 - ], - [ - 27525, - 11 - ], - [ - 27668, - 138 - ], - [ - 27811, - 8 - ], - [ - 27825, - 9 - ], - [ - 27968, - 139 - ], - [ - 28111, - 10 - ], - [ - 28126, - 2 - ], - [ - 28130, - 3 - ], - [ - 28268, - 143 - ], - [ - 28412, - 5 - ], - [ - 28423, - 10 - ], - [ - 28567, - 97 - ], - [ - 28680, - 32 - ], - [ - 28713, - 3 - ], - [ - 28717, - 1 - ], - [ - 28719, - 2 - ], - [ - 28723, - 7 - ], - [ - 28731, - 1 - ], - [ - 28867, - 96 - ], - [ - 28981, - 33 - ], - [ - 29020, - 1 - ], - [ - 29023, - 7 - ], - [ - 29167, - 96 - ], - [ - 29281, - 33 - ], - [ - 29326, - 4 - ], - [ - 29467, - 96 - ], - [ - 29581, - 30 - ], - [ - 29618, - 10 - ], - [ - 29767, - 96 - ], - [ - 29881, - 28 - ], - [ - 29913, - 1 - ], - [ - 29915, - 1 - ], - [ - 29917, - 12 - ], - [ - 30066, - 97 - ], - [ - 30181, - 28 - ], - [ - 30210, - 18 - ], - [ - 30366, - 97 - ], - [ - 30481, - 46 - ], - [ - 30666, - 97 - ], - [ - 30781, - 45 - ], - [ - 30966, - 97 - ], - [ - 31081, - 45 - ], - [ - 31266, - 97 - ], - [ - 31381, - 44 - ], - [ - 31565, - 98 - ], - [ - 31681, - 43 - ], - [ - 31775, - 2 - ], - [ - 31865, - 98 - ], - [ - 31981, - 43 - ], - [ - 32072, - 6 - ], - [ - 32165, - 98 - ], - [ - 32281, - 42 - ], - [ - 32372, - 6 - ], - [ - 32465, - 98 - ], - [ - 32581, - 42 - ], - [ - 32672, - 6 - ], - [ - 32765, - 51 - ], - [ - 32820, - 43 - ], - [ - 32882, - 41 - ], - [ - 32972, - 7 - ], - [ - 33064, - 48 - ], - [ - 33124, - 39 - ], - [ - 33182, - 41 - ], - [ - 33272, - 7 - ], - [ - 33364, - 46 - ], - [ - 33426, - 37 - ], - [ - 33482, - 41 - ], - [ - 33572, - 7 - ], - [ - 33664, - 44 - ], - [ - 33727, - 36 - ], - [ - 33782, - 41 - ], - [ - 33871, - 8 - ], - [ - 33964, - 43 - ], - [ - 34028, - 35 - ], - [ - 34082, - 40 - ], - [ - 34171, - 9 - ], - [ - 34263, - 43 - ], - [ - 34329, - 34 - ], - [ - 34382, - 40 - ], - [ - 34471, - 9 - ], - [ - 34563, - 43 - ], - [ - 34630, - 33 - ], - [ - 34682, - 40 - ], - [ - 34771, - 9 - ], - [ - 34863, - 42 - ], - [ - 34930, - 33 - ], - [ - 34982, - 41 - ], - [ - 35070, - 11 - ], - [ - 35163, - 42 - ], - [ - 35230, - 34 - ], - [ - 35282, - 41 - ], - [ - 35370, - 11 - ], - [ - 35463, - 41 - ], - [ - 35516, - 3 - ], - [ - 35530, - 34 - ], - [ - 35582, - 41 - ], - [ - 35670, - 11 - ], - [ - 35762, - 42 - ], - [ - 35815, - 4 - ], - [ - 35830, - 34 - ], - [ - 35882, - 42 - ], - [ - 35969, - 13 - ], - [ - 36062, - 42 - ], - [ - 36115, - 4 - ], - [ - 36130, - 34 - ], - [ - 36182, - 42 - ], - [ - 36269, - 13 - ], - [ - 36362, - 42 - ], - [ - 36430, - 34 - ], - [ - 36482, - 43 - ], - [ - 36569, - 13 - ], - [ - 36662, - 42 - ], - [ - 36730, - 5 - ], - [ - 36754, - 10 - ], - [ - 36783, - 42 - ], - [ - 36868, - 15 - ], - [ - 36962, - 42 - ], - [ - 37029, - 6 - ], - [ - 37055, - 9 - ], - [ - 37083, - 43 - ], - [ - 37168, - 15 - ], - [ - 37261, - 44 - ], - [ - 37329, - 6 - ], - [ - 37355, - 9 - ], - [ - 37383, - 44 - ], - [ - 37467, - 16 - ], - [ - 37561, - 45 - ], - [ - 37628, - 7 - ], - [ - 37655, - 9 - ], - [ - 37682, - 46 - ], - [ - 37767, - 17 - ], - [ - 37861, - 45 - ], - [ - 37927, - 8 - ], - [ - 37955, - 74 - ], - [ - 38066, - 18 - ], - [ - 38161, - 46 - ], - [ - 38226, - 9 - ], - [ - 38255, - 75 - ], - [ - 38366, - 18 - ], - [ - 38461, - 48 - ], - [ - 38524, - 11 - ], - [ - 38555, - 76 - ], - [ - 38664, - 21 - ], - [ - 38760, - 51 - ], - [ - 38822, - 13 - ], - [ - 38855, - 77 - ], - [ - 38964, - 21 - ], - [ - 39060, - 55 - ], - [ - 39117, - 17 - ], - [ - 39155, - 79 - ], - [ - 39262, - 23 - ], - [ - 39360, - 74 - ], - [ - 39455, - 81 - ], - [ - 39560, - 25 - ], - [ - 39660, - 74 - ], - [ - 39755, - 83 - ], - [ - 39859, - 27 - ], - [ - 39960, - 181 - ], - [ - 40157, - 29 - ], - [ - 40259, - 188 - ], - [ - 40451, - 35 - ], - [ - 40559, - 228 - ], - [ - 40859, - 3 - ], - [ - 40909, - 178 - ], - [ - 41159, - 6 - ], - [ - 41206, - 181 - ], - [ - 41458, - 230 - ], - [ - 41758, - 230 - ], - [ - 42058, - 230 - ], - [ - 42358, - 231 - ], - [ - 42658, - 231 - ], - [ - 42957, - 232 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 10 - ], - [ - 58138, - 8 - ], - [ - 58287, - 9 - ], - [ - 58437, - 8 - ], - [ - 58588, - 9 - ], - [ - 58736, - 8 - ], - [ - 58888, - 9 - ], - [ - 59035, - 9 - ], - [ - 59189, - 9 - ], - [ - 59335, - 8 - ], - [ - 59489, - 9 - ], - [ - 59634, - 8 - ], - [ - 59790, - 9 - ], - [ - 59933, - 8 - ], - [ - 60091, - 8 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.5, - "y": 0.9009992, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.31037724, - "y": 1.13843191, - "z": 0.933636963 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.06036317, - "y": 0.315636575, - "z": 1.73745465 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": -0.09598863, - "y": 0.6935049, - "z": -1.70533371 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.27875388, - "y": 1.14447808, - "z": 1.08992648 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 0.255929768, - "y": 0.6958528, - "z": -1.57212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.37362361, - "y": 1.14211643, - "z": 0.9336371 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.40524626, - "y": 1.14211643, - "z": 1.55879533 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": -0.180307955, - "y": 0.388337255, - "z": -1.66384864 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.31037676, - "y": 1.13931763, - "z": 1.40250564 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.08474612, - "y": 0.7294924, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.955000043, - "y": 0.7768329, - "z": -0.714678645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.145, - "y": 0.721387863, - "z": 1.806 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.22037852, - "y": 0.732304931, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.15256226, - "y": 0.729115367, - "z": 0.9011624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.704930544, - "y": 0.7768329, - "z": 0.107696474 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 0.0213174969, - "y": 0.690196, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.3306009, - "y": 0.691035748, - "z": -1.794143 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.35601091, - "y": 0.7294924, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.34200025, - "y": 1.14211643, - "z": 1.24621618 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8728, - "y": 0.816, - "z": -1.513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 0.138623625, - "y": 0.692921937, - "z": -1.6609292 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.28819478, - "y": 0.7346528, - "z": 1.72741032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.08474612, - "y": 0.727, - "z": 1.23166156 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3697025821, - "scene_num": 305 - }, - "task_id": "trial_T20190909_010816_319992", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A10AVWALIHR4UQ_39K0FND3AK6Q8JJZ1KFV7G0HKKDMAV", - "high_descs": [ - "Turn left and face the desk to the left of the blue rubbish bin.", - "Pick up the yellow pencil to the rear of the CD on the top shelf of the desk.", - "Back away from the desk slightly.", - "Place the pencil in the glass bowl to the right of the mug on the desk.", - "Pick up the glass bowl containing a pencil from the desk.", - "Turn around and towards the laundry basket then turn left and move to the nightstand in front of the window.", - "Place the glass bowl containing a pencil to the left of the CD on the nightstand." - ], - "task_desc": "Place a bowl containing a pencil on the nightstand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3WRFBPLXRDFW6G5E46FLXNBBJ0X3NI", - "high_descs": [ - "Turn left, move to the desk.", - "Pick up the right pencil on the shelf. ", - "Bring the pencil down to the desk. ", - "Put the pencil in the bowl on the desk. ", - "Pick up the bowl with pencil on the desk. ", - "Bring the bowl to the right, to the small table on the right side of the bed. ", - "Put the bowl with pencil on the table, left of the CD." - ], - "task_desc": "Put a bowl with a pencil in it on the table next to the bed. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1O3TWBUDONVLO_3X3OR7WPZ2RSJD8Z4AU2BCFXURQL8R", - "high_descs": [ - "Turn left to face the top of the desk.", - "Pick up the pencil on the top of the desk.", - "Look down to face the bowl on the desk.", - "Place the pencil in the bowl on the desk.", - "Pick up the bowl with the pencil in it on the desk.", - "Turn right and walk forward to face the night stand to the right of the bed.", - "Place the bowl on the night stand beside the bed." - ], - "task_desc": "To put a pencil in a bowl and place it on the night stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002224_438116/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002224_438116/traj_data.json deleted file mode 100644 index 0282fc10c..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002224_438116/traj_data.json +++ /dev/null @@ -1,4756 +0,0 @@ -{ - "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": 5 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "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": 15 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 53 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "countertop" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|17|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - -4.04991864, - -4.04991864, - 17.4, - 17.4, - 3.667359352, - 3.667359352 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -3.5624, - -3.5624, - 17.4, - 17.4, - 3.807995796, - 3.807995796 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.01|+00.92|+04.35" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|13|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - -4.04991864, - -4.04991864, - 17.4, - 17.4, - 3.667359352, - 3.667359352 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.01|+00.92|+04.35", - "receptacleObjectId": "Bowl|+02.37|+00.81|+03.49" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+03.49" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 13.97877504, - 13.97877504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+03.49", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "Pencil|-01.01|+00.92|+04.35" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 176, - 122, - 180, - 139 - ], - "mask": [ - [ - 36477, - 1 - ], - [ - 36776, - 2 - ], - [ - 37077, - 1 - ], - [ - 37377, - 2 - ], - [ - 37677, - 2 - ], - [ - 37977, - 2 - ], - [ - 38277, - 2 - ], - [ - 38577, - 2 - ], - [ - 38877, - 2 - ], - [ - 39177, - 2 - ], - [ - 39478, - 2 - ], - [ - 39778, - 2 - ], - [ - 40078, - 2 - ], - [ - 40378, - 2 - ], - [ - 40678, - 2 - ], - [ - 40978, - 2 - ], - [ - 41278, - 2 - ], - [ - 41578, - 3 - ] - ], - "point": [ - 178, - 129 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|-01.01|+00.92|+04.35", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.37|+00.81|+03.49" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 53, - 79, - 108, - 124 - ], - "mask": [ - [ - 23483, - 2 - ], - [ - 23776, - 16 - ], - [ - 24072, - 24 - ], - [ - 24370, - 28 - ], - [ - 24668, - 32 - ], - [ - 24966, - 35 - ], - [ - 25264, - 39 - ], - [ - 25563, - 41 - ], - [ - 25861, - 44 - ], - [ - 26160, - 45 - ], - [ - 26459, - 47 - ], - [ - 26758, - 49 - ], - [ - 27057, - 50 - ], - [ - 27357, - 51 - ], - [ - 27656, - 52 - ], - [ - 27955, - 53 - ], - [ - 28255, - 53 - ], - [ - 28554, - 54 - ], - [ - 28854, - 55 - ], - [ - 29154, - 55 - ], - [ - 29453, - 56 - ], - [ - 29753, - 56 - ], - [ - 30053, - 56 - ], - [ - 30353, - 56 - ], - [ - 30653, - 55 - ], - [ - 30953, - 55 - ], - [ - 31253, - 55 - ], - [ - 31553, - 55 - ], - [ - 31853, - 55 - ], - [ - 32154, - 53 - ], - [ - 32454, - 53 - ], - [ - 32755, - 51 - ], - [ - 33055, - 51 - ], - [ - 33356, - 49 - ], - [ - 33656, - 48 - ], - [ - 33957, - 47 - ], - [ - 34258, - 45 - ], - [ - 34559, - 43 - ], - [ - 34859, - 42 - ], - [ - 35161, - 38 - ], - [ - 35462, - 36 - ], - [ - 35763, - 34 - ], - [ - 36064, - 31 - ], - [ - 36366, - 27 - ], - [ - 36669, - 22 - ], - [ - 36972, - 15 - ] - ], - "point": [ - 80, - 100 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.37|+00.81|+03.49" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 53, - 79, - 108, - 124 - ], - "mask": [ - [ - 23483, - 2 - ], - [ - 23776, - 16 - ], - [ - 24072, - 24 - ], - [ - 24371, - 27 - ], - [ - 24668, - 1 - ], - [ - 24671, - 29 - ], - [ - 24966, - 3 - ], - [ - 24971, - 30 - ], - [ - 25264, - 5 - ], - [ - 25272, - 31 - ], - [ - 25563, - 7 - ], - [ - 25572, - 32 - ], - [ - 25861, - 9 - ], - [ - 25872, - 33 - ], - [ - 26160, - 11 - ], - [ - 26173, - 32 - ], - [ - 26459, - 12 - ], - [ - 26473, - 33 - ], - [ - 26758, - 13 - ], - [ - 26774, - 33 - ], - [ - 27057, - 15 - ], - [ - 27074, - 33 - ], - [ - 27357, - 15 - ], - [ - 27374, - 34 - ], - [ - 27656, - 16 - ], - [ - 27675, - 33 - ], - [ - 27955, - 18 - ], - [ - 27975, - 33 - ], - [ - 28255, - 18 - ], - [ - 28275, - 33 - ], - [ - 28554, - 20 - ], - [ - 28576, - 32 - ], - [ - 28854, - 20 - ], - [ - 28876, - 33 - ], - [ - 29154, - 20 - ], - [ - 29176, - 33 - ], - [ - 29453, - 22 - ], - [ - 29477, - 32 - ], - [ - 29753, - 22 - ], - [ - 29777, - 32 - ], - [ - 30053, - 22 - ], - [ - 30078, - 31 - ], - [ - 30353, - 23 - ], - [ - 30378, - 31 - ], - [ - 30653, - 23 - ], - [ - 30678, - 30 - ], - [ - 30953, - 55 - ], - [ - 31253, - 55 - ], - [ - 31553, - 55 - ], - [ - 31853, - 55 - ], - [ - 32154, - 53 - ], - [ - 32454, - 53 - ], - [ - 32755, - 51 - ], - [ - 33055, - 51 - ], - [ - 33356, - 49 - ], - [ - 33656, - 48 - ], - [ - 33957, - 47 - ], - [ - 34258, - 45 - ], - [ - 34559, - 43 - ], - [ - 34859, - 42 - ], - [ - 35161, - 38 - ], - [ - 35462, - 36 - ], - [ - 35763, - 34 - ], - [ - 36064, - 31 - ], - [ - 36366, - 27 - ], - [ - 36669, - 22 - ], - [ - 36972, - 15 - ] - ], - "point": [ - 80, - 100 - ] - } - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "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": "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": "Bowl|+02.37|+00.81|+03.49", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 25 - ], - [ - 20190, - 13 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 25 - ], - [ - 20490, - 13 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 26 - ], - [ - 20790, - 13 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 25 - ], - [ - 21090, - 13 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 25 - ], - [ - 21390, - 13 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 25 - ], - [ - 21689, - 14 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 26 - ], - [ - 21989, - 15 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 26 - ], - [ - 22289, - 15 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 25 - ], - [ - 22589, - 16 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 26 - ], - [ - 22889, - 16 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 26 - ], - [ - 23189, - 17 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 26 - ], - [ - 23488, - 18 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 26 - ], - [ - 23788, - 18 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 26 - ], - [ - 24088, - 19 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 26 - ], - [ - 24388, - 19 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 27 - ], - [ - 24687, - 21 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 3 - ], - [ - 29662, - 38 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 5 - ], - [ - 29962, - 38 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 6 - ], - [ - 30262, - 38 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 8 - ], - [ - 30563, - 37 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 9 - ], - [ - 30863, - 37 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 12 - ], - [ - 31163, - 37 - ], - [ - 31242, - 90 - ], - [ - 31436, - 13 - ], - [ - 31464, - 36 - ], - [ - 31542, - 92 - ], - [ - 31734, - 15 - ], - [ - 31764, - 36 - ], - [ - 31841, - 95 - ], - [ - 32032, - 17 - ], - [ - 32064, - 36 - ], - [ - 32141, - 96 - ], - [ - 32331, - 19 - ], - [ - 32364, - 36 - ], - [ - 32441, - 98 - ], - [ - 32628, - 22 - ], - [ - 32665, - 35 - ], - [ - 32741, - 101 - ], - [ - 32926, - 24 - ], - [ - 32965, - 35 - ], - [ - 33040, - 104 - ], - [ - 33224, - 26 - ], - [ - 33265, - 35 - ], - [ - 33340, - 107 - ], - [ - 33522, - 29 - ], - [ - 33565, - 35 - ], - [ - 33640, - 109 - ], - [ - 33819, - 32 - ], - [ - 33866, - 34 - ], - [ - 33940, - 34 - ], - [ - 33978, - 75 - ], - [ - 34116, - 35 - ], - [ - 34166, - 34 - ], - [ - 34239, - 30 - ], - [ - 34283, - 73 - ], - [ - 34412, - 39 - ], - [ - 34466, - 34 - ], - [ - 34539, - 28 - ], - [ - 34584, - 76 - ], - [ - 34708, - 44 - ], - [ - 34766, - 34 - ], - [ - 34839, - 26 - ], - [ - 34886, - 80 - ], - [ - 35002, - 98 - ], - [ - 35139, - 25 - ], - [ - 35187, - 87 - ], - [ - 35294, - 106 - ], - [ - 35438, - 25 - ], - [ - 35488, - 212 - ], - [ - 35738, - 24 - ], - [ - 35788, - 212 - ], - [ - 36038, - 23 - ], - [ - 36089, - 211 - ], - [ - 36337, - 23 - ], - [ - 36389, - 211 - ], - [ - 36637, - 22 - ], - [ - 36690, - 210 - ], - [ - 36937, - 22 - ], - [ - 36990, - 210 - ], - [ - 37237, - 21 - ], - [ - 37272, - 4 - ], - [ - 37290, - 210 - ], - [ - 37536, - 22 - ], - [ - 37572, - 4 - ], - [ - 37590, - 210 - ], - [ - 37836, - 22 - ], - [ - 37871, - 5 - ], - [ - 37890, - 210 - ], - [ - 38136, - 22 - ], - [ - 38172, - 3 - ], - [ - 38189, - 211 - ], - [ - 38436, - 22 - ], - [ - 38489, - 211 - ], - [ - 38735, - 23 - ], - [ - 38788, - 212 - ], - [ - 39035, - 23 - ], - [ - 39088, - 212 - ], - [ - 39335, - 23 - ], - [ - 39388, - 212 - ], - [ - 39635, - 24 - ], - [ - 39687, - 213 - ], - [ - 39934, - 25 - ], - [ - 39986, - 214 - ], - [ - 40234, - 26 - ], - [ - 40285, - 215 - ], - [ - 40534, - 27 - ], - [ - 40584, - 216 - ], - [ - 40833, - 29 - ], - [ - 40882, - 218 - ], - [ - 41133, - 31 - ], - [ - 41180, - 220 - ], - [ - 41433, - 33 - ], - [ - 41478, - 222 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.75, - "y": 0.9101201, - "z": 4.75 - }, - "object_poses": [ - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.8811438, - "y": 0.915931046, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.78479528, - "y": 0.807934046, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.52934146, - "y": 0.8426067, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -0.6841401, - "y": 0.913408458, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.45482922, - "y": 0.3997242, - "z": -0.33312723 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -0.749808, - "y": 0.9191518, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.57583427, - "y": 0.46727246, - "z": 0.3302396 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.88915682, - "y": 0.8083233, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.77032924, - "y": 0.842996, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.68043351, - "y": 0.8082262, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.6841401, - "y": 0.9143347, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.44725227, - "y": 0.752507448, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.815475941, - "y": 0.9215688, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.5946238, - "y": 0.785215139, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.116061687, - "y": 0.713601649, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.88915682, - "y": 0.8154603, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -0.116061687, - "y": 0.7142456, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.36734867, - "y": 0.809822559, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.60967064, - "y": 0.842996, - "z": 0.3617196 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.54577255, - "y": 0.7467077, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -0.946811736, - "y": 0.9147331, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.312467, - "y": 0.7123361, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -1.01247966, - "y": 0.916839838, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.833904862, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.247310251, - "y": 0.752, - "z": 2.96067333 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.749808, - "y": 0.913105667, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.47171044, - "y": 0.813980162, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.32727814, - "y": 0.743872, - "z": -1.4722122 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3675609575, - "scene_num": 311 - }, - "task_id": "trial_T20190909_002224_438116", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_33SA9F9TR0LP38UPLRN4CXSZ317WE9", - "high_descs": [ - "Turn around to your left enter on your right facing the mirror", - "Pick up the pencil below the remote", - "Turn around your left head to the table on your left", - "Put the pencil on the bowl at the table", - "Pick up the bowl with pencil", - "Turn around your left then walk straight then head to the tv stand on your left", - "Put the bowl with pencil on the left side of the tv stand " - ], - "task_desc": "Put the bowl with pencil on the tv stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1CY7IOJ9YH136_39GXDJN2OW5VFIKTIEW8YLDZLPSV8K", - "high_descs": [ - "turn around, go to counter to the right with clock", - "pick up blue pencil from behind remote on counter", - "turn around, go in between two chair to table", - "place pencil in gray bowl on table", - "pick up gray bowl with pencil", - "turn right, go to dresser with television to the left", - "place bowl on front, left corner of dresser with television" - ], - "task_desc": "place bowl with blue pencil on front left corner of dresser with television", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3Z4AIRP3C9458753J8OB7WNCNVY1XF", - "high_descs": [ - "Turn left and walk to the middle of the counter that's in front of you.", - "Pick up the blue pencil that's in front of you on the counter.", - "Turn around and go stand facing the table between the two red chairs.", - "Put the pencil in the clear bowl.", - "Pick up the clear bowl with the pencil in it.", - "Turn around and take a step forward then turn left and walk to the tv then turn left to face it and take a step towards it.", - "Put the bowl on the cd near the left of the tv." - ], - "task_desc": "Put a bowl with a pencil in it on the tv stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002323_289327/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002323_289327/traj_data.json deleted file mode 100644 index bad68759f..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002323_289327/traj_data.json +++ /dev/null @@ -1,3826 +0,0 @@ -{ - "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": 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": 1, - "image_name": "000000057.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "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": 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": 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": 18 - }, - { - "high_idx": 4, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 18 - }, - { - "high_idx": 5, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000123.png", - "low_idx": 19 - }, - { - "high_idx": 5, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000126.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000127.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000128.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000129.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000130.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000131.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000132.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000133.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 5, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 5, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 5, - "image_name": "000000142.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000145.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "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": 30 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000169.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000170.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000171.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000174.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000175.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000176.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000177.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000180.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000181.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000182.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000183.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000184.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000185.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000186.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000187.png", - "low_idx": 31 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|10|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.72173404, - 10.72173404, - 10.45246504, - 10.45246504, - 3.2466728, - 3.2466728 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.68|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|10|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.72173404, - 10.72173404, - 10.45246504, - 10.45246504, - 3.2466728, - 3.2466728 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 10.45246504, - 10.45246504, - 3.239290236, - 3.239290236 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.68|+00.81|+02.61", - "receptacleObjectId": "Bowl|+02.37|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 10.45246504, - 10.45246504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.46939468, - 9.46939468, - 10.45246504, - 10.45246504, - 3.239290236, - 3.239290236 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.37|+00.81|+02.61", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "PickupObject", - "objectId": "Pencil|+02.68|+00.81|+02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 124, - 117, - 126, - 139 - ], - "mask": [ - [ - 34926, - 1 - ], - [ - 35226, - 1 - ], - [ - 35526, - 1 - ], - [ - 35826, - 1 - ], - [ - 36126, - 1 - ], - [ - 36425, - 2 - ], - [ - 36725, - 2 - ], - [ - 37025, - 2 - ], - [ - 37325, - 2 - ], - [ - 37625, - 2 - ], - [ - 37925, - 2 - ], - [ - 38225, - 1 - ], - [ - 38525, - 1 - ], - [ - 38825, - 1 - ], - [ - 39124, - 2 - ], - [ - 39424, - 2 - ], - [ - 39724, - 2 - ], - [ - 40024, - 2 - ], - [ - 40324, - 2 - ], - [ - 40624, - 2 - ], - [ - 40924, - 2 - ], - [ - 41224, - 2 - ], - [ - 41524, - 1 - ] - ], - "point": [ - 125, - 127 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+02.68|+00.81|+02.61", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.37|+00.81|+02.61" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 90, - 79, - 145, - 124 - ], - "mask": [ - [ - 23519, - 2 - ], - [ - 23811, - 17 - ], - [ - 24108, - 23 - ], - [ - 24405, - 29 - ], - [ - 24703, - 32 - ], - [ - 25001, - 36 - ], - [ - 25300, - 38 - ], - [ - 25599, - 40 - ], - [ - 25897, - 44 - ], - [ - 26196, - 46 - ], - [ - 26495, - 47 - ], - [ - 26795, - 48 - ], - [ - 27094, - 50 - ], - [ - 27393, - 51 - ], - [ - 27693, - 51 - ], - [ - 27992, - 53 - ], - [ - 28292, - 53 - ], - [ - 28591, - 54 - ], - [ - 28891, - 54 - ], - [ - 29191, - 55 - ], - [ - 29490, - 56 - ], - [ - 29790, - 56 - ], - [ - 30090, - 56 - ], - [ - 30390, - 55 - ], - [ - 30690, - 55 - ], - [ - 30991, - 54 - ], - [ - 31291, - 54 - ], - [ - 31591, - 54 - ], - [ - 31891, - 53 - ], - [ - 32192, - 52 - ], - [ - 32492, - 52 - ], - [ - 32792, - 51 - ], - [ - 33093, - 50 - ], - [ - 33394, - 48 - ], - [ - 33694, - 47 - ], - [ - 33995, - 46 - ], - [ - 34296, - 44 - ], - [ - 34597, - 42 - ], - [ - 34897, - 41 - ], - [ - 35198, - 39 - ], - [ - 35500, - 36 - ], - [ - 35801, - 33 - ], - [ - 36102, - 31 - ], - [ - 36404, - 26 - ], - [ - 36707, - 21 - ], - [ - 37010, - 14 - ] - ], - "point": [ - 117, - 100 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.37|+00.81|+02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 90, - 79, - 145, - 124 - ], - "mask": [ - [ - 23519, - 2 - ], - [ - 23811, - 17 - ], - [ - 24109, - 22 - ], - [ - 24405, - 2 - ], - [ - 24409, - 25 - ], - [ - 24703, - 4 - ], - [ - 24709, - 26 - ], - [ - 25001, - 6 - ], - [ - 25010, - 27 - ], - [ - 25300, - 7 - ], - [ - 25310, - 28 - ], - [ - 25599, - 9 - ], - [ - 25610, - 29 - ], - [ - 25897, - 11 - ], - [ - 25910, - 31 - ], - [ - 26196, - 12 - ], - [ - 26210, - 32 - ], - [ - 26495, - 13 - ], - [ - 26510, - 32 - ], - [ - 26795, - 13 - ], - [ - 26811, - 32 - ], - [ - 27094, - 15 - ], - [ - 27111, - 33 - ], - [ - 27393, - 16 - ], - [ - 27411, - 33 - ], - [ - 27693, - 16 - ], - [ - 27711, - 33 - ], - [ - 27992, - 17 - ], - [ - 28011, - 34 - ], - [ - 28292, - 17 - ], - [ - 28312, - 33 - ], - [ - 28591, - 19 - ], - [ - 28612, - 33 - ], - [ - 28891, - 19 - ], - [ - 28912, - 33 - ], - [ - 29191, - 19 - ], - [ - 29212, - 34 - ], - [ - 29490, - 20 - ], - [ - 29512, - 34 - ], - [ - 29790, - 20 - ], - [ - 29813, - 33 - ], - [ - 30090, - 21 - ], - [ - 30113, - 33 - ], - [ - 30390, - 21 - ], - [ - 30413, - 32 - ], - [ - 30690, - 21 - ], - [ - 30713, - 32 - ], - [ - 30991, - 54 - ], - [ - 31291, - 54 - ], - [ - 31591, - 54 - ], - [ - 31891, - 53 - ], - [ - 32192, - 52 - ], - [ - 32492, - 52 - ], - [ - 32792, - 51 - ], - [ - 33093, - 50 - ], - [ - 33394, - 48 - ], - [ - 33694, - 47 - ], - [ - 33995, - 46 - ], - [ - 34296, - 44 - ], - [ - 34597, - 42 - ], - [ - 34897, - 41 - ], - [ - 35198, - 39 - ], - [ - 35500, - 36 - ], - [ - 35801, - 33 - ], - [ - 36102, - 31 - ], - [ - 36404, - 26 - ], - [ - 36707, - 21 - ], - [ - 37010, - 14 - ] - ], - "point": [ - 117, - 100 - ] - } - }, - "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": "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": "Bowl|+02.37|+00.81|+02.61", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 26 - ], - [ - 19645, - 2 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 26 - ], - [ - 19945, - 4 - ], - [ - 19950, - 36 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 26 - ], - [ - 20246, - 2 - ], - [ - 20249, - 94 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 26 - ], - [ - 20548, - 95 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 25 - ], - [ - 20850, - 93 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 26 - ], - [ - 21148, - 2 - ], - [ - 21151, - 91 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 26 - ], - [ - 21447, - 1 - ], - [ - 21450, - 92 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 26 - ], - [ - 21746, - 1 - ], - [ - 21750, - 4 - ], - [ - 21758, - 84 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 25 - ], - [ - 22047, - 2 - ], - [ - 22051, - 1 - ], - [ - 22060, - 82 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 25 - ], - [ - 22346, - 1 - ], - [ - 22349, - 1 - ], - [ - 22360, - 81 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 25 - ], - [ - 22646, - 5 - ], - [ - 22660, - 81 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 30 - ], - [ - 22952, - 1 - ], - [ - 22960, - 81 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 22 - ], - [ - 23245, - 9 - ], - [ - 23259, - 81 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 22 - ], - [ - 23545, - 95 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 21 - ], - [ - 23845, - 7 - ], - [ - 23853, - 86 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 21 - ], - [ - 24152, - 86 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 262 - ], - [ - 35738, - 262 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 1.25, - "y": 0.9101201, - "z": 5.0 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.749808, - "y": 0.911498964, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.36734867, - "y": 0.809822559, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -1.03811157, - "y": 0.3994214, - "z": -1.3147521 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.68043351, - "y": 0.8116682, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -1.30783081, - "y": 0.399810672, - "z": -0.8791543 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.36492372, - "y": 0.399810672, - "z": -0.507367 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.66068769, - "y": 0.4598238, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.77032924, - "y": 0.8438358, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.53340769, - "y": 0.0965925455, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 0.123219371, - "y": 0.713601649, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.576072, - "y": 0.8086246, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.116061687, - "y": 0.7123361, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 0.123219371, - "y": 0.713601649, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.36734867, - "y": 0.8163972, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -1.312467, - "y": 0.7142456, - "z": 2.82226515 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.47171044, - "y": 0.809822559, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.6841401, - "y": 0.913494945, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.758681, - "y": 0.7467077, - "z": -1.57073259 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.36492443, - "y": 0.401048839, - "z": -0.7687262 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.946811736, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.946811736, - "y": 0.916839838, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.312467, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.18511224, - "y": 0.3994214, - "z": -0.681606948 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.38353682, - "y": 0.806966841, - "z": 2.79799366 - }, - "rotation": { - "x": 0.0144487219, - "y": 1.14630921e-05, - "z": 0.00298334914 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.47171044, - "y": 0.8053905, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4227294566, - "scene_num": 311 - }, - "task_id": "trial_T20190909_002323_289327", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3HL2LL0LEPZT8_36AHBNMV1U3O07BP4XU8RCVUEXEDY4", - "high_descs": [ - "Turn right, go forward, turn left at the end of the black table on the left. Go to the table.", - "Take the pencil from behind the bowl on the table.", - "Stay at the table.", - "Put the pencil in the bowl on the table.", - "Take the bowl from the table.", - "Turn right, go forward, turn left at the dresser with the TV.", - "Put the bowl on let side of the dresser with the TV." - ], - "task_desc": "Put a bowl with a pencil in it on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_37UQDCYH60MRF4FA8942KLH4A5KV7V", - "high_descs": [ - "walk to face table", - "pick up green pencil from table", - "stand back from table", - "put green pencil into glass bowl on table", - "pick up bowl from table", - "move right to face tv and tv stand", - "put bowl on tv stand" - ], - "task_desc": "put bowl and pencil on tv stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A24RGLS3BRZ60J_3CTOC39K3AHIO9FGRKQJHX6AFH57JC", - "high_descs": [ - "Turn right and then turn left to face the far side of the dark table.", - "Pick up the pencil from the back of the table.", - "Hold the pencil while looking at the table.", - "Place the pencil in the clear bowl on the right side of the table.", - "Pick up the bowl from the table.", - "Carry the bowl to the right and face the TV on the left.", - "Place the bowl on left side of the dresser that the TV is on." - ], - "task_desc": "Move a bowl and pencil to a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-330/trial_T20190907_163542_485383/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-330/trial_T20190907_163542_485383/traj_data.json deleted file mode 100644 index 8e30abcd1..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-330/trial_T20190907_163542_485383/traj_data.json +++ /dev/null @@ -1,3964 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000062.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "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": 11 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "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": 27 - }, - { - "high_idx": 5, - "image_name": "000000159.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "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": 29 - }, - { - "high_idx": 5, - "image_name": "000000172.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000208.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000209.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000210.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000211.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 35 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-1|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - -6.92375948, - -6.92375948, - -0.5555048, - -0.5555048, - 3.9111526, - 3.9111526 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.73|+00.98|-00.14" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-8|3|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - -6.92375948, - -6.92375948, - -0.5555048, - -0.5555048, - 3.9111526, - 3.9111526 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - -6.79800032, - -6.79800032, - -8.29367064, - -8.29367064, - 4.58587932, - 4.58587932 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.73|+00.98|-00.14", - "receptacleObjectId": "Bowl|-01.70|+01.15|-02.07" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - -6.79800032, - -6.79800032, - -8.29367064, - -8.29367064, - 4.58587932, - 4.58587932 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.798, - -6.798, - -8.228, - -8.228, - 4.5512, - 4.5512 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-01.70|+01.15|-02.07" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - -6.79800032, - -6.79800032, - -8.29367064, - -8.29367064, - 4.58587932, - 4.58587932 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-01.70|+01.15|-02.07", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "Pencil|-01.73|+00.98|-00.14" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 178, - 112, - 182, - 143 - ], - "mask": [ - [ - 33478, - 2 - ], - [ - 33778, - 2 - ], - [ - 34078, - 2 - ], - [ - 34378, - 2 - ], - [ - 34678, - 2 - ], - [ - 34978, - 2 - ], - [ - 35278, - 3 - ], - [ - 35579, - 2 - ], - [ - 35879, - 2 - ], - [ - 36179, - 2 - ], - [ - 36479, - 2 - ], - [ - 36779, - 2 - ], - [ - 37079, - 2 - ], - [ - 37379, - 2 - ], - [ - 37679, - 3 - ], - [ - 37980, - 2 - ], - [ - 38280, - 2 - ], - [ - 38580, - 2 - ], - [ - 38880, - 2 - ], - [ - 39180, - 2 - ], - [ - 39480, - 2 - ], - [ - 39780, - 3 - ], - [ - 40080, - 3 - ], - [ - 40381, - 2 - ], - [ - 40681, - 2 - ], - [ - 40981, - 2 - ], - [ - 41281, - 2 - ], - [ - 41581, - 2 - ], - [ - 41881, - 2 - ], - [ - 42181, - 2 - ], - [ - 42482, - 1 - ], - [ - 42782, - 1 - ] - ], - "point": [ - 180, - 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": "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": "PutObject", - "forceAction": true, - "objectId": "Pencil|-01.73|+00.98|-00.14", - "placeStationary": true, - "receptacleObjectId": "Bowl|-01.70|+01.15|-02.07" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 66, - 91, - 163, - 162 - ], - "mask": [ - [ - 27106, - 28 - ], - [ - 27395, - 49 - ], - [ - 27691, - 57 - ], - [ - 27986, - 67 - ], - [ - 28283, - 72 - ], - [ - 28582, - 74 - ], - [ - 28881, - 75 - ], - [ - 29180, - 77 - ], - [ - 29479, - 79 - ], - [ - 29778, - 81 - ], - [ - 30077, - 82 - ], - [ - 30377, - 83 - ], - [ - 30676, - 84 - ], - [ - 30975, - 86 - ], - [ - 31275, - 86 - ], - [ - 31574, - 87 - ], - [ - 31873, - 89 - ], - [ - 32173, - 89 - ], - [ - 32472, - 90 - ], - [ - 32772, - 90 - ], - [ - 33071, - 92 - ], - [ - 33371, - 92 - ], - [ - 33670, - 93 - ], - [ - 33970, - 93 - ], - [ - 34269, - 94 - ], - [ - 34569, - 95 - ], - [ - 34868, - 96 - ], - [ - 35168, - 96 - ], - [ - 35468, - 96 - ], - [ - 35768, - 96 - ], - [ - 36068, - 96 - ], - [ - 36367, - 96 - ], - [ - 36667, - 96 - ], - [ - 36967, - 96 - ], - [ - 37267, - 96 - ], - [ - 37566, - 97 - ], - [ - 37866, - 97 - ], - [ - 38166, - 97 - ], - [ - 38466, - 97 - ], - [ - 38766, - 96 - ], - [ - 39066, - 96 - ], - [ - 39366, - 96 - ], - [ - 39666, - 96 - ], - [ - 39966, - 96 - ], - [ - 40266, - 95 - ], - [ - 40566, - 95 - ], - [ - 40866, - 95 - ], - [ - 41166, - 94 - ], - [ - 41467, - 93 - ], - [ - 41767, - 92 - ], - [ - 42067, - 91 - ], - [ - 42368, - 90 - ], - [ - 42668, - 89 - ], - [ - 42968, - 89 - ], - [ - 43269, - 87 - ], - [ - 43571, - 83 - ], - [ - 43873, - 80 - ], - [ - 44175, - 77 - ], - [ - 44476, - 75 - ], - [ - 44778, - 72 - ], - [ - 45080, - 68 - ], - [ - 45382, - 65 - ], - [ - 45684, - 62 - ], - [ - 45986, - 59 - ], - [ - 46288, - 56 - ], - [ - 46590, - 53 - ], - [ - 46892, - 50 - ], - [ - 47194, - 47 - ], - [ - 47495, - 44 - ], - [ - 47798, - 39 - ], - [ - 48102, - 30 - ], - [ - 48409, - 16 - ] - ], - "point": [ - 114, - 125 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|-01.70|+01.15|-02.07" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 66, - 91, - 163, - 162 - ], - "mask": [ - [ - 27106, - 28 - ], - [ - 27395, - 49 - ], - [ - 27691, - 57 - ], - [ - 27986, - 67 - ], - [ - 28283, - 72 - ], - [ - 28582, - 74 - ], - [ - 28881, - 75 - ], - [ - 29181, - 76 - ], - [ - 29481, - 77 - ], - [ - 29782, - 77 - ], - [ - 30082, - 77 - ], - [ - 30377, - 1 - ], - [ - 30382, - 78 - ], - [ - 30676, - 2 - ], - [ - 30682, - 78 - ], - [ - 30975, - 3 - ], - [ - 30982, - 79 - ], - [ - 31275, - 3 - ], - [ - 31283, - 78 - ], - [ - 31574, - 4 - ], - [ - 31583, - 78 - ], - [ - 31873, - 6 - ], - [ - 31883, - 79 - ], - [ - 32173, - 6 - ], - [ - 32183, - 79 - ], - [ - 32472, - 7 - ], - [ - 32484, - 78 - ], - [ - 32772, - 7 - ], - [ - 32784, - 78 - ], - [ - 33071, - 9 - ], - [ - 33084, - 79 - ], - [ - 33371, - 9 - ], - [ - 33384, - 79 - ], - [ - 33670, - 10 - ], - [ - 33684, - 79 - ], - [ - 33970, - 10 - ], - [ - 33985, - 78 - ], - [ - 34269, - 12 - ], - [ - 34285, - 78 - ], - [ - 34569, - 12 - ], - [ - 34585, - 79 - ], - [ - 34868, - 13 - ], - [ - 34885, - 79 - ], - [ - 35168, - 13 - ], - [ - 35186, - 78 - ], - [ - 35468, - 14 - ], - [ - 35486, - 78 - ], - [ - 35768, - 14 - ], - [ - 35786, - 78 - ], - [ - 36068, - 14 - ], - [ - 36086, - 78 - ], - [ - 36367, - 15 - ], - [ - 36386, - 77 - ], - [ - 36667, - 15 - ], - [ - 36687, - 76 - ], - [ - 36967, - 16 - ], - [ - 36987, - 76 - ], - [ - 37267, - 16 - ], - [ - 37287, - 76 - ], - [ - 37566, - 17 - ], - [ - 37587, - 76 - ], - [ - 37866, - 17 - ], - [ - 37888, - 75 - ], - [ - 38166, - 18 - ], - [ - 38188, - 75 - ], - [ - 38466, - 18 - ], - [ - 38488, - 75 - ], - [ - 38766, - 18 - ], - [ - 38788, - 74 - ], - [ - 39066, - 18 - ], - [ - 39088, - 74 - ], - [ - 39366, - 19 - ], - [ - 39389, - 73 - ], - [ - 39666, - 19 - ], - [ - 39689, - 73 - ], - [ - 39966, - 19 - ], - [ - 39989, - 73 - ], - [ - 40266, - 19 - ], - [ - 40289, - 72 - ], - [ - 40566, - 20 - ], - [ - 40590, - 71 - ], - [ - 40866, - 20 - ], - [ - 40890, - 71 - ], - [ - 41166, - 20 - ], - [ - 41190, - 70 - ], - [ - 41467, - 19 - ], - [ - 41490, - 70 - ], - [ - 41767, - 19 - ], - [ - 41790, - 69 - ], - [ - 42067, - 20 - ], - [ - 42091, - 67 - ], - [ - 42368, - 19 - ], - [ - 42391, - 67 - ], - [ - 42668, - 19 - ], - [ - 42691, - 66 - ], - [ - 42968, - 89 - ], - [ - 43269, - 87 - ], - [ - 43571, - 83 - ], - [ - 43873, - 80 - ], - [ - 44175, - 77 - ], - [ - 44476, - 75 - ], - [ - 44778, - 72 - ], - [ - 45080, - 68 - ], - [ - 45382, - 65 - ], - [ - 45684, - 62 - ], - [ - 45986, - 59 - ], - [ - 46288, - 56 - ], - [ - 46590, - 53 - ], - [ - 46892, - 50 - ], - [ - 47194, - 47 - ], - [ - 47495, - 44 - ], - [ - 47798, - 39 - ], - [ - 48102, - 30 - ], - [ - 48409, - 16 - ] - ], - "point": [ - 114, - 125 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|-01.70|+01.15|-02.07", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 27 - ], - [ - 4887, - 213 - ], - [ - 5134, - 28 - ], - [ - 5188, - 212 - ], - [ - 5434, - 28 - ], - [ - 5488, - 212 - ], - [ - 5734, - 27 - ], - [ - 5789, - 211 - ], - [ - 6033, - 28 - ], - [ - 6089, - 211 - ], - [ - 6333, - 28 - ], - [ - 6390, - 210 - ], - [ - 6633, - 28 - ], - [ - 6691, - 209 - ], - [ - 6932, - 29 - ], - [ - 6991, - 209 - ], - [ - 7232, - 29 - ], - [ - 7292, - 208 - ], - [ - 7531, - 29 - ], - [ - 7592, - 208 - ], - [ - 7831, - 29 - ], - [ - 7893, - 207 - ], - [ - 8131, - 29 - ], - [ - 8193, - 207 - ], - [ - 8430, - 30 - ], - [ - 8493, - 207 - ], - [ - 8730, - 29 - ], - [ - 8793, - 207 - ], - [ - 9030, - 29 - ], - [ - 9093, - 207 - ], - [ - 9329, - 30 - ], - [ - 9393, - 207 - ], - [ - 9629, - 30 - ], - [ - 9693, - 207 - ], - [ - 9929, - 29 - ], - [ - 9992, - 207 - ], - [ - 10228, - 30 - ], - [ - 10292, - 208 - ], - [ - 10528, - 30 - ], - [ - 10592, - 208 - ], - [ - 10827, - 32 - ], - [ - 10892, - 208 - ], - [ - 11127, - 33 - ], - [ - 11192, - 208 - ], - [ - 11427, - 33 - ], - [ - 11492, - 208 - ], - [ - 11726, - 35 - ], - [ - 11792, - 208 - ], - [ - 12026, - 36 - ], - [ - 12093, - 207 - ], - [ - 12326, - 37 - ], - [ - 12393, - 207 - ], - [ - 12625, - 38 - ], - [ - 12693, - 207 - ], - [ - 12925, - 39 - ], - [ - 12993, - 207 - ], - [ - 13225, - 40 - ], - [ - 13292, - 208 - ], - [ - 13524, - 42 - ], - [ - 13592, - 208 - ], - [ - 13824, - 42 - ], - [ - 13892, - 208 - ], - [ - 14123, - 44 - ], - [ - 14192, - 208 - ], - [ - 14423, - 45 - ], - [ - 14492, - 208 - ], - [ - 14723, - 46 - ], - [ - 14792, - 208 - ], - [ - 15022, - 47 - ], - [ - 15091, - 209 - ], - [ - 15322, - 47 - ], - [ - 15391, - 209 - ], - [ - 15622, - 47 - ], - [ - 15691, - 209 - ], - [ - 15921, - 47 - ], - [ - 15991, - 209 - ], - [ - 16221, - 47 - ], - [ - 16291, - 209 - ], - [ - 16521, - 47 - ], - [ - 16591, - 209 - ], - [ - 16820, - 48 - ], - [ - 16890, - 210 - ], - [ - 17120, - 48 - ], - [ - 17190, - 210 - ], - [ - 17419, - 48 - ], - [ - 17490, - 89 - ], - [ - 17618, - 82 - ], - [ - 17719, - 48 - ], - [ - 17790, - 87 - ], - [ - 17920, - 80 - ], - [ - 18019, - 48 - ], - [ - 18090, - 86 - ], - [ - 18220, - 80 - ], - [ - 18318, - 49 - ], - [ - 18390, - 86 - ], - [ - 18521, - 79 - ], - [ - 18618, - 48 - ], - [ - 18689, - 87 - ], - [ - 18821, - 79 - ], - [ - 18918, - 48 - ], - [ - 18989, - 87 - ], - [ - 19121, - 68 - ], - [ - 19217, - 50 - ], - [ - 19289, - 87 - ], - [ - 19421, - 67 - ], - [ - 19517, - 52 - ], - [ - 19589, - 87 - ], - [ - 19721, - 66 - ], - [ - 19817, - 58 - ], - [ - 19889, - 87 - ], - [ - 20022, - 65 - ], - [ - 20116, - 66 - ], - [ - 20189, - 88 - ], - [ - 20322, - 65 - ], - [ - 20416, - 161 - ], - [ - 20622, - 65 - ], - [ - 20715, - 162 - ], - [ - 20922, - 65 - ], - [ - 21015, - 162 - ], - [ - 21222, - 66 - ], - [ - 21315, - 162 - ], - [ - 21523, - 65 - ], - [ - 21614, - 163 - ], - [ - 21823, - 66 - ], - [ - 21914, - 163 - ], - [ - 22123, - 66 - ], - [ - 22214, - 163 - ], - [ - 22423, - 66 - ], - [ - 22513, - 164 - ], - [ - 22722, - 68 - ], - [ - 22813, - 166 - ], - [ - 23021, - 69 - ], - [ - 23113, - 277 - ], - [ - 23412, - 279 - ], - [ - 23712, - 279 - ], - [ - 24011, - 281 - ], - [ - 24311, - 281 - ], - [ - 24611, - 281 - ], - [ - 24910, - 283 - ], - [ - 25210, - 283 - ], - [ - 25510, - 283 - ], - [ - 25809, - 285 - ], - [ - 26109, - 285 - ], - [ - 26409, - 285 - ], - [ - 26708, - 287 - ], - [ - 27008, - 287 - ], - [ - 27307, - 289 - ], - [ - 27607, - 289 - ], - [ - 27907, - 289 - ], - [ - 28206, - 291 - ], - [ - 28506, - 291 - ], - [ - 28806, - 291 - ], - [ - 29105, - 293 - ], - [ - 29405, - 293 - ], - [ - 29705, - 294 - ], - [ - 30004, - 295 - ], - [ - 30304, - 295 - ], - [ - 30603, - 297 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 204 - ], - [ - 32307, - 93 - ], - [ - 32401, - 205 - ], - [ - 32607, - 93 - ], - [ - 32701, - 200 - ], - [ - 32907, - 93 - ], - [ - 33001, - 195 - ], - [ - 33212, - 282 - ], - [ - 33514, - 279 - ], - [ - 33816, - 275 - ], - [ - 34118, - 272 - ], - [ - 34419, - 270 - ], - [ - 34720, - 269 - ], - [ - 35021, - 267 - ], - [ - 35322, - 265 - ], - [ - 35623, - 264 - ], - [ - 35923, - 264 - ], - [ - 36224, - 263 - ], - [ - 36524, - 263 - ], - [ - 36824, - 262 - ], - [ - 37107, - 1 - ], - [ - 37125, - 261 - ], - [ - 37407, - 2 - ], - [ - 37425, - 262 - ], - [ - 37707, - 2 - ], - [ - 37725, - 262 - ], - [ - 38007, - 1 - ], - [ - 38025, - 262 - ], - [ - 38325, - 262 - ], - [ - 38625, - 263 - ], - [ - 38925, - 263 - ], - [ - 39225, - 264 - ], - [ - 39524, - 266 - ], - [ - 39824, - 267 - ], - [ - 40123, - 269 - ], - [ - 40422, - 270 - ], - [ - 40722, - 272 - ], - [ - 41021, - 275 - ], - [ - 41319, - 278 - ], - [ - 41618, - 279 - ], - [ - 41916, - 281 - ], - [ - 42212, - 284 - ], - [ - 42504, - 292 - ], - [ - 42804, - 292 - ], - [ - 43103, - 293 - ], - [ - 43403, - 293 - ], - [ - 43703, - 293 - ], - [ - 44003, - 292 - ], - [ - 44303, - 292 - ], - [ - 44602, - 98 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -0.75, - "y": 0.9009992, - "z": 1.0 - }, - "object_poses": [ - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.73094034, - "y": 0.9823676, - "z": 0.0621766448 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.4361521, - "y": 0.9704067, - "z": -0.3399284 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.77670479, - "y": 0.216542318, - "z": -0.8155022 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.5524714, - "y": 0.415858924, - "z": 0.07177448 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.5098505, - "y": 0.9762845, - "z": 0.263230026 - }, - "rotation": { - "x": 0.0, - "y": 269.999878, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.43799973, - "y": 0.3743477, - "z": -1.61593139 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.68785524, - "y": 0.432995975, - "z": 1.752324 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.58354735, - "y": 0.973890662, - "z": 0.263229847 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.76215839, - "y": 1.63940215, - "z": -1.95940614 - }, - "rotation": { - "x": 0.0, - "y": 180.0005, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.72046614, - "y": 0.7993237, - "z": -0.536419868 - }, - "rotation": { - "x": 0.0, - "y": 179.999878, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 0.537682, - "y": 0.774509549, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.537682, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.58354688, - "y": 0.9701714, - "z": 0.0621770024 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.49437249, - "y": 0.03752886, - "z": -0.629953265 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.73093832, - "y": 0.9706196, - "z": -0.7420347 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.02, - "y": 0.836844742, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.69950211, - "y": 1.14705348, - "z": -2.30144024 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.74347711, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": 1.73104572, - "y": 0.6861595, - "z": 2.26295 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.73093987, - "y": 0.97778815, - "z": -0.1388762 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.76216245, - "y": 1.63781118, - "z": -2.41544914 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 2.438, - "y": 0.686652839, - "z": -1.6268301 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": -1.65724254, - "y": 0.97101, - "z": -0.339928925 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.76215959, - "y": 1.63742185, - "z": -2.073417 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.69950008, - "y": 1.14646983, - "z": -2.07341766 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": 1.57630777, - "y": 0.691063941, - "z": 2.08252072 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3816688197, - "scene_num": 330 - }, - "task_id": "trial_T20190907_163542_485383", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1DK3FVV13STX2_36PW28KO42DKB65OOE2VTMB6HNKAE5", - "high_descs": [ - "Turn around and walk to the black dresser on the right. ", - "Pick up the pencil on the dresser. ", - "Walk to the black hutch to the left of the dresser.", - "Put the pencil in the glass bowl on the black hutch.", - "Pick up the bowl with the pencil in it. ", - "Turn around and walk back to the black dresser.", - "Put the bowl on the dresser between the phone and the tablet. " - ], - "task_desc": "Put a glass bowl with a pencil in it on the black dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AO33H4GL9KZX9_3CFJTT4SXW7E899CDUG24A78891I7D", - "high_descs": [ - "Turn around and go to the black chest on the right. ", - "Take the yellow pencil behind the red phone on the top of the chest.", - "Go to the book shelf to the left of the chest. ", - "Place the pencil in the clear glass bowl.", - "Take the glass bowl and the pencil in it.", - "Go back to the chest to the right. ", - "PLace the glass bowl with pencil in it on the top of the chest next to the cd and the phone. " - ], - "task_desc": "Put the pencil in a glass bowl. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3R2UR8A0IDXIJAQ6T2X5I6GIMANOXF", - "high_descs": [ - "Turn around to your left walk few steps and face the cabinet on your right", - "Pick up the pencil on the top of the cabinet", - "Turn to your left and head to the drawer on your right", - "Place the pencil in the bowl ", - "Pick up the bowl with pencil", - "Turn to your right and head back to the cabinet", - "Put the bowl with pencil on the cabinet beside the phone" - ], - "task_desc": "Put bowl with pencil on the cabinet", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-330/trial_T20190907_163716_768151/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-330/trial_T20190907_163716_768151/traj_data.json deleted file mode 100644 index b5946d88b..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-330/trial_T20190907_163716_768151/traj_data.json +++ /dev/null @@ -1,3795 +0,0 @@ -{ - "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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 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": 15 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "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": 0, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "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": 1, - "image_name": "000000102.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 22 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000126.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000129.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "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": 42 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 48 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 5.99576664, - 5.99576664, - 8.87138, - 8.87138, - 2.745938, - 2.745938 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 6.30523444, - 6.30523444, - 8.56312752, - 8.56312752, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+01.50|+00.69|+02.22" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 5.99576664, - 5.99576664, - 8.87138, - 8.87138, - 2.745938, - 2.745938 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 6.92418052, - 6.92418052, - 8.871368, - 8.871368, - 2.72446108, - 2.72446108 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+01.50|+00.69|+02.22", - "receptacleObjectId": "Bowl|+01.73|+00.68|+02.22" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 6.92418052, - 6.92418052, - 8.871368, - 8.871368, - 2.72446108, - 2.72446108 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 6.30523444, - 6.30523444, - 8.56312752, - 8.56312752, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.73|+00.68|+02.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 6.92418052, - 6.92418052, - 8.871368, - 8.871368, - 2.72446108, - 2.72446108 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.73|+00.68|+02.22", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pencil|+01.50|+00.69|+02.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 142, - 161, - 173, - 162 - ], - "mask": [ - [ - 48142, - 32 - ], - [ - 48442, - 28 - ] - ], - "point": [ - 157, - 160 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+01.50|+00.69|+02.22", - "placeStationary": true, - "receptacleObjectId": "Bowl|+01.73|+00.68|+02.22" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 185, - 128, - 243, - 177 - ], - "mask": [ - [ - 38300, - 22 - ], - [ - 38595, - 32 - ], - [ - 38892, - 39 - ], - [ - 39189, - 44 - ], - [ - 39488, - 46 - ], - [ - 39788, - 47 - ], - [ - 40088, - 48 - ], - [ - 40387, - 50 - ], - [ - 40687, - 50 - ], - [ - 40986, - 52 - ], - [ - 41286, - 52 - ], - [ - 41586, - 53 - ], - [ - 41886, - 53 - ], - [ - 42186, - 53 - ], - [ - 42486, - 54 - ], - [ - 42786, - 54 - ], - [ - 43085, - 56 - ], - [ - 43385, - 56 - ], - [ - 43685, - 56 - ], - [ - 43985, - 57 - ], - [ - 44285, - 57 - ], - [ - 44585, - 57 - ], - [ - 44885, - 57 - ], - [ - 45185, - 58 - ], - [ - 45485, - 58 - ], - [ - 45786, - 57 - ], - [ - 46086, - 57 - ], - [ - 46386, - 57 - ], - [ - 46686, - 57 - ], - [ - 46986, - 57 - ], - [ - 47286, - 58 - ], - [ - 47587, - 57 - ], - [ - 47887, - 57 - ], - [ - 48187, - 57 - ], - [ - 48488, - 56 - ], - [ - 48788, - 56 - ], - [ - 49088, - 56 - ], - [ - 49388, - 56 - ], - [ - 49689, - 54 - ], - [ - 49989, - 54 - ], - [ - 50290, - 53 - ], - [ - 50590, - 53 - ], - [ - 50891, - 51 - ], - [ - 51191, - 51 - ], - [ - 51492, - 50 - ], - [ - 51794, - 46 - ], - [ - 52096, - 42 - ], - [ - 52399, - 36 - ], - [ - 52704, - 27 - ], - [ - 53012, - 11 - ] - ], - "point": [ - 214, - 151 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.73|+00.68|+02.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 185, - 128, - 243, - 177 - ], - "mask": [ - [ - 38300, - 22 - ], - [ - 38595, - 32 - ], - [ - 38892, - 38 - ], - [ - 39189, - 40 - ], - [ - 39232, - 1 - ], - [ - 39488, - 41 - ], - [ - 39532, - 2 - ], - [ - 39788, - 41 - ], - [ - 39831, - 4 - ], - [ - 40088, - 40 - ], - [ - 40131, - 5 - ], - [ - 40387, - 41 - ], - [ - 40430, - 7 - ], - [ - 40687, - 40 - ], - [ - 40730, - 7 - ], - [ - 40986, - 41 - ], - [ - 41029, - 9 - ], - [ - 41286, - 40 - ], - [ - 41329, - 9 - ], - [ - 41586, - 40 - ], - [ - 41628, - 11 - ], - [ - 41886, - 39 - ], - [ - 41928, - 11 - ], - [ - 42186, - 39 - ], - [ - 42227, - 12 - ], - [ - 42486, - 38 - ], - [ - 42527, - 13 - ], - [ - 42786, - 38 - ], - [ - 42826, - 14 - ], - [ - 43085, - 56 - ], - [ - 43385, - 56 - ], - [ - 43685, - 56 - ], - [ - 43985, - 57 - ], - [ - 44285, - 57 - ], - [ - 44585, - 57 - ], - [ - 44885, - 57 - ], - [ - 45185, - 58 - ], - [ - 45485, - 58 - ], - [ - 45786, - 57 - ], - [ - 46086, - 57 - ], - [ - 46386, - 57 - ], - [ - 46686, - 57 - ], - [ - 46986, - 57 - ], - [ - 47286, - 58 - ], - [ - 47587, - 57 - ], - [ - 47887, - 57 - ], - [ - 48187, - 57 - ], - [ - 48488, - 56 - ], - [ - 48788, - 56 - ], - [ - 49088, - 56 - ], - [ - 49388, - 56 - ], - [ - 49689, - 54 - ], - [ - 49989, - 54 - ], - [ - 50290, - 53 - ], - [ - 50590, - 53 - ], - [ - 50891, - 51 - ], - [ - 51191, - 51 - ], - [ - 51492, - 50 - ], - [ - 51794, - 46 - ], - [ - 52096, - 42 - ], - [ - 52399, - 36 - ], - [ - 52704, - 27 - ], - [ - 53012, - 11 - ] - ], - "point": [ - 214, - 151 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.73|+00.68|+02.22", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 97 - ], - [ - 4958, - 116 - ], - [ - 5134, - 97 - ], - [ - 5255, - 118 - ], - [ - 5434, - 96 - ], - [ - 5552, - 121 - ], - [ - 5734, - 95 - ], - [ - 5849, - 124 - ], - [ - 6033, - 95 - ], - [ - 6148, - 124 - ], - [ - 6333, - 94 - ], - [ - 6447, - 125 - ], - [ - 6633, - 94 - ], - [ - 6746, - 125 - ], - [ - 6932, - 95 - ], - [ - 7046, - 125 - ], - [ - 7232, - 94 - ], - [ - 7346, - 124 - ], - [ - 7531, - 95 - ], - [ - 7647, - 122 - ], - [ - 7831, - 94 - ], - [ - 7947, - 122 - ], - [ - 8131, - 94 - ], - [ - 8247, - 121 - ], - [ - 8430, - 95 - ], - [ - 8548, - 120 - ], - [ - 8730, - 95 - ], - [ - 8848, - 119 - ], - [ - 9030, - 95 - ], - [ - 9148, - 119 - ], - [ - 9329, - 96 - ], - [ - 9448, - 119 - ], - [ - 9629, - 96 - ], - [ - 9749, - 118 - ], - [ - 9929, - 96 - ], - [ - 10049, - 118 - ], - [ - 10228, - 97 - ], - [ - 10349, - 118 - ], - [ - 10528, - 97 - ], - [ - 10649, - 118 - ], - [ - 10827, - 98 - ], - [ - 10949, - 45 - ], - [ - 10995, - 72 - ], - [ - 11127, - 98 - ], - [ - 11249, - 45 - ], - [ - 11295, - 72 - ], - [ - 11427, - 98 - ], - [ - 11549, - 45 - ], - [ - 11596, - 71 - ], - [ - 11726, - 99 - ], - [ - 11849, - 45 - ], - [ - 11896, - 70 - ], - [ - 12026, - 99 - ], - [ - 12149, - 45 - ], - [ - 12196, - 70 - ], - [ - 12326, - 99 - ], - [ - 12449, - 45 - ], - [ - 12496, - 70 - ], - [ - 12625, - 100 - ], - [ - 12749, - 45 - ], - [ - 12797, - 69 - ], - [ - 12925, - 100 - ], - [ - 13049, - 45 - ], - [ - 13097, - 69 - ], - [ - 13225, - 100 - ], - [ - 13349, - 45 - ], - [ - 13397, - 69 - ], - [ - 13524, - 101 - ], - [ - 13650, - 44 - ], - [ - 13697, - 69 - ], - [ - 13824, - 101 - ], - [ - 13948, - 47 - ], - [ - 13997, - 69 - ], - [ - 14123, - 103 - ], - [ - 14248, - 47 - ], - [ - 14297, - 69 - ], - [ - 14423, - 103 - ], - [ - 14548, - 47 - ], - [ - 14597, - 69 - ], - [ - 14723, - 103 - ], - [ - 14848, - 47 - ], - [ - 14897, - 69 - ], - [ - 15022, - 104 - ], - [ - 15148, - 47 - ], - [ - 15198, - 68 - ], - [ - 15322, - 104 - ], - [ - 15448, - 47 - ], - [ - 15498, - 68 - ], - [ - 15622, - 104 - ], - [ - 15748, - 47 - ], - [ - 15798, - 68 - ], - [ - 15921, - 105 - ], - [ - 16048, - 47 - ], - [ - 16098, - 68 - ], - [ - 16221, - 105 - ], - [ - 16348, - 48 - ], - [ - 16398, - 67 - ], - [ - 16521, - 105 - ], - [ - 16647, - 49 - ], - [ - 16698, - 67 - ], - [ - 16820, - 106 - ], - [ - 16947, - 49 - ], - [ - 16998, - 67 - ], - [ - 17120, - 106 - ], - [ - 17247, - 49 - ], - [ - 17299, - 66 - ], - [ - 17419, - 107 - ], - [ - 17547, - 49 - ], - [ - 17599, - 66 - ], - [ - 17719, - 107 - ], - [ - 17847, - 49 - ], - [ - 17899, - 66 - ], - [ - 18019, - 107 - ], - [ - 18147, - 49 - ], - [ - 18199, - 66 - ], - [ - 18318, - 108 - ], - [ - 18447, - 49 - ], - [ - 18499, - 66 - ], - [ - 18618, - 108 - ], - [ - 18747, - 50 - ], - [ - 18799, - 66 - ], - [ - 18918, - 108 - ], - [ - 19047, - 50 - ], - [ - 19099, - 66 - ], - [ - 19217, - 109 - ], - [ - 19347, - 50 - ], - [ - 19400, - 65 - ], - [ - 19517, - 109 - ], - [ - 19647, - 50 - ], - [ - 19700, - 65 - ], - [ - 19817, - 109 - ], - [ - 19947, - 50 - ], - [ - 20000, - 65 - ], - [ - 20116, - 110 - ], - [ - 20247, - 50 - ], - [ - 20300, - 65 - ], - [ - 20416, - 110 - ], - [ - 20547, - 50 - ], - [ - 20600, - 65 - ], - [ - 20715, - 111 - ], - [ - 20847, - 50 - ], - [ - 20900, - 64 - ], - [ - 21015, - 111 - ], - [ - 21147, - 51 - ], - [ - 21200, - 64 - ], - [ - 21315, - 111 - ], - [ - 21447, - 51 - ], - [ - 21500, - 64 - ], - [ - 21614, - 112 - ], - [ - 21747, - 51 - ], - [ - 21800, - 64 - ], - [ - 21914, - 112 - ], - [ - 22047, - 52 - ], - [ - 22100, - 64 - ], - [ - 22214, - 112 - ], - [ - 22347, - 52 - ], - [ - 22400, - 64 - ], - [ - 22513, - 113 - ], - [ - 22647, - 117 - ], - [ - 22813, - 113 - ], - [ - 22947, - 117 - ], - [ - 23113, - 113 - ], - [ - 23247, - 117 - ], - [ - 23412, - 114 - ], - [ - 23547, - 117 - ], - [ - 23712, - 114 - ], - [ - 23848, - 116 - ], - [ - 24011, - 114 - ], - [ - 24148, - 116 - ], - [ - 24311, - 114 - ], - [ - 24448, - 116 - ], - [ - 24611, - 114 - ], - [ - 24748, - 116 - ], - [ - 24910, - 115 - ], - [ - 25048, - 116 - ], - [ - 25210, - 115 - ], - [ - 25348, - 116 - ], - [ - 25510, - 116 - ], - [ - 25648, - 117 - ], - [ - 25809, - 117 - ], - [ - 25948, - 118 - ], - [ - 26109, - 117 - ], - [ - 26247, - 119 - ], - [ - 26409, - 118 - ], - [ - 26547, - 120 - ], - [ - 26708, - 119 - ], - [ - 26847, - 121 - ], - [ - 27008, - 119 - ], - [ - 27147, - 122 - ], - [ - 27307, - 121 - ], - [ - 27447, - 124 - ], - [ - 27607, - 122 - ], - [ - 27747, - 125 - ], - [ - 27907, - 124 - ], - [ - 28042, - 2 - ], - [ - 28046, - 127 - ], - [ - 28206, - 126 - ], - [ - 28337, - 137 - ], - [ - 28506, - 269 - ], - [ - 28806, - 271 - ], - [ - 29105, - 273 - ], - [ - 29405, - 274 - ], - [ - 29705, - 275 - ], - [ - 30004, - 280 - ], - [ - 30304, - 286 - ], - [ - 30603, - 292 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 299 - ], - [ - 33001, - 11618 - ], - [ - 44620, - 80 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.0, - "y": 0.9009992, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.73093927, - "y": 0.9764528, - "z": -0.3399291 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 2.2832644, - "y": 0.686652839, - "z": -1.62682831 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.65724456, - "y": 0.970796, - "z": 0.4642825 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.76215839, - "y": 1.63781118, - "z": -1.95940614 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.43615413, - "y": 0.973890662, - "z": 0.464283049 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 2.319151, - "y": 0.4488108, - "z": 1.927214 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": 2.43799829, - "y": 0.680819631, - "z": -1.76215351 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.296522975, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.778841, - "y": 0.773138165, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 1.26115906, - "y": 0.774509549, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.76216054, - "y": 1.63940215, - "z": -2.18742776 - }, - "rotation": { - "x": 0.0, - "y": 270.0005, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.66817057, - "y": 1.63763475, - "z": -2.073418 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.413, - "y": 0.794, - "z": -1.505 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.66817212, - "y": 1.14705348, - "z": -2.30144072 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": -1.628, - "y": 0.965303659, - "z": 0.084 - }, - "rotation": { - "x": 0.0, - "y": 104.999794, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 1.49894166, - "y": 0.6864845, - "z": 2.217845 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.69949913, - "y": 1.14635062, - "z": -1.959406 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 2.515367, - "y": 0.686652839, - "z": -1.71704662 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.59507728, - "y": 0.433210015, - "z": 1.75364041 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.66816807, - "y": 1.14596128, - "z": -1.84539461 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": 1.73104513, - "y": 0.68111527, - "z": 2.217842 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.58354533, - "y": 0.9823676, - "z": -0.540981531 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3897224292, - "scene_num": 330 - }, - "task_id": "trial_T20190907_163716_768151", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1DK3FVV13STX2_32AT8R96GOQ50YO4VE3RI4RFPHMSU1", - "high_descs": [ - "Turn to your right and walk to the end table next to the chair in the corner. ", - "Pick up the pencil on the night stand.", - "Put the pencil in the glass bowl on the night stand.", - "Pick up the glass bowl from the night stand.", - "Turn around and walk back to the black dresser.", - "Put the bowl on the dresser between the lap top and the bottle. " - ], - "task_desc": "Put a glass bowl with a pencil in it on the black dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_36V4Q8R5ZNHAAA4IU8N0WUVKU7HMQX", - "high_descs": [ - "Turn around and go left to stand in front of the small table next to the brown chair.", - "Pick up the pencil up from the table.", - "Put the pencil in the gray bowl on the table.", - "Pick the gray bowl up from the table.", - "Turn around and cross the room to face the black dresser.", - "Put the bowl down on the dresser." - ], - "task_desc": "Put a bowl with a pencil in it on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3R5F3LQFV517O5QLUKLQFRWTU9QZOQ", - "high_descs": [ - "Turn around to your left and head to the small drawer beside couch", - "Pick up the pencil on the drawer", - "Put the pencil in the bowl", - "Pick up the bowl with pencil", - "Turn to your left move straight and head to the larger drawer ", - "Put the bowl with pencil on the top of the larger drawer" - ], - "task_desc": "Put the bowl with pencil on the larger drawer", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044544_187398/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044544_187398/traj_data.json deleted file mode 100644 index 1011ec89f..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044544_187398/traj_data.json +++ /dev/null @@ -1,5409 +0,0 @@ -{ - "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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 23 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 51 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - -6.41427328, - -6.41427328, - -5.0, - -5.0, - 2.6690156, - 2.6690156 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - -5.0, - -5.0, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.60|+00.67|-01.25" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - -6.41427328, - -6.41427328, - -5.0, - -5.0, - 2.6690156, - 2.6690156 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - -6.41427328, - -6.41427328, - -4.06990528, - -4.06990528, - 2.644, - 2.644 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.60|+00.67|-01.25", - "receptacleObjectId": "Mug|-01.60|+00.66|-01.02" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - -6.41427328, - -6.41427328, - -4.06990528, - -4.06990528, - 2.644, - 2.644 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - -5.0, - -5.0, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.60|+00.66|-01.02" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - -6.41427328, - -6.41427328, - -4.06990528, - -4.06990528, - 2.644, - 2.644 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.60|+00.66|-01.02", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "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": "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": "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": "Pencil|-01.60|+00.67|-01.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 149, - 120, - 150, - 153 - ], - "mask": [ - [ - 35850, - 1 - ], - [ - 36149, - 2 - ], - [ - 36449, - 2 - ], - [ - 36749, - 2 - ], - [ - 37049, - 2 - ], - [ - 37349, - 2 - ], - [ - 37649, - 2 - ], - [ - 37949, - 2 - ], - [ - 38249, - 2 - ], - [ - 38549, - 2 - ], - [ - 38849, - 2 - ], - [ - 39149, - 2 - ], - [ - 39449, - 2 - ], - [ - 39749, - 2 - ], - [ - 40049, - 2 - ], - [ - 40349, - 2 - ], - [ - 40649, - 2 - ], - [ - 40949, - 2 - ], - [ - 41249, - 2 - ], - [ - 41549, - 2 - ], - [ - 41849, - 2 - ], - [ - 42149, - 2 - ], - [ - 42449, - 2 - ], - [ - 42749, - 2 - ], - [ - 43049, - 2 - ], - [ - 43349, - 2 - ], - [ - 43649, - 2 - ], - [ - 43949, - 2 - ], - [ - 44249, - 2 - ], - [ - 44549, - 2 - ], - [ - 44849, - 2 - ], - [ - 45149, - 2 - ], - [ - 45449, - 2 - ], - [ - 45749, - 2 - ] - ], - "point": [ - 149, - 135 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|-01.60|+00.67|-01.25", - "placeStationary": true, - "receptacleObjectId": "Mug|-01.60|+00.66|-01.02" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 196, - 111, - 220, - 143 - ], - "mask": [ - [ - 33206, - 3 - ], - [ - 33505, - 4 - ], - [ - 33805, - 7 - ], - [ - 34102, - 13 - ], - [ - 34401, - 16 - ], - [ - 34700, - 18 - ], - [ - 34999, - 20 - ], - [ - 35299, - 21 - ], - [ - 35598, - 22 - ], - [ - 35898, - 23 - ], - [ - 36198, - 23 - ], - [ - 36498, - 23 - ], - [ - 36798, - 23 - ], - [ - 37098, - 23 - ], - [ - 37397, - 24 - ], - [ - 37697, - 23 - ], - [ - 37997, - 23 - ], - [ - 38297, - 22 - ], - [ - 38597, - 22 - ], - [ - 38896, - 22 - ], - [ - 39196, - 22 - ], - [ - 39496, - 21 - ], - [ - 39796, - 21 - ], - [ - 40096, - 20 - ], - [ - 40396, - 20 - ], - [ - 40696, - 19 - ], - [ - 40996, - 19 - ], - [ - 41296, - 19 - ], - [ - 41597, - 17 - ], - [ - 41898, - 16 - ], - [ - 42199, - 14 - ], - [ - 42500, - 12 - ], - [ - 42802, - 8 - ] - ], - "point": [ - 208, - 126 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|-01.60|+00.66|-01.02" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 196, - 111, - 220, - 143 - ], - "mask": [ - [ - 33206, - 3 - ], - [ - 33505, - 4 - ], - [ - 33805, - 7 - ], - [ - 34102, - 13 - ], - [ - 34401, - 15 - ], - [ - 34700, - 16 - ], - [ - 34999, - 17 - ], - [ - 35018, - 1 - ], - [ - 35299, - 16 - ], - [ - 35318, - 2 - ], - [ - 35598, - 17 - ], - [ - 35617, - 3 - ], - [ - 35898, - 17 - ], - [ - 35917, - 4 - ], - [ - 36198, - 16 - ], - [ - 36216, - 5 - ], - [ - 36498, - 16 - ], - [ - 36516, - 5 - ], - [ - 36798, - 16 - ], - [ - 36816, - 5 - ], - [ - 37098, - 15 - ], - [ - 37115, - 6 - ], - [ - 37397, - 16 - ], - [ - 37415, - 6 - ], - [ - 37697, - 16 - ], - [ - 37715, - 5 - ], - [ - 37997, - 15 - ], - [ - 38014, - 6 - ], - [ - 38297, - 15 - ], - [ - 38314, - 5 - ], - [ - 38597, - 15 - ], - [ - 38614, - 5 - ], - [ - 38896, - 22 - ], - [ - 39196, - 22 - ], - [ - 39496, - 21 - ], - [ - 39796, - 21 - ], - [ - 40096, - 20 - ], - [ - 40396, - 20 - ], - [ - 40696, - 19 - ], - [ - 40996, - 19 - ], - [ - 41296, - 19 - ], - [ - 41597, - 17 - ], - [ - 41898, - 16 - ], - [ - 42199, - 14 - ], - [ - 42500, - 12 - ], - [ - 42802, - 8 - ] - ], - "point": [ - 208, - 126 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Mug|-01.60|+00.66|-01.02", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 96 - ], - [ - 504, - 96 - ], - [ - 804, - 96 - ], - [ - 1104, - 96 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 91 - ], - [ - 9509, - 91 - ], - [ - 9810, - 90 - ], - [ - 10110, - 90 - ], - [ - 10410, - 90 - ], - [ - 10710, - 90 - ], - [ - 11010, - 90 - ], - [ - 11310, - 90 - ], - [ - 11611, - 89 - ], - [ - 11911, - 89 - ], - [ - 12211, - 89 - ], - [ - 12511, - 89 - ], - [ - 12776, - 2 - ], - [ - 12811, - 89 - ], - [ - 13076, - 2 - ], - [ - 13112, - 88 - ], - [ - 13376, - 1 - ], - [ - 13412, - 88 - ], - [ - 13676, - 1 - ], - [ - 13712, - 88 - ], - [ - 13976, - 1 - ], - [ - 14012, - 88 - ], - [ - 14276, - 1 - ], - [ - 14312, - 88 - ], - [ - 14575, - 2 - ], - [ - 14612, - 88 - ], - [ - 14876, - 1 - ], - [ - 14913, - 87 - ], - [ - 15176, - 1 - ], - [ - 15213, - 87 - ], - [ - 15476, - 1 - ], - [ - 15513, - 87 - ], - [ - 15776, - 1 - ], - [ - 15813, - 87 - ], - [ - 16076, - 1 - ], - [ - 16113, - 87 - ], - [ - 16376, - 1 - ], - [ - 16414, - 86 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 86 - ], - [ - 16976, - 1 - ], - [ - 17014, - 86 - ], - [ - 17276, - 2 - ], - [ - 17314, - 86 - ], - [ - 17576, - 2 - ], - [ - 17614, - 86 - ], - [ - 17876, - 2 - ], - [ - 17914, - 86 - ], - [ - 18176, - 2 - ], - [ - 18215, - 85 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 85 - ], - [ - 18776, - 2 - ], - [ - 18815, - 85 - ], - [ - 19077, - 1 - ], - [ - 19115, - 85 - ], - [ - 19377, - 2 - ], - [ - 19415, - 85 - ], - [ - 19677, - 2 - ], - [ - 19715, - 85 - ], - [ - 19977, - 2 - ], - [ - 20016, - 84 - ], - [ - 20277, - 2 - ], - [ - 20316, - 84 - ], - [ - 20577, - 2 - ], - [ - 20616, - 84 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 84 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 84 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 83 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 83 - ], - [ - 22077, - 2 - ], - [ - 22117, - 83 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 83 - ], - [ - 22677, - 2 - ], - [ - 22717, - 83 - ], - [ - 22978, - 1 - ], - [ - 23017, - 83 - ], - [ - 23278, - 1 - ], - [ - 23318, - 82 - ], - [ - 23578, - 1 - ], - [ - 23618, - 82 - ], - [ - 23878, - 2 - ], - [ - 23918, - 82 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 82 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 82 - ], - [ - 24778, - 2 - ], - [ - 24819, - 81 - ], - [ - 25078, - 2 - ], - [ - 25119, - 81 - ], - [ - 25378, - 2 - ], - [ - 25419, - 81 - ], - [ - 25678, - 2 - ], - [ - 25719, - 81 - ], - [ - 25978, - 2 - ], - [ - 26019, - 81 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 81 - ], - [ - 26578, - 3 - ], - [ - 26620, - 80 - ], - [ - 26878, - 3 - ], - [ - 26920, - 80 - ], - [ - 27179, - 2 - ], - [ - 27220, - 80 - ], - [ - 27479, - 2 - ], - [ - 27520, - 80 - ], - [ - 27779, - 2 - ], - [ - 27820, - 80 - ], - [ - 28079, - 2 - ], - [ - 28121, - 79 - ], - [ - 28379, - 2 - ], - [ - 28421, - 79 - ], - [ - 28679, - 2 - ], - [ - 28721, - 79 - ], - [ - 28979, - 2 - ], - [ - 29021, - 79 - ], - [ - 29279, - 2 - ], - [ - 29321, - 79 - ], - [ - 29579, - 2 - ], - [ - 29621, - 79 - ], - [ - 29879, - 2 - ], - [ - 29922, - 78 - ], - [ - 30179, - 2 - ], - [ - 30222, - 78 - ], - [ - 30479, - 3 - ], - [ - 30522, - 78 - ], - [ - 30779, - 3 - ], - [ - 30822, - 78 - ], - [ - 31079, - 3 - ], - [ - 31122, - 78 - ], - [ - 31380, - 1 - ], - [ - 31422, - 78 - ], - [ - 31680, - 1 - ], - [ - 31723, - 77 - ], - [ - 31980, - 1 - ], - [ - 32023, - 77 - ], - [ - 32280, - 1 - ], - [ - 32323, - 77 - ], - [ - 32580, - 1 - ], - [ - 32623, - 77 - ], - [ - 32880, - 1 - ], - [ - 32923, - 77 - ], - [ - 33180, - 2 - ], - [ - 33224, - 76 - ], - [ - 33480, - 2 - ], - [ - 33524, - 76 - ], - [ - 33780, - 2 - ], - [ - 33824, - 76 - ], - [ - 34080, - 2 - ], - [ - 34124, - 76 - ], - [ - 34380, - 2 - ], - [ - 34424, - 76 - ], - [ - 34680, - 2 - ], - [ - 34724, - 76 - ], - [ - 34980, - 2 - ], - [ - 35025, - 75 - ], - [ - 35280, - 3 - ], - [ - 35325, - 75 - ], - [ - 35581, - 2 - ], - [ - 35625, - 75 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 75 - ], - [ - 36181, - 2 - ], - [ - 36225, - 75 - ], - [ - 36481, - 2 - ], - [ - 36526, - 74 - ], - [ - 36781, - 2 - ], - [ - 36826, - 74 - ], - [ - 37081, - 2 - ], - [ - 37126, - 74 - ], - [ - 37381, - 2 - ], - [ - 37426, - 74 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 74 - ], - [ - 37981, - 2 - ], - [ - 38026, - 74 - ], - [ - 38281, - 2 - ], - [ - 38327, - 73 - ], - [ - 38581, - 2 - ], - [ - 38627, - 73 - ], - [ - 38881, - 2 - ], - [ - 38927, - 73 - ], - [ - 39181, - 2 - ], - [ - 39227, - 73 - ], - [ - 39482, - 1 - ], - [ - 39527, - 73 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 73 - ], - [ - 40082, - 1 - ], - [ - 40128, - 72 - ], - [ - 40382, - 1 - ], - [ - 40428, - 72 - ], - [ - 40682, - 2 - ], - [ - 40728, - 72 - ], - [ - 40982, - 2 - ], - [ - 41028, - 72 - ], - [ - 41282, - 2 - ], - [ - 41328, - 72 - ], - [ - 41582, - 2 - ], - [ - 41629, - 71 - ], - [ - 41882, - 2 - ], - [ - 41929, - 71 - ], - [ - 42182, - 2 - ], - [ - 42229, - 71 - ], - [ - 42482, - 2 - ], - [ - 42529, - 71 - ], - [ - 42782, - 3 - ], - [ - 42829, - 71 - ], - [ - 43082, - 3 - ], - [ - 43129, - 71 - ], - [ - 43382, - 3 - ], - [ - 43430, - 70 - ], - [ - 43683, - 2 - ], - [ - 43730, - 70 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 64 - ], - [ - 53885, - 2 - ], - [ - 53936, - 64 - ], - [ - 54185, - 2 - ], - [ - 54236, - 64 - ], - [ - 54485, - 2 - ], - [ - 54536, - 64 - ], - [ - 54785, - 2 - ], - [ - 54836, - 64 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 63 - ], - [ - 55385, - 2 - ], - [ - 55437, - 63 - ], - [ - 55685, - 2 - ], - [ - 55737, - 63 - ], - [ - 55986, - 2 - ], - [ - 56037, - 63 - ], - [ - 56286, - 2 - ], - [ - 56337, - 63 - ], - [ - 56586, - 2 - ], - [ - 56638, - 62 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 62 - ], - [ - 57186, - 2 - ], - [ - 57238, - 62 - ], - [ - 57486, - 2 - ], - [ - 57538, - 62 - ], - [ - 57786, - 3 - ], - [ - 57838, - 62 - ], - [ - 58086, - 3 - ], - [ - 58137, - 63 - ], - [ - 58386, - 3 - ], - [ - 58439, - 61 - ], - [ - 58686, - 3 - ], - [ - 58739, - 61 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 61 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 61 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 61 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 61 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 60 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 60 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 60 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 60 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 60 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 59 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 59 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 59 - ], - [ - 62625, - 5 - ], - [ - 62641, - 59 - ], - [ - 62924, - 6 - ], - [ - 62941, - 59 - ], - [ - 63224, - 6 - ], - [ - 63241, - 59 - ], - [ - 63523, - 2 - ], - [ - 63542, - 58 - ], - [ - 63822, - 2 - ], - [ - 63842, - 58 - ], - [ - 64121, - 3 - ], - [ - 64142, - 58 - ], - [ - 64420, - 3 - ], - [ - 64442, - 58 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 58 - ], - [ - 65019, - 2 - ], - [ - 65043, - 57 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66489, - 1 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66789, - 2 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan322", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 1.75, - "y": 0.9017602, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Mug_781a5acc", - "position": { - "x": -1.60356832, - "y": 0.661, - "z": -1.01747632 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 2.4567976, - "y": 0.44882825, - "z": -0.9697299 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": 2.294415, - "y": 0.449618846, - "z": -0.9864657 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": -1.55886376, - "y": 0.668652833, - "z": 1.40149212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.64490056, - "y": 0.9907528, - "z": 1.57638311 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.995091, - "y": 0.9875098, - "z": 1.86057711 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Book_d7ca8482", - "position": { - "x": 2.90755129, - "y": 0.987620354, - "z": 0.43961668 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": 2.179874, - "y": 0.451835781, - "z": -0.920335054 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": 2.53362465, - "y": 0.447221547, - "z": -0.5721384 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Cloth_3f92dde4", - "position": { - "x": 1.763, - "y": 0.0007606298, - "z": -1.732 - }, - "rotation": { - "x": 0.0, - "y": 70.59012, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": 2.575801, - "y": 0.8870357, - "z": 1.88576972 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.644899, - "y": 0.9907528, - "z": 1.860575 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": -1.60356832, - "y": 0.6672539, - "z": -1.25 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_5a388b63", - "position": { - "x": 3.076, - "y": 0.629, - "z": -1.762 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.300385 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": -1.60356832, - "y": 0.662310362, - "z": 1.6340158 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_8659ff3f", - "position": { - "x": 0.808, - "y": 0.05, - "z": 2.151 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 270.000183 - } - }, - { - "objectName": "Pillow_2ebb2348", - "position": { - "x": -0.448788017, - "y": 0.7796623, - "z": 0.3365424 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0f29a798", - "position": { - "x": -1.457, - "y": 0.754, - "z": 0.494 - }, - "rotation": { - "x": 0.0, - "y": 285.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": 2.57580733, - "y": 0.8863155, - "z": 0.848761857 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 1.35279965, - "y": 0.02250484, - "z": -1.71745718 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_781a5acc", - "position": { - "x": 2.82087755, - "y": 0.178229511, - "z": 1.326185 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3265579878, - "scene_num": 322 - }, - "task_id": "trial_T20190907_044544_187398", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_351SEKWQS3YGL10DPMHGWVOLBLXDMA", - "high_descs": [ - "Go left and stand in front of the night stand on the left of the bed.", - "Pick up the pencil from the night stand.", - "Put the pencil in the black cup.", - "Pick the cup up from the night stand.", - "Turn around and go left and then right to face the black dresser.", - "Put the mug on the dresser." - ], - "task_desc": "Put a cup with a pencil in it on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2QPMJ4GADLUW2_37W3JXSD69PFOOPIPKAHIE0DRBLYWY", - "high_descs": [ - "Turn left, walk to the trash can, then turn right and walk to the lamp.", - "Pick up the pencil resting on the bottom of the lamp.", - "Place the pencil into the black mug that is between the lamp and the bed.", - "Pick up the black mug with the pencil in it.", - "Turn around and walk to the large black cabinet.", - "Place the mug with the pencil in it on the large black cabinet." - ], - "task_desc": "Place a mug with a pencil in it onto the black cabinet.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3EJJQNKU9UMOUXI7GQWN9FXT90QHRC", - "high_descs": [ - "Turn left and go to the small table on the left side of the bed. ", - "Pick up the pencil on the table. ", - "Put the pencil in the mug on the table. ", - "Pick up the mug with pencil.", - "Turn around and bring the mug with pencil to the black dresser. ", - "Put the mug on the black dresser. " - ], - "task_desc": "Put a mug with pencil on the black dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044602_801023/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044602_801023/traj_data.json deleted file mode 100644 index c26449e4e..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044602_801023/traj_data.json +++ /dev/null @@ -1,6543 +0,0 @@ -{ - "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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 18 - }, - { - "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": 24 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 42 - }, - { - "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": 47 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 54 - }, - { - "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": 55 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000235.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000236.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000237.png", - "low_idx": 62 - }, - { - "high_idx": 3, - "image_name": "000000238.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000239.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000240.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000241.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000242.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000243.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000244.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000245.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000246.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000247.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000248.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000249.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000250.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000251.png", - "low_idx": 63 - }, - { - "high_idx": 3, - "image_name": "000000252.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 67 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 76 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 77 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000346.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000347.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000348.png", - "low_idx": 82 - }, - { - "high_idx": 5, - "image_name": "000000349.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000350.png", - "low_idx": 83 - }, - { - "high_idx": 5, - "image_name": "000000351.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000352.png", - "low_idx": 84 - }, - { - "high_idx": 5, - "image_name": "000000353.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000354.png", - "low_idx": 85 - }, - { - "high_idx": 5, - "image_name": "000000355.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000356.png", - "low_idx": 86 - }, - { - "high_idx": 5, - "image_name": "000000357.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000358.png", - "low_idx": 87 - }, - { - "high_idx": 5, - "image_name": "000000359.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000360.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000361.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000362.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000363.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000364.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000365.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000366.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000367.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000368.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000369.png", - "low_idx": 88 - }, - { - "high_idx": 5, - "image_name": "000000370.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000371.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000372.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000373.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000374.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000375.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000376.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000377.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000378.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000379.png", - "low_idx": 89 - }, - { - "high_idx": 5, - "image_name": "000000380.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 90 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - -6.41427328, - -6.41427328, - -4.06990528, - -4.06990528, - 2.6690156, - 2.6690156 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - -5.0, - -5.0, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.60|+00.67|-01.02" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|6|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - -6.41427328, - -6.41427328, - -4.06990528, - -4.06990528, - 2.6690156, - 2.6690156 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - -6.41427328, - -6.41427328, - 5.60596848, - 5.60596848, - 2.644, - 2.644 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.60|+00.67|-01.02", - "receptacleObjectId": "Mug|-01.60|+00.66|+01.40" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - -6.41427328, - -6.41427328, - 5.60596848, - 5.60596848, - 2.644, - 2.644 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - 5.916, - 5.916, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.60|+00.66|+01.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - -6.41427328, - -6.41427328, - 5.60596848, - 5.60596848, - 2.644, - 2.644 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.60|+00.66|+01.40", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "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": "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": "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": "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": "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": "Pencil|-01.60|+00.67|-01.02" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 202, - 118, - 207, - 154 - ], - "mask": [ - [ - 35302, - 2 - ], - [ - 35602, - 2 - ], - [ - 35902, - 2 - ], - [ - 36202, - 2 - ], - [ - 36503, - 1 - ], - [ - 36803, - 1 - ], - [ - 37103, - 2 - ], - [ - 37403, - 2 - ], - [ - 37703, - 2 - ], - [ - 38003, - 2 - ], - [ - 38303, - 2 - ], - [ - 38603, - 2 - ], - [ - 38904, - 1 - ], - [ - 39204, - 2 - ], - [ - 39504, - 2 - ], - [ - 39804, - 2 - ], - [ - 40104, - 2 - ], - [ - 40404, - 2 - ], - [ - 40704, - 2 - ], - [ - 41004, - 2 - ], - [ - 41304, - 2 - ], - [ - 41605, - 2 - ], - [ - 41905, - 2 - ], - [ - 42205, - 2 - ], - [ - 42505, - 2 - ], - [ - 42805, - 2 - ], - [ - 43105, - 2 - ], - [ - 43405, - 2 - ], - [ - 43705, - 2 - ], - [ - 44006, - 2 - ], - [ - 44306, - 2 - ], - [ - 44606, - 2 - ], - [ - 44906, - 2 - ], - [ - 45206, - 2 - ], - [ - 45506, - 2 - ], - [ - 45806, - 2 - ], - [ - 46106, - 2 - ] - ], - "point": [ - 204, - 135 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|-01.60|+00.67|-01.02", - "placeStationary": true, - "receptacleObjectId": "Mug|-01.60|+00.66|+01.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 113, - 117, - 135, - 142 - ], - "mask": [ - [ - 34914, - 2 - ], - [ - 35214, - 4 - ], - [ - 35513, - 7 - ], - [ - 35813, - 9 - ], - [ - 36113, - 10 - ], - [ - 36413, - 12 - ], - [ - 36713, - 14 - ], - [ - 37014, - 17 - ], - [ - 37314, - 22 - ], - [ - 37614, - 22 - ], - [ - 37915, - 21 - ], - [ - 38215, - 21 - ], - [ - 38515, - 21 - ], - [ - 38815, - 21 - ], - [ - 39116, - 20 - ], - [ - 39416, - 20 - ], - [ - 39716, - 20 - ], - [ - 40016, - 20 - ], - [ - 40317, - 19 - ], - [ - 40617, - 19 - ], - [ - 40917, - 19 - ], - [ - 41218, - 17 - ], - [ - 41518, - 17 - ], - [ - 41819, - 15 - ], - [ - 42120, - 12 - ], - [ - 42422, - 9 - ] - ], - "point": [ - 124, - 128 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|-01.60|+00.66|+01.40" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 113, - 117, - 135, - 142 - ], - "mask": [ - [ - 34914, - 2 - ], - [ - 35214, - 4 - ], - [ - 35513, - 7 - ], - [ - 35813, - 9 - ], - [ - 36113, - 10 - ], - [ - 36413, - 12 - ], - [ - 36713, - 12 - ], - [ - 37014, - 11 - ], - [ - 37027, - 4 - ], - [ - 37314, - 11 - ], - [ - 37327, - 9 - ], - [ - 37614, - 11 - ], - [ - 37628, - 8 - ], - [ - 37915, - 11 - ], - [ - 37928, - 8 - ], - [ - 38215, - 11 - ], - [ - 38228, - 8 - ], - [ - 38515, - 21 - ], - [ - 38815, - 21 - ], - [ - 39116, - 20 - ], - [ - 39416, - 20 - ], - [ - 39716, - 20 - ], - [ - 40016, - 20 - ], - [ - 40317, - 19 - ], - [ - 40617, - 19 - ], - [ - 40917, - 19 - ], - [ - 41218, - 17 - ], - [ - 41518, - 17 - ], - [ - 41819, - 15 - ], - [ - 42120, - 12 - ], - [ - 42422, - 9 - ] - ], - "point": [ - 124, - 128 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|-01.60|+00.66|+01.40", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 96 - ], - [ - 504, - 96 - ], - [ - 804, - 96 - ], - [ - 1104, - 96 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 91 - ], - [ - 9509, - 91 - ], - [ - 9810, - 90 - ], - [ - 10110, - 90 - ], - [ - 10410, - 90 - ], - [ - 10710, - 90 - ], - [ - 11010, - 90 - ], - [ - 11310, - 90 - ], - [ - 11611, - 89 - ], - [ - 11911, - 89 - ], - [ - 12211, - 89 - ], - [ - 12511, - 89 - ], - [ - 12776, - 2 - ], - [ - 12811, - 89 - ], - [ - 13076, - 2 - ], - [ - 13112, - 88 - ], - [ - 13376, - 1 - ], - [ - 13412, - 88 - ], - [ - 13676, - 1 - ], - [ - 13712, - 88 - ], - [ - 13976, - 1 - ], - [ - 14012, - 88 - ], - [ - 14276, - 1 - ], - [ - 14312, - 88 - ], - [ - 14575, - 2 - ], - [ - 14612, - 88 - ], - [ - 14876, - 1 - ], - [ - 14913, - 87 - ], - [ - 15176, - 1 - ], - [ - 15213, - 87 - ], - [ - 15476, - 1 - ], - [ - 15513, - 58 - ], - [ - 15776, - 1 - ], - [ - 15813, - 57 - ], - [ - 16076, - 1 - ], - [ - 16113, - 57 - ], - [ - 16376, - 1 - ], - [ - 16414, - 55 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 55 - ], - [ - 16976, - 1 - ], - [ - 17014, - 54 - ], - [ - 17276, - 2 - ], - [ - 17314, - 54 - ], - [ - 17576, - 2 - ], - [ - 17614, - 53 - ], - [ - 17876, - 2 - ], - [ - 17914, - 53 - ], - [ - 18176, - 2 - ], - [ - 18215, - 51 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 51 - ], - [ - 18776, - 2 - ], - [ - 18815, - 50 - ], - [ - 19077, - 1 - ], - [ - 19115, - 50 - ], - [ - 19377, - 2 - ], - [ - 19415, - 49 - ], - [ - 19677, - 2 - ], - [ - 19715, - 49 - ], - [ - 19977, - 2 - ], - [ - 20016, - 47 - ], - [ - 20277, - 2 - ], - [ - 20316, - 47 - ], - [ - 20577, - 2 - ], - [ - 20616, - 46 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 46 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 46 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 44 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 44 - ], - [ - 22077, - 2 - ], - [ - 22117, - 44 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 44 - ], - [ - 22677, - 2 - ], - [ - 22717, - 44 - ], - [ - 22978, - 1 - ], - [ - 23017, - 44 - ], - [ - 23278, - 1 - ], - [ - 23318, - 43 - ], - [ - 23578, - 1 - ], - [ - 23618, - 43 - ], - [ - 23878, - 2 - ], - [ - 23918, - 43 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 44 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 44 - ], - [ - 24778, - 2 - ], - [ - 24819, - 43 - ], - [ - 25078, - 2 - ], - [ - 25119, - 44 - ], - [ - 25378, - 2 - ], - [ - 25419, - 44 - ], - [ - 25678, - 2 - ], - [ - 25719, - 44 - ], - [ - 25978, - 2 - ], - [ - 26019, - 44 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 45 - ], - [ - 26578, - 3 - ], - [ - 26620, - 44 - ], - [ - 26878, - 3 - ], - [ - 26920, - 44 - ], - [ - 27179, - 2 - ], - [ - 27220, - 45 - ], - [ - 27479, - 2 - ], - [ - 27520, - 45 - ], - [ - 27779, - 2 - ], - [ - 27820, - 45 - ], - [ - 28079, - 2 - ], - [ - 28121, - 44 - ], - [ - 28379, - 2 - ], - [ - 28421, - 45 - ], - [ - 28679, - 2 - ], - [ - 28721, - 45 - ], - [ - 28979, - 2 - ], - [ - 29021, - 45 - ], - [ - 29279, - 2 - ], - [ - 29321, - 46 - ], - [ - 29579, - 2 - ], - [ - 29621, - 46 - ], - [ - 29879, - 2 - ], - [ - 29922, - 45 - ], - [ - 30179, - 2 - ], - [ - 30222, - 46 - ], - [ - 30479, - 3 - ], - [ - 30522, - 46 - ], - [ - 30779, - 3 - ], - [ - 30822, - 46 - ], - [ - 31079, - 3 - ], - [ - 31122, - 46 - ], - [ - 31380, - 1 - ], - [ - 31422, - 47 - ], - [ - 31680, - 1 - ], - [ - 31723, - 46 - ], - [ - 31980, - 1 - ], - [ - 32023, - 46 - ], - [ - 32280, - 1 - ], - [ - 32323, - 47 - ], - [ - 32580, - 1 - ], - [ - 32623, - 47 - ], - [ - 32880, - 1 - ], - [ - 32923, - 47 - ], - [ - 33180, - 2 - ], - [ - 33224, - 46 - ], - [ - 33480, - 2 - ], - [ - 33524, - 47 - ], - [ - 33780, - 2 - ], - [ - 33824, - 47 - ], - [ - 34080, - 2 - ], - [ - 34124, - 47 - ], - [ - 34380, - 2 - ], - [ - 34424, - 48 - ], - [ - 34680, - 2 - ], - [ - 34724, - 48 - ], - [ - 34980, - 2 - ], - [ - 35025, - 47 - ], - [ - 35280, - 3 - ], - [ - 35325, - 48 - ], - [ - 35581, - 2 - ], - [ - 35625, - 48 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 48 - ], - [ - 36181, - 2 - ], - [ - 36225, - 48 - ], - [ - 36481, - 2 - ], - [ - 36526, - 48 - ], - [ - 36781, - 2 - ], - [ - 36826, - 49 - ], - [ - 37081, - 2 - ], - [ - 37126, - 49 - ], - [ - 37381, - 2 - ], - [ - 37426, - 49 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 49 - ], - [ - 37981, - 2 - ], - [ - 38026, - 49 - ], - [ - 38281, - 2 - ], - [ - 38327, - 48 - ], - [ - 38581, - 2 - ], - [ - 38627, - 49 - ], - [ - 38881, - 2 - ], - [ - 38927, - 49 - ], - [ - 39181, - 2 - ], - [ - 39227, - 49 - ], - [ - 39482, - 1 - ], - [ - 39527, - 50 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 50 - ], - [ - 40082, - 1 - ], - [ - 40128, - 49 - ], - [ - 40382, - 1 - ], - [ - 40428, - 50 - ], - [ - 40682, - 2 - ], - [ - 40728, - 50 - ], - [ - 40982, - 2 - ], - [ - 41028, - 50 - ], - [ - 41282, - 2 - ], - [ - 41328, - 50 - ], - [ - 41582, - 2 - ], - [ - 41629, - 50 - ], - [ - 41882, - 2 - ], - [ - 41929, - 50 - ], - [ - 42182, - 2 - ], - [ - 42229, - 50 - ], - [ - 42482, - 2 - ], - [ - 42529, - 51 - ], - [ - 42782, - 3 - ], - [ - 42829, - 51 - ], - [ - 43082, - 3 - ], - [ - 43129, - 52 - ], - [ - 43382, - 3 - ], - [ - 43430, - 51 - ], - [ - 43683, - 2 - ], - [ - 43730, - 53 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 64 - ], - [ - 53885, - 2 - ], - [ - 53936, - 64 - ], - [ - 54185, - 2 - ], - [ - 54236, - 64 - ], - [ - 54485, - 2 - ], - [ - 54536, - 64 - ], - [ - 54785, - 2 - ], - [ - 54836, - 64 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 63 - ], - [ - 55385, - 2 - ], - [ - 55437, - 63 - ], - [ - 55685, - 2 - ], - [ - 55737, - 63 - ], - [ - 55986, - 2 - ], - [ - 56037, - 63 - ], - [ - 56286, - 2 - ], - [ - 56337, - 63 - ], - [ - 56586, - 2 - ], - [ - 56638, - 62 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 62 - ], - [ - 57186, - 2 - ], - [ - 57238, - 62 - ], - [ - 57486, - 2 - ], - [ - 57538, - 62 - ], - [ - 57786, - 3 - ], - [ - 57838, - 62 - ], - [ - 58086, - 3 - ], - [ - 58137, - 63 - ], - [ - 58386, - 3 - ], - [ - 58439, - 61 - ], - [ - 58686, - 3 - ], - [ - 58739, - 23 - ], - [ - 58797, - 3 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 23 - ], - [ - 59098, - 2 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 23 - ], - [ - 59398, - 2 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 24 - ], - [ - 59699, - 1 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 24 - ], - [ - 59999, - 1 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 23 - ], - [ - 60299, - 1 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 23 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 23 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 24 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 24 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 23 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 23 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 24 - ], - [ - 62625, - 5 - ], - [ - 62641, - 24 - ], - [ - 62924, - 6 - ], - [ - 62941, - 24 - ], - [ - 63224, - 6 - ], - [ - 63241, - 24 - ], - [ - 63523, - 2 - ], - [ - 63542, - 24 - ], - [ - 63822, - 2 - ], - [ - 63842, - 24 - ], - [ - 64121, - 3 - ], - [ - 64142, - 24 - ], - [ - 64420, - 3 - ], - [ - 64442, - 24 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 24 - ], - [ - 65019, - 2 - ], - [ - 65043, - 24 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66489, - 1 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66789, - 2 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan322", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 2.25, - "y": 0.9017602, - "z": 2.0 - }, - "object_poses": [ - { - "objectName": "Mug_781a5acc", - "position": { - "x": -1.60356832, - "y": 0.661, - "z": 1.40149212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.644909, - "y": 0.9907528, - "z": 0.155423224 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": 1.35279965, - "y": 0.0271520354, - "z": -1.71745718 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.907543, - "y": 0.9875098, - "z": 1.86057651 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.90754461, - "y": 0.9875098, - "z": 1.57638454 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": -0.448788017, - "y": 0.691842139, - "z": 0.559619069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_d7ca8482", - "position": { - "x": 2.914, - "y": 0.981199443, - "z": 0.798 - }, - "rotation": { - "x": 0.0, - "y": 287.688477, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": -1.55886376, - "y": 0.664587, - "z": -1.40501571 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": -0.9843523, - "y": 0.691842139, - "z": -0.109611064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_3f92dde4", - "position": { - "x": 1.763, - "y": 0.0007606298, - "z": -1.732 - }, - "rotation": { - "x": 0.0, - "y": 70.59012, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": 2.55735922, - "y": 0.9881954, - "z": 0.439614654 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": -1.55886376, - "y": 0.668652833, - "z": 1.6340158 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": -1.60356832, - "y": 0.6672539, - "z": -1.01747632 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_5a388b63", - "position": { - "x": 3.076, - "y": 0.629, - "z": -1.762 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.300385 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.64490557, - "y": 0.9875098, - "z": 0.723807156 - }, - "rotation": { - "x": 0.0, - "y": 269.999664, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_8659ff3f", - "position": { - "x": 0.808, - "y": 0.05, - "z": 2.151 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 270.000183 - } - }, - { - "objectName": "Pillow_2ebb2348", - "position": { - "x": -1.373, - "y": 0.754, - "z": -0.204 - }, - "rotation": { - "x": 0.0, - "y": 255.000214, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0f29a798", - "position": { - "x": -1.457, - "y": 0.754, - "z": 0.494 - }, - "rotation": { - "x": 0.0, - "y": 285.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": 2.6003232, - "y": 0.449618846, - "z": -0.7211335 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": -1.56249166, - "y": 0.356881946, - "z": -1.36374378 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_781a5acc", - "position": { - "x": -1.69297755, - "y": 0.661, - "z": -1.40501571 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 690124843, - "scene_num": 322 - }, - "task_id": "trial_T20190907_044602_801023", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_382M9COHEKW4QFJMUJJMTNN0OH4EUV", - "high_descs": [ - "Turn to your left then to your then left again, walk straight, then turn to your right head to the side table", - "Pick up the pencil beside the lamp on the table", - "Turn around to your left, past the bed then turn left, walk to you the other side of the bed ", - "Put the pencil in the mug under the lamp", - "Pick up the mug under the lamp on the table", - "Turn around to your right then walk across the room, then stop in front of the drawer", - "Put the mug on the top of the drawer" - ], - "task_desc": "Put the mug with a pencil on the top of the drawer", - "votes": [ - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2M7VEYAS1405L_388U7OUMFAIDJXCBIIP23NYCNIUR0O", - "high_descs": [ - "Turn around and cross the room, then turn right and go to the bedside table", - "Take the pencil from the bedside table", - "Turn around and cross the room to the trashcan, then turn left, cross the room, and turn left again at the wall. Go forward to the bedside table.", - "Place the pencil in the mug that is on the left-side of the base of the table lamp on the bedside table", - "Take the mug from the bedside table", - "Turn around, go to just beyond the bed, turn right and go along the bed. Then, turn left and go to the right-hand side of the bureau, next to the grey chair. Turn right and look along the bureau", - "Place the mug on the bureau, just past the alarm clock" - ], - "task_desc": "Place a mug with a pencil next to the alarm clock", - "votes": [ - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1FP3SH704X01V_3AAPLD8UCFY1ACVZKF1I9UYBXQHHTT", - "high_descs": [ - "Go to your left towards the wall then turn right and walk towards the night stand.", - "Take the pencil that is on the night stand.", - "Turn around and walk around the bed, turn right and walk over to the night stand.", - "Put the pencil in the cup.", - "Pick up the cup with the pencil.", - "Walk over to the dresser with the cup.", - "Place the cup on top of the dresser. " - ], - "task_desc": "Grab the cup with a pencil and put it on the dresser. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044657_737864/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044657_737864/traj_data.json deleted file mode 100644 index 28711f5b7..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-322/trial_T20190907_044657_737864/traj_data.json +++ /dev/null @@ -1,5632 +0,0 @@ -{ - "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": 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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 25 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 53 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - -6.593092, - -6.593092, - -4.37993716, - -4.37993716, - 2.6690156, - 2.6690156 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - -5.0, - -5.0, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.65|+00.67|-01.09" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - -6.593092, - -6.593092, - -4.37993716, - -4.37993716, - 2.6690156, - 2.6690156 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - -5.87781812, - -5.87781812, - -5.0, - -5.0, - 2.644, - 2.644 - ] - ], - "forceVisible": true, - "objectId": "Pencil|-01.65|+00.67|-01.09", - "receptacleObjectId": "Mug|-01.47|+00.66|-01.25" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - -5.87781812, - -5.87781812, - -5.0, - -5.0, - 2.644, - 2.644 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - -5.0, - -5.0, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.47|+00.66|-01.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - -5.87781812, - -5.87781812, - -5.0, - -5.0, - 2.644, - 2.644 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Mug|-01.47|+00.66|-01.25", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pencil|-01.65|+00.67|-01.09" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 184, - 110, - 187, - 142 - ], - "mask": [ - [ - 32884, - 2 - ], - [ - 33184, - 2 - ], - [ - 33484, - 2 - ], - [ - 33784, - 2 - ], - [ - 34084, - 2 - ], - [ - 34384, - 2 - ], - [ - 34684, - 2 - ], - [ - 34984, - 2 - ], - [ - 35284, - 2 - ], - [ - 35584, - 2 - ], - [ - 35885, - 1 - ], - [ - 36185, - 1 - ], - [ - 36485, - 2 - ], - [ - 36785, - 2 - ], - [ - 37085, - 2 - ], - [ - 37385, - 2 - ], - [ - 37685, - 2 - ], - [ - 37985, - 2 - ], - [ - 38285, - 2 - ], - [ - 38585, - 2 - ], - [ - 38885, - 2 - ], - [ - 39185, - 2 - ], - [ - 39486, - 1 - ], - [ - 39786, - 1 - ], - [ - 40086, - 2 - ], - [ - 40386, - 2 - ], - [ - 40686, - 2 - ], - [ - 40986, - 2 - ], - [ - 41286, - 2 - ], - [ - 41586, - 2 - ], - [ - 41886, - 2 - ], - [ - 42186, - 2 - ], - [ - 42486, - 1 - ] - ], - "point": [ - 185, - 125 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|-01.65|+00.67|-01.09", - "placeStationary": true, - "receptacleObjectId": "Mug|-01.47|+00.66|-01.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 138, - 139, - 161, - 173 - ], - "mask": [ - [ - 41549, - 2 - ], - [ - 41848, - 4 - ], - [ - 42148, - 4 - ], - [ - 42445, - 10 - ], - [ - 42743, - 14 - ], - [ - 43042, - 16 - ], - [ - 43341, - 18 - ], - [ - 43640, - 20 - ], - [ - 43939, - 22 - ], - [ - 44239, - 22 - ], - [ - 44538, - 24 - ], - [ - 44838, - 24 - ], - [ - 45138, - 24 - ], - [ - 45438, - 24 - ], - [ - 45738, - 24 - ], - [ - 46038, - 24 - ], - [ - 46338, - 24 - ], - [ - 46639, - 22 - ], - [ - 46939, - 22 - ], - [ - 47239, - 22 - ], - [ - 47539, - 22 - ], - [ - 47839, - 22 - ], - [ - 48139, - 22 - ], - [ - 48440, - 20 - ], - [ - 48740, - 20 - ], - [ - 49040, - 20 - ], - [ - 49340, - 20 - ], - [ - 49640, - 20 - ], - [ - 49940, - 20 - ], - [ - 50241, - 18 - ], - [ - 50542, - 16 - ], - [ - 50842, - 16 - ], - [ - 51144, - 12 - ], - [ - 51445, - 10 - ], - [ - 51749, - 2 - ] - ], - "point": [ - 149, - 155 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|-01.47|+00.66|-01.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 138, - 139, - 161, - 173 - ], - "mask": [ - [ - 41549, - 2 - ], - [ - 41848, - 4 - ], - [ - 42148, - 4 - ], - [ - 42445, - 10 - ], - [ - 42743, - 14 - ], - [ - 43042, - 10 - ], - [ - 43054, - 4 - ], - [ - 43341, - 11 - ], - [ - 43354, - 5 - ], - [ - 43640, - 12 - ], - [ - 43654, - 6 - ], - [ - 43939, - 13 - ], - [ - 43954, - 7 - ], - [ - 44239, - 13 - ], - [ - 44254, - 7 - ], - [ - 44538, - 14 - ], - [ - 44554, - 8 - ], - [ - 44838, - 14 - ], - [ - 44854, - 8 - ], - [ - 45138, - 14 - ], - [ - 45154, - 8 - ], - [ - 45438, - 14 - ], - [ - 45454, - 8 - ], - [ - 45738, - 14 - ], - [ - 45754, - 8 - ], - [ - 46038, - 14 - ], - [ - 46054, - 8 - ], - [ - 46338, - 14 - ], - [ - 46354, - 8 - ], - [ - 46639, - 13 - ], - [ - 46654, - 7 - ], - [ - 46939, - 13 - ], - [ - 46954, - 7 - ], - [ - 47239, - 13 - ], - [ - 47254, - 7 - ], - [ - 47539, - 13 - ], - [ - 47554, - 7 - ], - [ - 47839, - 13 - ], - [ - 47854, - 7 - ], - [ - 48139, - 22 - ], - [ - 48440, - 20 - ], - [ - 48740, - 20 - ], - [ - 49040, - 20 - ], - [ - 49340, - 20 - ], - [ - 49640, - 20 - ], - [ - 49940, - 20 - ], - [ - 50241, - 18 - ], - [ - 50542, - 16 - ], - [ - 50842, - 16 - ], - [ - 51144, - 12 - ], - [ - 51445, - 10 - ], - [ - 51749, - 2 - ] - ], - "point": [ - 149, - 155 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Mug|-01.47|+00.66|-01.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 60 - ], - [ - 504, - 61 - ], - [ - 804, - 62 - ], - [ - 1104, - 63 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 43 - ], - [ - 9271, - 29 - ], - [ - 9509, - 43 - ], - [ - 9572, - 28 - ], - [ - 9810, - 41 - ], - [ - 9873, - 27 - ], - [ - 10110, - 41 - ], - [ - 10173, - 27 - ], - [ - 10410, - 42 - ], - [ - 10473, - 27 - ], - [ - 10710, - 42 - ], - [ - 10774, - 26 - ], - [ - 11010, - 42 - ], - [ - 11074, - 26 - ], - [ - 11310, - 42 - ], - [ - 11375, - 25 - ], - [ - 11611, - 42 - ], - [ - 11675, - 25 - ], - [ - 11911, - 42 - ], - [ - 11975, - 25 - ], - [ - 12211, - 42 - ], - [ - 12276, - 24 - ], - [ - 12511, - 43 - ], - [ - 12576, - 24 - ], - [ - 12776, - 2 - ], - [ - 12811, - 43 - ], - [ - 12876, - 24 - ], - [ - 13076, - 2 - ], - [ - 13112, - 42 - ], - [ - 13177, - 23 - ], - [ - 13376, - 1 - ], - [ - 13412, - 43 - ], - [ - 13477, - 23 - ], - [ - 13676, - 1 - ], - [ - 13712, - 43 - ], - [ - 13778, - 22 - ], - [ - 13976, - 1 - ], - [ - 14012, - 43 - ], - [ - 14078, - 22 - ], - [ - 14276, - 1 - ], - [ - 14312, - 43 - ], - [ - 14378, - 22 - ], - [ - 14575, - 2 - ], - [ - 14612, - 44 - ], - [ - 14679, - 21 - ], - [ - 14876, - 1 - ], - [ - 14913, - 43 - ], - [ - 14979, - 21 - ], - [ - 15176, - 1 - ], - [ - 15213, - 43 - ], - [ - 15279, - 21 - ], - [ - 15476, - 1 - ], - [ - 15513, - 44 - ], - [ - 15580, - 20 - ], - [ - 15776, - 1 - ], - [ - 15813, - 44 - ], - [ - 15880, - 20 - ], - [ - 16076, - 1 - ], - [ - 16113, - 44 - ], - [ - 16180, - 20 - ], - [ - 16376, - 1 - ], - [ - 16414, - 44 - ], - [ - 16481, - 19 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 44 - ], - [ - 16781, - 19 - ], - [ - 16976, - 1 - ], - [ - 17014, - 44 - ], - [ - 17081, - 19 - ], - [ - 17276, - 2 - ], - [ - 17314, - 45 - ], - [ - 17380, - 20 - ], - [ - 17576, - 2 - ], - [ - 17614, - 86 - ], - [ - 17876, - 2 - ], - [ - 17914, - 86 - ], - [ - 18176, - 2 - ], - [ - 18215, - 85 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 85 - ], - [ - 18776, - 2 - ], - [ - 18815, - 85 - ], - [ - 19077, - 1 - ], - [ - 19115, - 85 - ], - [ - 19377, - 2 - ], - [ - 19415, - 85 - ], - [ - 19677, - 2 - ], - [ - 19715, - 85 - ], - [ - 19977, - 2 - ], - [ - 20016, - 84 - ], - [ - 20277, - 2 - ], - [ - 20316, - 84 - ], - [ - 20577, - 2 - ], - [ - 20616, - 84 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 84 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 84 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 83 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 83 - ], - [ - 22077, - 2 - ], - [ - 22117, - 83 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 83 - ], - [ - 22677, - 2 - ], - [ - 22717, - 83 - ], - [ - 22978, - 1 - ], - [ - 23017, - 83 - ], - [ - 23278, - 1 - ], - [ - 23318, - 82 - ], - [ - 23578, - 1 - ], - [ - 23618, - 82 - ], - [ - 23878, - 2 - ], - [ - 23918, - 82 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 82 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 82 - ], - [ - 24778, - 2 - ], - [ - 24819, - 81 - ], - [ - 25078, - 2 - ], - [ - 25119, - 81 - ], - [ - 25378, - 2 - ], - [ - 25419, - 81 - ], - [ - 25678, - 2 - ], - [ - 25719, - 81 - ], - [ - 25978, - 2 - ], - [ - 26019, - 81 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 81 - ], - [ - 26578, - 3 - ], - [ - 26620, - 80 - ], - [ - 26878, - 3 - ], - [ - 26920, - 80 - ], - [ - 27179, - 2 - ], - [ - 27220, - 80 - ], - [ - 27479, - 2 - ], - [ - 27520, - 80 - ], - [ - 27779, - 2 - ], - [ - 27820, - 80 - ], - [ - 28079, - 2 - ], - [ - 28121, - 79 - ], - [ - 28379, - 2 - ], - [ - 28421, - 79 - ], - [ - 28679, - 2 - ], - [ - 28721, - 79 - ], - [ - 28979, - 2 - ], - [ - 29021, - 79 - ], - [ - 29279, - 2 - ], - [ - 29321, - 79 - ], - [ - 29579, - 2 - ], - [ - 29621, - 79 - ], - [ - 29879, - 2 - ], - [ - 29922, - 78 - ], - [ - 30179, - 2 - ], - [ - 30222, - 78 - ], - [ - 30479, - 3 - ], - [ - 30522, - 78 - ], - [ - 30779, - 3 - ], - [ - 30822, - 78 - ], - [ - 31079, - 3 - ], - [ - 31122, - 78 - ], - [ - 31380, - 1 - ], - [ - 31422, - 78 - ], - [ - 31680, - 1 - ], - [ - 31723, - 77 - ], - [ - 31980, - 1 - ], - [ - 32023, - 77 - ], - [ - 32280, - 1 - ], - [ - 32323, - 77 - ], - [ - 32580, - 1 - ], - [ - 32623, - 77 - ], - [ - 32880, - 1 - ], - [ - 32923, - 77 - ], - [ - 33180, - 2 - ], - [ - 33224, - 76 - ], - [ - 33480, - 2 - ], - [ - 33524, - 76 - ], - [ - 33780, - 2 - ], - [ - 33824, - 76 - ], - [ - 34080, - 2 - ], - [ - 34124, - 76 - ], - [ - 34380, - 2 - ], - [ - 34424, - 76 - ], - [ - 34680, - 2 - ], - [ - 34724, - 76 - ], - [ - 34980, - 2 - ], - [ - 35025, - 75 - ], - [ - 35280, - 3 - ], - [ - 35325, - 75 - ], - [ - 35581, - 2 - ], - [ - 35625, - 75 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 75 - ], - [ - 36181, - 2 - ], - [ - 36225, - 75 - ], - [ - 36481, - 2 - ], - [ - 36526, - 74 - ], - [ - 36781, - 2 - ], - [ - 36826, - 74 - ], - [ - 37081, - 2 - ], - [ - 37126, - 74 - ], - [ - 37381, - 2 - ], - [ - 37426, - 74 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 74 - ], - [ - 37981, - 2 - ], - [ - 38026, - 74 - ], - [ - 38281, - 2 - ], - [ - 38327, - 73 - ], - [ - 38581, - 2 - ], - [ - 38627, - 73 - ], - [ - 38881, - 2 - ], - [ - 38927, - 73 - ], - [ - 39181, - 2 - ], - [ - 39227, - 73 - ], - [ - 39482, - 1 - ], - [ - 39527, - 73 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 73 - ], - [ - 40082, - 1 - ], - [ - 40128, - 72 - ], - [ - 40382, - 1 - ], - [ - 40428, - 72 - ], - [ - 40682, - 2 - ], - [ - 40728, - 72 - ], - [ - 40982, - 2 - ], - [ - 41028, - 72 - ], - [ - 41282, - 2 - ], - [ - 41328, - 72 - ], - [ - 41582, - 2 - ], - [ - 41629, - 71 - ], - [ - 41882, - 2 - ], - [ - 41929, - 71 - ], - [ - 42182, - 2 - ], - [ - 42229, - 71 - ], - [ - 42482, - 2 - ], - [ - 42529, - 71 - ], - [ - 42782, - 3 - ], - [ - 42829, - 71 - ], - [ - 43082, - 3 - ], - [ - 43129, - 71 - ], - [ - 43382, - 3 - ], - [ - 43430, - 70 - ], - [ - 43683, - 2 - ], - [ - 43730, - 70 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 64 - ], - [ - 53885, - 2 - ], - [ - 53936, - 64 - ], - [ - 54185, - 2 - ], - [ - 54236, - 64 - ], - [ - 54485, - 2 - ], - [ - 54536, - 64 - ], - [ - 54785, - 2 - ], - [ - 54836, - 64 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 63 - ], - [ - 55385, - 2 - ], - [ - 55437, - 63 - ], - [ - 55685, - 2 - ], - [ - 55737, - 63 - ], - [ - 55986, - 2 - ], - [ - 56037, - 63 - ], - [ - 56286, - 2 - ], - [ - 56337, - 63 - ], - [ - 56586, - 2 - ], - [ - 56638, - 62 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 62 - ], - [ - 57186, - 2 - ], - [ - 57238, - 62 - ], - [ - 57486, - 2 - ], - [ - 57538, - 62 - ], - [ - 57786, - 3 - ], - [ - 57838, - 62 - ], - [ - 58086, - 3 - ], - [ - 58137, - 63 - ], - [ - 58386, - 3 - ], - [ - 58439, - 61 - ], - [ - 58686, - 3 - ], - [ - 58739, - 61 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 61 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 61 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 61 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 61 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 60 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 60 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 60 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 60 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 60 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 59 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 59 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 59 - ], - [ - 62625, - 5 - ], - [ - 62641, - 59 - ], - [ - 62924, - 6 - ], - [ - 62941, - 59 - ], - [ - 63224, - 6 - ], - [ - 63241, - 59 - ], - [ - 63523, - 2 - ], - [ - 63542, - 58 - ], - [ - 63822, - 2 - ], - [ - 63842, - 58 - ], - [ - 64121, - 3 - ], - [ - 64142, - 58 - ], - [ - 64420, - 3 - ], - [ - 64442, - 58 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 58 - ], - [ - 65019, - 2 - ], - [ - 65043, - 57 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66489, - 1 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66789, - 2 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan322", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.25, - "y": 0.9017602, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "Mug_781a5acc", - "position": { - "x": -1.46945453, - "y": 0.661, - "z": -1.09498429 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_781a5acc", - "position": { - "x": 2.60177946, - "y": 0.178229511, - "z": 0.227923453 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Mug_781a5acc", - "position": { - "x": -1.46945453, - "y": 0.661, - "z": -1.25 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 2.466226, - "y": 0.44882825, - "z": -1.0856601 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": 2.644904, - "y": 0.9854973, - "z": 1.00799918 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": -1.46945453, - "y": 0.6633973, - "z": 1.55650783 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.82000327, - "y": 0.993852258, - "z": 0.4396162 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": -1.648273, - "y": 0.662996, - "z": -1.40501571 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": 2.55536938, - "y": 0.8859142, - "z": 0.2849794 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Book_d7ca8482", - "position": { - "x": -0.9843523, - "y": 0.6932631, - "z": 0.113465667 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": 2.49521112, - "y": 0.450808555, - "z": -0.770934165 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": 2.907553, - "y": 0.983099937, - "z": 0.155424714 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Cloth_3f92dde4", - "position": { - "x": 1.763, - "y": 0.0007606298, - "z": -1.732 - }, - "rotation": { - "x": 0.0, - "y": 70.59012, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": 2.56191, - "y": 0.449217558, - "z": -0.9199292 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": -1.60356832, - "y": 0.668652833, - "z": 1.6340158 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": -1.648273, - "y": 0.6672539, - "z": -1.09498429 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_5a388b63", - "position": { - "x": 3.076, - "y": 0.629, - "z": -1.762 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.300385 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.81999826, - "y": 0.9875098, - "z": 1.2921921 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_8659ff3f", - "position": { - "x": 0.808, - "y": 0.05, - "z": 2.151 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 270.000183 - } - }, - { - "objectName": "Pillow_2ebb2348", - "position": { - "x": -0.716570139, - "y": 0.7796623, - "z": -0.5557643 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0f29a798", - "position": { - "x": -1.457, - "y": 0.754, - "z": 0.494 - }, - "rotation": { - "x": 0.0, - "y": 285.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": 2.524196, - "y": 0.449618846, - "z": -0.4562081 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 1.35279965, - "y": 0.02250484, - "z": -1.62013161 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_781a5acc", - "position": { - "x": 2.87565255, - "y": 0.178229511, - "z": 1.448117 - }, - "rotation": { - "x": 0.0, - "y": 269.999664, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1527371559, - "scene_num": 322 - }, - "task_id": "trial_T20190907_044657_737864", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_30BUDKLTXGCN50T7TIBELBVKPZGE5G", - "high_descs": [ - "Go right and stand in front of the night stand to the left of the bed.", - "Pick the pencil up off of the night stand.", - "Put the pencil in the cup on the left.", - "Pick up the black cup with the pencil in it.", - "Turn around and go straight and then left to stand in front of the dresser.", - "Put the cup down on the dresser." - ], - "task_desc": "Put a cup with a pencil in it on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_36TFCYNS47R8RT4JPP2FYXJHAGVXH6", - "high_descs": [ - "Move around the bed and head to the small table on the other side of the bed. ", - "Pick up the pencil on the table.", - "Put the pencil in the mug on the left.", - "Pick up the mug with pencil on the table. ", - "Turn around and bring the mug with pencil to the black dresser.", - "Put the mug with pencil on the black dresser. " - ], - "task_desc": "Put a mug with pencil in it on the black dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3S3AMIZX3XM3CFOMCXN2TZJ9H7HCDF", - "high_descs": [ - "Take a half step forward then turn right and walk to the wall then turn right and walk to the nightstand.", - "Grab the pencil on the nightstand to the right of the light.", - "Put the pencil in the mug that's to the left of another mug on the nightstand.", - "Pick up the mug with the pencil in it.", - "Turn around and walk to the chair then turn left and walk until you are even with the laptop on the desk to your right then turn right and walk to it.", - "Put the mug on the edge of the desk." - ], - "task_desc": "Put a mug with a pencil in it on the desk.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022633_257511/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022633_257511/traj_data.json deleted file mode 100644 index 9bc9c7c2f..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022633_257511/traj_data.json +++ /dev/null @@ -1,4484 +0,0 @@ -{ - "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": 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": 12 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 12 - }, - { - "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": 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": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 0, - "image_name": "000000102.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000122.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000125.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000126.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000127.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 29 - }, - { - "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": 33 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 54 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 55 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 63 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|-9|2|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 9.53691292, - 9.53691292, - -13.556884, - -13.556884, - 3.6040544, - 3.6040544 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.272, - 9.272, - -12.86, - -12.86, - -0.04, - -0.04 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.38|+00.90|-03.39" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-10|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 9.53691292, - 9.53691292, - -13.556884, - -13.556884, - 3.6040544, - 3.6040544 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 8.158328, - 8.158328, - -12.17754936, - -12.17754936, - 3.5790392, - 3.5790392 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.38|+00.90|-03.39", - "receptacleObjectId": "Mug|+02.04|+00.89|-03.04" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 8.158328, - 8.158328, - -12.17754936, - -12.17754936, - 3.5790392, - 3.5790392 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.272, - 9.272, - -12.86, - -12.86, - -0.04, - -0.04 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.04|+00.89|-03.04" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 8.158328, - 8.158328, - -12.17754936, - -12.17754936, - 3.5790392, - 3.5790392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.708, - 10.708, - 6.044, - 6.044, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.04|+00.89|-03.04", - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pencil|+02.38|+00.90|-03.39" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 155, - 154, - 190, - 155 - ], - "mask": [ - [ - 46055, - 36 - ], - [ - 46355, - 17 - ], - [ - 46381, - 10 - ] - ], - "point": [ - 172, - 153 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+02.38|+00.90|-03.39", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.04|+00.89|-03.04" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 122, - 80, - 157, - 121 - ], - "mask": [ - [ - 23833, - 8 - ], - [ - 24130, - 14 - ], - [ - 24428, - 18 - ], - [ - 24726, - 22 - ], - [ - 25025, - 24 - ], - [ - 25324, - 26 - ], - [ - 25624, - 26 - ], - [ - 25923, - 28 - ], - [ - 26223, - 28 - ], - [ - 26522, - 29 - ], - [ - 26822, - 30 - ], - [ - 27122, - 34 - ], - [ - 27422, - 35 - ], - [ - 27722, - 36 - ], - [ - 28022, - 29 - ], - [ - 28055, - 3 - ], - [ - 28323, - 28 - ], - [ - 28355, - 3 - ], - [ - 28623, - 28 - ], - [ - 28655, - 3 - ], - [ - 28923, - 28 - ], - [ - 28954, - 4 - ], - [ - 29223, - 28 - ], - [ - 29254, - 3 - ], - [ - 29524, - 27 - ], - [ - 29553, - 4 - ], - [ - 29824, - 27 - ], - [ - 29853, - 3 - ], - [ - 30124, - 27 - ], - [ - 30152, - 4 - ], - [ - 30424, - 27 - ], - [ - 30452, - 3 - ], - [ - 30724, - 30 - ], - [ - 31025, - 29 - ], - [ - 31325, - 28 - ], - [ - 31625, - 27 - ], - [ - 31925, - 26 - ], - [ - 32225, - 25 - ], - [ - 32525, - 25 - ], - [ - 32826, - 24 - ], - [ - 33126, - 24 - ], - [ - 33426, - 24 - ], - [ - 33726, - 24 - ], - [ - 34026, - 24 - ], - [ - 34327, - 22 - ], - [ - 34627, - 22 - ], - [ - 34928, - 20 - ], - [ - 35229, - 18 - ], - [ - 35530, - 16 - ], - [ - 35832, - 12 - ], - [ - 36134, - 7 - ] - ], - "point": [ - 139, - 99 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.04|+00.89|-03.04" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 122, - 80, - 157, - 121 - ], - "mask": [ - [ - 23833, - 8 - ], - [ - 24130, - 14 - ], - [ - 24428, - 18 - ], - [ - 24727, - 21 - ], - [ - 25027, - 22 - ], - [ - 25327, - 23 - ], - [ - 25627, - 23 - ], - [ - 25923, - 1 - ], - [ - 25927, - 24 - ], - [ - 26223, - 2 - ], - [ - 26227, - 24 - ], - [ - 26522, - 3 - ], - [ - 26527, - 24 - ], - [ - 26822, - 3 - ], - [ - 26827, - 25 - ], - [ - 27122, - 3 - ], - [ - 27127, - 29 - ], - [ - 27422, - 3 - ], - [ - 27428, - 29 - ], - [ - 27722, - 3 - ], - [ - 27728, - 30 - ], - [ - 28022, - 3 - ], - [ - 28028, - 23 - ], - [ - 28055, - 3 - ], - [ - 28323, - 2 - ], - [ - 28328, - 23 - ], - [ - 28355, - 3 - ], - [ - 28623, - 3 - ], - [ - 28628, - 23 - ], - [ - 28655, - 3 - ], - [ - 28923, - 3 - ], - [ - 28928, - 23 - ], - [ - 28954, - 4 - ], - [ - 29223, - 4 - ], - [ - 29228, - 23 - ], - [ - 29254, - 3 - ], - [ - 29524, - 27 - ], - [ - 29553, - 4 - ], - [ - 29824, - 27 - ], - [ - 29853, - 3 - ], - [ - 30124, - 27 - ], - [ - 30152, - 4 - ], - [ - 30424, - 27 - ], - [ - 30452, - 3 - ], - [ - 30724, - 30 - ], - [ - 31025, - 29 - ], - [ - 31325, - 28 - ], - [ - 31625, - 27 - ], - [ - 31925, - 26 - ], - [ - 32225, - 25 - ], - [ - 32525, - 25 - ], - [ - 32826, - 24 - ], - [ - 33126, - 24 - ], - [ - 33426, - 24 - ], - [ - 33726, - 24 - ], - [ - 34026, - 24 - ], - [ - 34327, - 22 - ], - [ - 34627, - 22 - ], - [ - 34928, - 20 - ], - [ - 35229, - 18 - ], - [ - 35530, - 16 - ], - [ - 35832, - 12 - ], - [ - 36134, - 7 - ] - ], - "point": [ - 139, - 99 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.04|+00.89|-03.04", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 208 - ], - "mask": [ - [ - 93, - 207 - ], - [ - 393, - 207 - ], - [ - 693, - 207 - ], - [ - 993, - 207 - ], - [ - 1293, - 207 - ], - [ - 1592, - 208 - ], - [ - 1891, - 209 - ], - [ - 2191, - 209 - ], - [ - 2491, - 209 - ], - [ - 2791, - 209 - ], - [ - 3090, - 14310 - ], - [ - 22799, - 1 - ], - [ - 23099, - 1 - ], - [ - 23398, - 2 - ], - [ - 23697, - 3 - ], - [ - 23997, - 3 - ], - [ - 24296, - 4 - ], - [ - 24595, - 5 - ], - [ - 24895, - 5 - ], - [ - 25194, - 6 - ], - [ - 25493, - 7 - ], - [ - 25793, - 7 - ], - [ - 26092, - 9 - ], - [ - 26391, - 10 - ], - [ - 26691, - 11 - ], - [ - 26990, - 13 - ], - [ - 27289, - 14 - ], - [ - 27589, - 15 - ], - [ - 27888, - 17 - ], - [ - 28187, - 18 - ], - [ - 28487, - 19 - ], - [ - 28786, - 21 - ], - [ - 29085, - 23 - ], - [ - 29385, - 23 - ], - [ - 29684, - 25 - ], - [ - 29983, - 27 - ], - [ - 30283, - 27 - ], - [ - 30582, - 29 - ], - [ - 30881, - 31 - ], - [ - 31181, - 32 - ], - [ - 31480, - 19 - ], - [ - 31500, - 13 - ], - [ - 31779, - 19 - ], - [ - 31800, - 14 - ], - [ - 32079, - 19 - ], - [ - 32100, - 15 - ], - [ - 32378, - 19 - ], - [ - 32400, - 15 - ], - [ - 32677, - 19 - ], - [ - 32700, - 16 - ], - [ - 32977, - 18 - ], - [ - 33000, - 17 - ], - [ - 33276, - 19 - ], - [ - 33300, - 17 - ], - [ - 33575, - 19 - ], - [ - 33600, - 18 - ], - [ - 33875, - 18 - ], - [ - 33901, - 18 - ], - [ - 34174, - 18 - ], - [ - 34202, - 18 - ], - [ - 34473, - 19 - ], - [ - 34502, - 18 - ], - [ - 34773, - 18 - ], - [ - 34803, - 18 - ], - [ - 35072, - 18 - ], - [ - 35104, - 18 - ], - [ - 35371, - 18 - ], - [ - 35405, - 17 - ], - [ - 35671, - 17 - ], - [ - 35706, - 17 - ], - [ - 35970, - 18 - ], - [ - 36006, - 18 - ], - [ - 36269, - 18 - ], - [ - 36307, - 17 - ], - [ - 36569, - 17 - ], - [ - 36608, - 17 - ], - [ - 36868, - 17 - ], - [ - 36909, - 17 - ], - [ - 37167, - 18 - ], - [ - 37210, - 17 - ], - [ - 37467, - 17 - ], - [ - 37510, - 17 - ], - [ - 37766, - 17 - ], - [ - 37811, - 17 - ], - [ - 38065, - 17 - ], - [ - 38112, - 18 - ], - [ - 38363, - 19 - ], - [ - 38413, - 17 - ], - [ - 38663, - 18 - ], - [ - 38714, - 16 - ], - [ - 38963, - 17 - ], - [ - 39014, - 17 - ], - [ - 39263, - 16 - ], - [ - 39315, - 17 - ], - [ - 39562, - 17 - ], - [ - 39616, - 16 - ], - [ - 39861, - 17 - ], - [ - 39917, - 16 - ], - [ - 40161, - 16 - ], - [ - 40218, - 16 - ], - [ - 40460, - 16 - ], - [ - 40518, - 16 - ], - [ - 40759, - 16 - ], - [ - 40819, - 16 - ], - [ - 41059, - 16 - ], - [ - 41120, - 16 - ], - [ - 41358, - 16 - ], - [ - 41421, - 15 - ], - [ - 41657, - 16 - ], - [ - 41722, - 15 - ], - [ - 41957, - 15 - ], - [ - 42022, - 16 - ], - [ - 42256, - 16 - ], - [ - 42323, - 16 - ], - [ - 42555, - 16 - ], - [ - 42624, - 15 - ], - [ - 42855, - 15 - ], - [ - 42925, - 15 - ], - [ - 43154, - 15 - ], - [ - 43226, - 15 - ], - [ - 43453, - 16 - ], - [ - 43526, - 15 - ], - [ - 43753, - 15 - ], - [ - 43827, - 15 - ], - [ - 44052, - 15 - ], - [ - 44128, - 15 - ], - [ - 44351, - 15 - ], - [ - 44429, - 14 - ], - [ - 44651, - 15 - ], - [ - 44730, - 14 - ], - [ - 44950, - 15 - ], - [ - 45030, - 15 - ], - [ - 45249, - 15 - ], - [ - 45331, - 15 - ], - [ - 45549, - 14 - ], - [ - 45632, - 14 - ], - [ - 45848, - 15 - ], - [ - 45933, - 14 - ], - [ - 46147, - 15 - ], - [ - 46234, - 14 - ], - [ - 46447, - 14 - ], - [ - 46534, - 14 - ], - [ - 46746, - 14 - ], - [ - 46835, - 14 - ], - [ - 47045, - 14 - ], - [ - 47136, - 14 - ], - [ - 47345, - 14 - ], - [ - 47437, - 13 - ], - [ - 47644, - 14 - ], - [ - 47738, - 13 - ], - [ - 47943, - 14 - ], - [ - 48038, - 14 - ], - [ - 48243, - 13 - ], - [ - 48339, - 14 - ], - [ - 48542, - 14 - ], - [ - 48640, - 13 - ], - [ - 48841, - 14 - ], - [ - 48941, - 13 - ], - [ - 49141, - 13 - ], - [ - 49242, - 13 - ], - [ - 49440, - 13 - ], - [ - 49542, - 14 - ], - [ - 49739, - 14 - ], - [ - 49843, - 13 - ], - [ - 50039, - 13 - ], - [ - 50144, - 13 - ], - [ - 50338, - 13 - ], - [ - 50445, - 13 - ], - [ - 50637, - 13 - ], - [ - 50746, - 12 - ], - [ - 50937, - 13 - ], - [ - 51046, - 13 - ], - [ - 51236, - 13 - ], - [ - 51347, - 13 - ], - [ - 51535, - 13 - ], - [ - 51648, - 12 - ], - [ - 51835, - 12 - ], - [ - 51949, - 12 - ], - [ - 52134, - 12 - ], - [ - 52250, - 12 - ], - [ - 52433, - 13 - ], - [ - 52550, - 12 - ], - [ - 52733, - 12 - ], - [ - 52851, - 12 - ], - [ - 53032, - 12 - ], - [ - 53152, - 12 - ], - [ - 53331, - 12 - ], - [ - 53453, - 12 - ], - [ - 53631, - 12 - ], - [ - 53754, - 11 - ], - [ - 53930, - 12 - ], - [ - 54054, - 12 - ], - [ - 54229, - 12 - ], - [ - 54355, - 12 - ], - [ - 54529, - 11 - ], - [ - 54656, - 11 - ], - [ - 54828, - 12 - ], - [ - 54957, - 11 - ], - [ - 55127, - 12 - ], - [ - 55258, - 11 - ], - [ - 55427, - 11 - ], - [ - 55558, - 11 - ], - [ - 55726, - 11 - ], - [ - 55859, - 11 - ], - [ - 56025, - 12 - ], - [ - 56160, - 11 - ], - [ - 56325, - 11 - ], - [ - 56461, - 11 - ], - [ - 56624, - 11 - ], - [ - 56762, - 10 - ], - [ - 56923, - 11 - ], - [ - 57062, - 11 - ], - [ - 57223, - 11 - ], - [ - 57363, - 11 - ], - [ - 57522, - 11 - ], - [ - 57664, - 10 - ], - [ - 57821, - 11 - ], - [ - 57965, - 10 - ], - [ - 58121, - 10 - ], - [ - 58266, - 10 - ], - [ - 58420, - 10 - ], - [ - 58566, - 11 - ], - [ - 58719, - 11 - ], - [ - 58867, - 10 - ], - [ - 59019, - 10 - ], - [ - 59168, - 10 - ], - [ - 59318, - 10 - ], - [ - 59469, - 10 - ], - [ - 59617, - 10 - ], - [ - 59770, - 9 - ], - [ - 59917, - 10 - ], - [ - 60070, - 10 - ], - [ - 60216, - 10 - ], - [ - 60371, - 10 - ], - [ - 60515, - 10 - ], - [ - 60672, - 9 - ], - [ - 60815, - 9 - ], - [ - 60973, - 9 - ], - [ - 61114, - 10 - ], - [ - 61274, - 9 - ], - [ - 61413, - 10 - ], - [ - 61574, - 10 - ], - [ - 61713, - 9 - ], - [ - 61875, - 9 - ], - [ - 62012, - 9 - ], - [ - 62176, - 10 - ], - [ - 62310, - 10 - ] - ], - "point": [ - 149, - 57 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan323", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -0.75, - "y": 0.9009992, - "z": -0.25 - }, - "object_poses": [ - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.38422823, - "y": 0.8947598, - "z": -3.18232059 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": -1.591459, - "y": 0.619483232, - "z": -1.4619447 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 2.77987337, - "y": 1.22858083, - "z": 1.39744258 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 2.38422823, - "y": 0.9010136, - "z": -3.389221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 1.344, - "y": 0.0240890123, - "z": -3.34277487 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": -2.57515264, - "y": 0.680996, - "z": -3.07263136 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": 2.63854241, - "y": 1.22858751, - "z": 1.28314817 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": -2.39472151, - "y": 0.6811471, - "z": -3.07263279 - }, - "rotation": { - "x": 0.0, - "y": 270.0005, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": 1.78645158, - "y": 0.642223239, - "z": -3.0625205 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": -2.484939, - "y": 0.6800014, - "z": -3.30473566 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": -1.30842257, - "y": 0.6184952, - "z": -1.861622 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": 1.86725879, - "y": 0.896755755, - "z": -2.97542048 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": 2.55655146, - "y": 0.902412653, - "z": -3.320254 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 2.64353132, - "y": 0.09689612, - "z": 1.679683 - }, - "rotation": { - "x": 0.0, - "y": 269.999969, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_fee2aeab", - "position": { - "x": -0.6678181, - "y": 0.612493753, - "z": -1.36408424 - }, - "rotation": { - "x": 0.0, - "y": 81.4677048, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": -1.31, - "y": 0.612493753, - "z": -1.542 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ead726ec", - "position": { - "x": 1.86725879, - "y": 0.90056, - "z": -3.113354 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 2.33620644, - "y": 0.307989359, - "z": 0.5966711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": -2.62026, - "y": 0.6811471, - "z": -0.359263 - }, - "rotation": { - "x": 0.0, - "y": 90.0004654, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0b6c1a13", - "position": { - "x": -2.124, - "y": 0.658, - "z": -1.522 - }, - "rotation": { - "x": 0.0, - "y": 28.29679, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": -1.874496, - "y": 0.680686533, - "z": -2.26129913 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 1.86725879, - "y": 0.8963665, - "z": -3.389221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.039582, - "y": 0.8947598, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_fd13eed7", - "position": { - "x": 2.55655146, - "y": 0.898797631, - "z": -3.113354 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2353243428, - "scene_num": 323 - }, - "task_id": "trial_T20190908_022633_257511", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A18X8ZAS0QDLKJ_3I0BTBYZA02MGYOXWDHWBJR9QNWY0K", - "high_descs": [ - "Turn all the way around, then walk towards the sofa, turn right, then head for the desk against the wall.", - "Pick up the pencil located behind the black cup on the desk.", - "Take a step right towards the alarm clock on the desk.", - "Place the pencil inside the black cup located near the alarm clock.", - "Pick up the black cup with the pencil inside. ", - "Turn all the way around and walk towards the couch, turn right, then walk towards the brown dresser.", - "Place the cup on the dresser." - ], - "task_desc": "Place a cup with a pencil inside, on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3LRLIPTPETQNX6XYK0DYRHOB1U0KA3", - "high_descs": [ - "move to the desk to the right of the couch", - "pick up a pencil from the desk", - "move to the right side of the desk", - "put the pencil in a cup", - "pick up the cup from the desk", - "move to the dresser behind you", - "put the cup on the dresser" - ], - "task_desc": "Put a cup with a pencil on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3QAVNHZ3EPLYHCFG50PZ6H1QQUYLA0", - "high_descs": [ - "Turn around and walk over to the couch, then turn right and walk up to the wooden desk.", - "Pick up the pencil off of the wooden desk.", - "Turn right and walk towards the bed, then turn left and walk up to the wooden desk.", - "Put the pencil in the rightmost black mug on the wooden desk.", - "Pick up the black mug with the pencil in it.", - "Turn right and begin walking across the room, then hang a right and walk over to the wall, turn right again and walk up to the wooden dresser.", - "Put the mug with the pencil in it on top of the wooden dresser." - ], - "task_desc": "Put a mug with a pencil in it on top of a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022708_274581/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022708_274581/traj_data.json deleted file mode 100644 index a9df8139c..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022708_274581/traj_data.json +++ /dev/null @@ -1,4072 +0,0 @@ -{ - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 16 - }, - { - "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": 19 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 19 - }, - { - "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": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "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": 32 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 53 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-10|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 8.84762, - 8.84762, - -12.17754936, - -12.17754936, - 3.6040544, - 3.6040544 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.272, - 9.272, - -12.86, - -12.86, - -0.04, - -0.04 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.21|+00.90|-03.04" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-10|2|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 8.84762, - 8.84762, - -12.17754936, - -12.17754936, - 3.6040544, - 3.6040544 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 8.158328, - 8.158328, - -13.00514984, - -13.00514984, - 3.5790392, - 3.5790392 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.21|+00.90|-03.04", - "receptacleObjectId": "Mug|+02.04|+00.89|-03.25" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 8.158328, - 8.158328, - -13.00514984, - -13.00514984, - 3.5790392, - 3.5790392 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.272, - 9.272, - -12.86, - -12.86, - -0.04, - -0.04 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.04|+00.89|-03.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 8.158328, - 8.158328, - -13.00514984, - -13.00514984, - 3.5790392, - 3.5790392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.708, - 10.708, - 6.044, - 6.044, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.04|+00.89|-03.25", - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - } - }, - { - "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": "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": "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": "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": "Pencil|+02.21|+00.90|-03.04" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 58, - 110, - 113, - 112 - ], - "mask": [ - [ - 32759, - 54 - ], - [ - 33058, - 56 - ], - [ - 33358, - 56 - ] - ], - "point": [ - 85, - 110 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+02.21|+00.90|-03.04", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.04|+00.89|-03.25" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 127, - 111, - 156, - 145 - ], - "mask": [ - [ - 33135, - 9 - ], - [ - 33432, - 15 - ], - [ - 33730, - 18 - ], - [ - 34029, - 21 - ], - [ - 34328, - 22 - ], - [ - 34627, - 24 - ], - [ - 34927, - 24 - ], - [ - 35227, - 24 - ], - [ - 35527, - 28 - ], - [ - 35827, - 29 - ], - [ - 36127, - 24 - ], - [ - 36154, - 3 - ], - [ - 36427, - 24 - ], - [ - 36455, - 2 - ], - [ - 36728, - 23 - ], - [ - 36754, - 3 - ], - [ - 37028, - 23 - ], - [ - 37054, - 2 - ], - [ - 37328, - 23 - ], - [ - 37353, - 3 - ], - [ - 37628, - 23 - ], - [ - 37653, - 2 - ], - [ - 37928, - 23 - ], - [ - 37952, - 3 - ], - [ - 38228, - 22 - ], - [ - 38252, - 2 - ], - [ - 38529, - 21 - ], - [ - 38551, - 3 - ], - [ - 38829, - 21 - ], - [ - 38851, - 2 - ], - [ - 39129, - 24 - ], - [ - 39429, - 23 - ], - [ - 39729, - 23 - ], - [ - 40029, - 21 - ], - [ - 40329, - 21 - ], - [ - 40629, - 21 - ], - [ - 40929, - 21 - ], - [ - 41230, - 20 - ], - [ - 41530, - 20 - ], - [ - 41830, - 20 - ], - [ - 42130, - 19 - ], - [ - 42431, - 18 - ], - [ - 42732, - 15 - ], - [ - 43033, - 13 - ], - [ - 43336, - 8 - ] - ], - "point": [ - 141, - 127 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.04|+00.89|-03.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 127, - 111, - 156, - 145 - ], - "mask": [ - [ - 33135, - 9 - ], - [ - 33432, - 15 - ], - [ - 33731, - 17 - ], - [ - 34031, - 19 - ], - [ - 34328, - 1 - ], - [ - 34331, - 19 - ], - [ - 34627, - 2 - ], - [ - 34631, - 20 - ], - [ - 34927, - 2 - ], - [ - 34931, - 20 - ], - [ - 35227, - 2 - ], - [ - 35231, - 20 - ], - [ - 35527, - 2 - ], - [ - 35532, - 23 - ], - [ - 35827, - 3 - ], - [ - 35832, - 24 - ], - [ - 36127, - 3 - ], - [ - 36132, - 19 - ], - [ - 36154, - 3 - ], - [ - 36427, - 3 - ], - [ - 36432, - 19 - ], - [ - 36455, - 2 - ], - [ - 36728, - 3 - ], - [ - 36732, - 19 - ], - [ - 36754, - 3 - ], - [ - 37028, - 23 - ], - [ - 37054, - 2 - ], - [ - 37328, - 23 - ], - [ - 37353, - 3 - ], - [ - 37628, - 23 - ], - [ - 37653, - 2 - ], - [ - 37928, - 23 - ], - [ - 37952, - 3 - ], - [ - 38228, - 22 - ], - [ - 38252, - 2 - ], - [ - 38529, - 21 - ], - [ - 38551, - 3 - ], - [ - 38829, - 21 - ], - [ - 38851, - 2 - ], - [ - 39129, - 24 - ], - [ - 39429, - 23 - ], - [ - 39729, - 23 - ], - [ - 40029, - 21 - ], - [ - 40329, - 21 - ], - [ - 40629, - 21 - ], - [ - 40929, - 21 - ], - [ - 41230, - 20 - ], - [ - 41530, - 20 - ], - [ - 41830, - 20 - ], - [ - 42130, - 19 - ], - [ - 42431, - 18 - ], - [ - 42732, - 15 - ], - [ - 43033, - 13 - ], - [ - 43336, - 8 - ] - ], - "point": [ - 141, - 127 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.04|+00.89|-03.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 208 - ], - "mask": [ - [ - 93, - 207 - ], - [ - 393, - 207 - ], - [ - 693, - 207 - ], - [ - 993, - 207 - ], - [ - 1293, - 207 - ], - [ - 1592, - 208 - ], - [ - 1891, - 209 - ], - [ - 2191, - 209 - ], - [ - 2491, - 209 - ], - [ - 2791, - 209 - ], - [ - 3090, - 137 - ], - [ - 3264, - 263 - ], - [ - 3565, - 256 - ], - [ - 3865, - 93 - ], - [ - 3980, - 97 - ], - [ - 4166, - 92 - ], - [ - 4334, - 21 - ], - [ - 4466, - 86 - ], - [ - 4638, - 17 - ], - [ - 4766, - 86 - ], - [ - 4938, - 17 - ], - [ - 5025, - 3 - ], - [ - 5067, - 91 - ], - [ - 5234, - 21 - ], - [ - 5280, - 49 - ], - [ - 5367, - 262 - ], - [ - 5667, - 262 - ], - [ - 5968, - 261 - ], - [ - 6268, - 262 - ], - [ - 6568, - 262 - ], - [ - 6869, - 261 - ], - [ - 7169, - 263 - ], - [ - 7468, - 9932 - ], - [ - 22799, - 1 - ], - [ - 23099, - 1 - ], - [ - 23398, - 2 - ], - [ - 23697, - 3 - ], - [ - 23997, - 3 - ], - [ - 24296, - 4 - ], - [ - 24595, - 5 - ], - [ - 24895, - 5 - ], - [ - 25194, - 6 - ], - [ - 25493, - 7 - ], - [ - 25793, - 7 - ], - [ - 26092, - 9 - ], - [ - 26391, - 10 - ], - [ - 26691, - 11 - ], - [ - 26990, - 13 - ], - [ - 27289, - 14 - ], - [ - 27589, - 15 - ], - [ - 27888, - 17 - ], - [ - 28187, - 18 - ], - [ - 28487, - 19 - ], - [ - 28786, - 21 - ], - [ - 29085, - 23 - ], - [ - 29385, - 23 - ], - [ - 29684, - 25 - ], - [ - 29983, - 27 - ], - [ - 30283, - 27 - ], - [ - 30582, - 29 - ], - [ - 30881, - 31 - ], - [ - 31181, - 32 - ], - [ - 31480, - 19 - ], - [ - 31500, - 13 - ], - [ - 31779, - 19 - ], - [ - 31800, - 14 - ], - [ - 32079, - 19 - ], - [ - 32100, - 15 - ], - [ - 32378, - 19 - ], - [ - 32400, - 15 - ], - [ - 32677, - 19 - ], - [ - 32700, - 16 - ], - [ - 32977, - 18 - ], - [ - 33000, - 17 - ], - [ - 33276, - 19 - ], - [ - 33300, - 17 - ], - [ - 33575, - 19 - ], - [ - 33600, - 18 - ], - [ - 33875, - 18 - ], - [ - 33901, - 18 - ], - [ - 34174, - 18 - ], - [ - 34202, - 18 - ], - [ - 34473, - 19 - ], - [ - 34502, - 18 - ], - [ - 34773, - 18 - ], - [ - 34803, - 18 - ], - [ - 35072, - 18 - ], - [ - 35104, - 18 - ], - [ - 35371, - 18 - ], - [ - 35405, - 17 - ], - [ - 35671, - 17 - ], - [ - 35706, - 17 - ], - [ - 35970, - 18 - ], - [ - 36006, - 18 - ], - [ - 36269, - 18 - ], - [ - 36307, - 17 - ], - [ - 36569, - 17 - ], - [ - 36608, - 17 - ], - [ - 36868, - 17 - ], - [ - 36909, - 17 - ], - [ - 37167, - 18 - ], - [ - 37210, - 17 - ], - [ - 37467, - 17 - ], - [ - 37510, - 17 - ], - [ - 37766, - 17 - ], - [ - 37811, - 17 - ], - [ - 38065, - 17 - ], - [ - 38112, - 18 - ], - [ - 38363, - 19 - ], - [ - 38413, - 17 - ], - [ - 38663, - 18 - ], - [ - 38714, - 16 - ], - [ - 38963, - 17 - ], - [ - 39014, - 17 - ], - [ - 39263, - 16 - ], - [ - 39315, - 17 - ], - [ - 39562, - 17 - ], - [ - 39616, - 16 - ], - [ - 39861, - 17 - ], - [ - 39917, - 16 - ], - [ - 40161, - 16 - ], - [ - 40218, - 16 - ], - [ - 40460, - 16 - ], - [ - 40518, - 16 - ], - [ - 40759, - 16 - ], - [ - 40819, - 16 - ], - [ - 41059, - 16 - ], - [ - 41120, - 16 - ], - [ - 41358, - 16 - ], - [ - 41421, - 15 - ], - [ - 41657, - 16 - ], - [ - 41722, - 15 - ], - [ - 41957, - 15 - ], - [ - 42022, - 16 - ], - [ - 42256, - 16 - ], - [ - 42323, - 16 - ], - [ - 42555, - 16 - ], - [ - 42624, - 15 - ], - [ - 42855, - 15 - ], - [ - 42925, - 15 - ], - [ - 43154, - 15 - ], - [ - 43226, - 15 - ], - [ - 43453, - 16 - ], - [ - 43526, - 15 - ], - [ - 43753, - 15 - ], - [ - 43827, - 15 - ], - [ - 44052, - 15 - ], - [ - 44128, - 15 - ], - [ - 44351, - 15 - ], - [ - 44429, - 14 - ], - [ - 44651, - 15 - ], - [ - 44730, - 14 - ], - [ - 44950, - 15 - ], - [ - 45030, - 15 - ], - [ - 45249, - 15 - ], - [ - 45331, - 15 - ], - [ - 45549, - 14 - ], - [ - 45632, - 14 - ], - [ - 45848, - 15 - ], - [ - 45933, - 14 - ], - [ - 46147, - 15 - ], - [ - 46234, - 14 - ], - [ - 46447, - 14 - ], - [ - 46534, - 14 - ], - [ - 46746, - 14 - ], - [ - 46835, - 14 - ], - [ - 47045, - 14 - ], - [ - 47136, - 14 - ], - [ - 47345, - 14 - ], - [ - 47437, - 13 - ], - [ - 47644, - 14 - ], - [ - 47738, - 13 - ], - [ - 47943, - 14 - ], - [ - 48038, - 14 - ], - [ - 48243, - 13 - ], - [ - 48339, - 14 - ], - [ - 48542, - 14 - ], - [ - 48640, - 13 - ], - [ - 48841, - 14 - ], - [ - 48941, - 13 - ], - [ - 49141, - 13 - ], - [ - 49242, - 13 - ], - [ - 49440, - 13 - ], - [ - 49542, - 14 - ], - [ - 49739, - 14 - ], - [ - 49843, - 13 - ], - [ - 50039, - 13 - ], - [ - 50144, - 13 - ], - [ - 50338, - 13 - ], - [ - 50445, - 13 - ], - [ - 50637, - 13 - ], - [ - 50746, - 12 - ], - [ - 50937, - 13 - ], - [ - 51046, - 13 - ], - [ - 51236, - 13 - ], - [ - 51347, - 13 - ], - [ - 51535, - 13 - ], - [ - 51648, - 12 - ], - [ - 51835, - 12 - ], - [ - 51949, - 12 - ], - [ - 52134, - 12 - ], - [ - 52250, - 12 - ], - [ - 52433, - 13 - ], - [ - 52550, - 12 - ], - [ - 52733, - 12 - ], - [ - 52851, - 12 - ], - [ - 53032, - 12 - ], - [ - 53152, - 12 - ], - [ - 53331, - 12 - ], - [ - 53453, - 12 - ], - [ - 53631, - 12 - ], - [ - 53754, - 11 - ], - [ - 53930, - 12 - ], - [ - 54054, - 12 - ], - [ - 54229, - 12 - ], - [ - 54355, - 12 - ], - [ - 54529, - 11 - ], - [ - 54656, - 11 - ], - [ - 54828, - 12 - ], - [ - 54957, - 11 - ], - [ - 55127, - 12 - ], - [ - 55258, - 11 - ], - [ - 55427, - 11 - ], - [ - 55558, - 11 - ], - [ - 55726, - 11 - ], - [ - 55859, - 11 - ], - [ - 56025, - 12 - ], - [ - 56160, - 11 - ], - [ - 56325, - 11 - ], - [ - 56461, - 11 - ], - [ - 56624, - 11 - ], - [ - 56762, - 10 - ], - [ - 56923, - 11 - ], - [ - 57062, - 11 - ], - [ - 57223, - 11 - ], - [ - 57363, - 11 - ], - [ - 57522, - 11 - ], - [ - 57664, - 10 - ], - [ - 57821, - 11 - ], - [ - 57965, - 10 - ], - [ - 58121, - 10 - ], - [ - 58266, - 10 - ], - [ - 58420, - 10 - ], - [ - 58566, - 11 - ], - [ - 58719, - 11 - ], - [ - 58867, - 10 - ], - [ - 59019, - 10 - ], - [ - 59168, - 10 - ], - [ - 59318, - 10 - ], - [ - 59469, - 10 - ], - [ - 59617, - 10 - ], - [ - 59770, - 9 - ], - [ - 59917, - 10 - ], - [ - 60070, - 10 - ], - [ - 60216, - 10 - ], - [ - 60371, - 10 - ], - [ - 60515, - 10 - ], - [ - 60672, - 9 - ], - [ - 60815, - 9 - ], - [ - 60973, - 9 - ], - [ - 61114, - 10 - ], - [ - 61274, - 9 - ], - [ - 61413, - 10 - ], - [ - 61574, - 10 - ], - [ - 61713, - 9 - ], - [ - 61875, - 9 - ], - [ - 62012, - 9 - ], - [ - 62176, - 10 - ], - [ - 62310, - 10 - ] - ], - "point": [ - 149, - 57 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan323", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.25, - "y": 0.9009992, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "Mug_291e6e8a", - "position": { - "x": -2.43982887, - "y": 0.679, - "z": -2.99526453 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": -2.57515216, - "y": 0.6806067, - "z": -0.35926342 - }, - "rotation": { - "x": 0.0, - "y": 90.0004654, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": -2.575154, - "y": 0.673696935, - "z": -0.5913673 - }, - "rotation": { - "x": 3.7975602e-05, - "y": 90.0006561, - "z": -0.000873985235 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": 2.54432321, - "y": 1.23424435, - "z": 1.62603307 - }, - "rotation": { - "x": 0.0, - "y": 90.00017, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 2.54432225, - "y": 1.23284531, - "z": 1.39744329 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 2.039582, - "y": 0.9010136, - "z": -3.18232059 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 2.211905, - "y": 0.9010136, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": 1.69493556, - "y": 0.896755755, - "z": -3.113354 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": 2.544322, - "y": 1.22858751, - "z": 1.28314841 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 2.7354188, - "y": 1.24995315, - "z": 1.70843792 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": 2.262105, - "y": 0.356701672, - "z": -0.29622364 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": 2.63854241, - "y": 1.22858751, - "z": 1.28314817 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": 2.68565226, - "y": 1.23424435, - "z": 1.168853 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": -2.43983, - "y": 0.685253859, - "z": -3.15000057 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_fee2aeab", - "position": { - "x": -0.6678181, - "y": 0.612493753, - "z": -1.36408424 - }, - "rotation": { - "x": 0.0, - "y": 81.4677048, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": -1.874496, - "y": 0.617493868, - "z": -2.26129913 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ead726ec", - "position": { - "x": -2.57515454, - "y": 0.684800267, - "z": -3.304735 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 2.410308, - "y": 0.307989359, - "z": 0.373447418 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 2.63854313, - "y": 1.22873855, - "z": 1.511738 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0b6c1a13", - "position": { - "x": -2.124, - "y": 0.658, - "z": -1.522 - }, - "rotation": { - "x": 0.0, - "y": 28.29679, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": -2.37835884, - "y": 0.637, - "z": -2.33062029 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 2.64947534, - "y": 1.24941278, - "z": 1.73771882 - }, - "rotation": { - "x": 0.0, - "y": -0.000121235847, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 2.039582, - "y": 0.8947598, - "z": -3.25128746 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_fd13eed7", - "position": { - "x": 2.38422823, - "y": 0.898797631, - "z": -3.25128746 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4085077959, - "scene_num": 323 - }, - "task_id": "trial_T20190908_022708_274581", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2KAGFQU28JY43_324G5B4FB6P31ESW94RWY67CMO3708", - "high_descs": [ - "Turn around and walk to the desk across the room. ", - "Pick up the pencil on the desk, closest to the edge. ", - "Move closer to the desk. ", - "Place the pencil in the black coffee cup, behind the other pencil, on the desk.", - "Pick up the coffee cup with the pencil inside it. ", - "Turn around and walk across the room to the dresser in the right corner of the room. ", - "Place the coffee cup, with the pencil inside it, on the right side of the dresser, close to the edge. " - ], - "task_desc": "Put a cup containing a pencil on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3NJM2BJS4ZNC1CRCH6EXTT0YV7KCPR", - "high_descs": [ - "Turn around to your right walk forward then head to the desk", - "Pick up the pencil in front of the bowl ", - "Look for the mug on the desk", - "Put the pencil in the mug", - "Pick up the mug with pencil", - "Turn to your right then walk forward turn right head to the drawer", - "Put the mug with pencil on top of the right side of the drawer" - ], - "task_desc": "Put the mug with pencil on the drawer", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1GVTH5YS3WOK0_3UJ1CZ6IZK6OFJYPUDVJASZZQAQ5SD", - "high_descs": [ - "Turn around, walk past the sofa on your left, turn left to the wall, and then turn right to the desk.", - "Pick up the pencil closest to you.", - "Look for the black cup on the desk.", - "Place the pencil in the black cup.", - "Pick up the cup with the pencil from the desk.", - "Turn around, walk to the wall, and turn right towards the tall dresser.", - "Place the cup to the right of a credit card on the dresser." - ], - "task_desc": "Place a black cup with a pencil on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022729_383819/traj_data.json b/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022729_383819/traj_data.json deleted file mode 100644 index 7f3ab1c0a..000000000 --- a/data/json_2.1.0/train/pick_and_place_with_movable_recep-Pencil-Mug-Dresser-323/trial_T20190908_022729_383819/traj_data.json +++ /dev/null @@ -1,3835 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 7 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000043.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000062.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000129.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "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": 23 - }, - { - "high_idx": 5, - "image_name": "000000151.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000152.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000153.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000154.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000155.png", - "low_idx": 23 - }, - { - "high_idx": 5, - "image_name": "000000156.png", - "low_idx": 23 - }, - { - "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": 24 - }, - { - "high_idx": 5, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 5, - "image_name": "000000161.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000162.png", - "low_idx": 25 - }, - { - "high_idx": 5, - "image_name": "000000163.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000164.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 5, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "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": 32 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000224.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 47 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|-9|2|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.22620584, - 10.22620584, - -13.00514984, - -13.00514984, - 3.6040544, - 3.6040544 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.272, - 9.272, - -12.86, - -12.86, - -0.04, - -0.04 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.56|+00.90|-03.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|5|-12|1|45" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.22620584, - 10.22620584, - -13.00514984, - -13.00514984, - 3.6040544, - 3.6040544 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 7.46903516, - 7.46903516, - -12.17754936, - -12.17754936, - 3.5790392, - 3.5790392 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.56|+00.90|-03.25", - "receptacleObjectId": "Mug|+01.87|+00.89|-03.04" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 7.46903516, - 7.46903516, - -12.17754936, - -12.17754936, - 3.5790392, - 3.5790392 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 9.272, - 9.272, - -12.86, - -12.86, - -0.04, - -0.04 - ] - ], - "forceVisible": true, - "objectId": "Mug|+01.87|+00.89|-03.04" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|6|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 7.46903516, - 7.46903516, - -12.17754936, - -12.17754936, - 3.5790392, - 3.5790392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.708, - 10.708, - 6.044, - 6.044, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "Mug|+01.87|+00.89|-03.04", - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - } - }, - { - "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pencil|+02.56|+00.90|-03.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 118, - 169, - 156, - 170 - ], - "mask": [ - [ - 50518, - 39 - ], - [ - 50818, - 39 - ] - ], - "point": [ - 137, - 168 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+02.56|+00.90|-03.25", - "placeStationary": true, - "receptacleObjectId": "Mug|+01.87|+00.89|-03.04" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 150, - 135, - 176, - 172 - ], - "mask": [ - [ - 40358, - 11 - ], - [ - 40655, - 16 - ], - [ - 40954, - 19 - ], - [ - 41252, - 22 - ], - [ - 41552, - 23 - ], - [ - 41851, - 25 - ], - [ - 42150, - 27 - ], - [ - 42450, - 27 - ], - [ - 42750, - 27 - ], - [ - 43050, - 27 - ], - [ - 43350, - 27 - ], - [ - 43650, - 27 - ], - [ - 43950, - 27 - ], - [ - 44251, - 25 - ], - [ - 44551, - 25 - ], - [ - 44851, - 25 - ], - [ - 45151, - 25 - ], - [ - 45451, - 25 - ], - [ - 45751, - 24 - ], - [ - 46051, - 24 - ], - [ - 46351, - 24 - ], - [ - 46651, - 24 - ], - [ - 46951, - 24 - ], - [ - 47251, - 24 - ], - [ - 47551, - 24 - ], - [ - 47851, - 23 - ], - [ - 48151, - 23 - ], - [ - 48451, - 23 - ], - [ - 48751, - 23 - ], - [ - 49051, - 23 - ], - [ - 49351, - 23 - ], - [ - 49652, - 22 - ], - [ - 49952, - 21 - ], - [ - 50253, - 20 - ], - [ - 50554, - 18 - ], - [ - 50855, - 16 - ], - [ - 51156, - 13 - ], - [ - 51459, - 8 - ] - ], - "point": [ - 163, - 152 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+01.87|+00.89|-03.04" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 150, - 135, - 176, - 172 - ], - "mask": [ - [ - 40358, - 1 - ], - [ - 40362, - 7 - ], - [ - 40655, - 4 - ], - [ - 40662, - 9 - ], - [ - 40954, - 5 - ], - [ - 40962, - 11 - ], - [ - 41252, - 7 - ], - [ - 41262, - 12 - ], - [ - 41552, - 7 - ], - [ - 41562, - 13 - ], - [ - 41851, - 8 - ], - [ - 41861, - 15 - ], - [ - 42150, - 9 - ], - [ - 42161, - 16 - ], - [ - 42450, - 9 - ], - [ - 42461, - 16 - ], - [ - 42750, - 9 - ], - [ - 42761, - 16 - ], - [ - 43050, - 9 - ], - [ - 43061, - 16 - ], - [ - 43350, - 9 - ], - [ - 43361, - 16 - ], - [ - 43650, - 9 - ], - [ - 43661, - 16 - ], - [ - 43950, - 9 - ], - [ - 43961, - 16 - ], - [ - 44251, - 8 - ], - [ - 44261, - 15 - ], - [ - 44551, - 8 - ], - [ - 44561, - 15 - ], - [ - 44851, - 8 - ], - [ - 44861, - 15 - ], - [ - 45151, - 8 - ], - [ - 45161, - 15 - ], - [ - 45451, - 25 - ], - [ - 45751, - 24 - ], - [ - 46051, - 24 - ], - [ - 46351, - 24 - ], - [ - 46651, - 24 - ], - [ - 46951, - 24 - ], - [ - 47251, - 24 - ], - [ - 47551, - 24 - ], - [ - 47851, - 23 - ], - [ - 48151, - 23 - ], - [ - 48451, - 23 - ], - [ - 48751, - 23 - ], - [ - 49051, - 23 - ], - [ - 49351, - 23 - ], - [ - 49652, - 22 - ], - [ - 49952, - 21 - ], - [ - 50253, - 20 - ], - [ - 50554, - 18 - ], - [ - 50855, - 16 - ], - [ - 51156, - 13 - ], - [ - 51459, - 8 - ] - ], - "point": [ - 163, - 152 - ] - } - }, - "high_idx": 4 - }, - { - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+01.87|+00.89|-03.04", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.68|00.00|+01.51" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 208 - ], - "mask": [ - [ - 93, - 207 - ], - [ - 393, - 207 - ], - [ - 693, - 207 - ], - [ - 993, - 207 - ], - [ - 1293, - 207 - ], - [ - 1592, - 208 - ], - [ - 1891, - 209 - ], - [ - 2191, - 209 - ], - [ - 2491, - 209 - ], - [ - 2791, - 209 - ], - [ - 3090, - 14310 - ], - [ - 22799, - 1 - ], - [ - 23099, - 1 - ], - [ - 23398, - 2 - ], - [ - 23697, - 3 - ], - [ - 23997, - 3 - ], - [ - 24296, - 4 - ], - [ - 24595, - 5 - ], - [ - 24895, - 5 - ], - [ - 25194, - 6 - ], - [ - 25493, - 7 - ], - [ - 25793, - 7 - ], - [ - 26092, - 9 - ], - [ - 26391, - 10 - ], - [ - 26691, - 11 - ], - [ - 26990, - 13 - ], - [ - 27289, - 14 - ], - [ - 27589, - 15 - ], - [ - 27888, - 17 - ], - [ - 28187, - 18 - ], - [ - 28487, - 19 - ], - [ - 28786, - 21 - ], - [ - 29085, - 23 - ], - [ - 29385, - 23 - ], - [ - 29684, - 25 - ], - [ - 29983, - 27 - ], - [ - 30283, - 27 - ], - [ - 30582, - 29 - ], - [ - 30881, - 31 - ], - [ - 31181, - 32 - ], - [ - 31480, - 19 - ], - [ - 31500, - 13 - ], - [ - 31779, - 19 - ], - [ - 31800, - 14 - ], - [ - 32079, - 19 - ], - [ - 32100, - 15 - ], - [ - 32378, - 19 - ], - [ - 32400, - 15 - ], - [ - 32677, - 19 - ], - [ - 32700, - 16 - ], - [ - 32977, - 18 - ], - [ - 33000, - 17 - ], - [ - 33276, - 19 - ], - [ - 33300, - 17 - ], - [ - 33575, - 19 - ], - [ - 33600, - 18 - ], - [ - 33875, - 18 - ], - [ - 33901, - 18 - ], - [ - 34174, - 18 - ], - [ - 34202, - 18 - ], - [ - 34473, - 19 - ], - [ - 34502, - 18 - ], - [ - 34773, - 18 - ], - [ - 34803, - 18 - ], - [ - 35072, - 18 - ], - [ - 35104, - 18 - ], - [ - 35371, - 18 - ], - [ - 35405, - 17 - ], - [ - 35671, - 17 - ], - [ - 35706, - 17 - ], - [ - 35970, - 18 - ], - [ - 36006, - 18 - ], - [ - 36269, - 18 - ], - [ - 36307, - 17 - ], - [ - 36569, - 17 - ], - [ - 36608, - 17 - ], - [ - 36868, - 17 - ], - [ - 36909, - 17 - ], - [ - 37167, - 18 - ], - [ - 37210, - 17 - ], - [ - 37467, - 17 - ], - [ - 37510, - 17 - ], - [ - 37766, - 17 - ], - [ - 37811, - 17 - ], - [ - 38065, - 17 - ], - [ - 38112, - 18 - ], - [ - 38363, - 19 - ], - [ - 38413, - 17 - ], - [ - 38663, - 18 - ], - [ - 38714, - 16 - ], - [ - 38963, - 17 - ], - [ - 39014, - 17 - ], - [ - 39263, - 16 - ], - [ - 39315, - 17 - ], - [ - 39562, - 17 - ], - [ - 39616, - 16 - ], - [ - 39861, - 17 - ], - [ - 39917, - 16 - ], - [ - 40161, - 16 - ], - [ - 40218, - 16 - ], - [ - 40460, - 16 - ], - [ - 40518, - 16 - ], - [ - 40759, - 16 - ], - [ - 40819, - 16 - ], - [ - 41059, - 16 - ], - [ - 41120, - 16 - ], - [ - 41358, - 16 - ], - [ - 41421, - 15 - ], - [ - 41657, - 16 - ], - [ - 41722, - 15 - ], - [ - 41957, - 15 - ], - [ - 42022, - 16 - ], - [ - 42256, - 16 - ], - [ - 42323, - 16 - ], - [ - 42555, - 16 - ], - [ - 42624, - 15 - ], - [ - 42855, - 15 - ], - [ - 42925, - 15 - ], - [ - 43154, - 15 - ], - [ - 43226, - 15 - ], - [ - 43453, - 16 - ], - [ - 43526, - 15 - ], - [ - 43753, - 15 - ], - [ - 43827, - 15 - ], - [ - 44052, - 15 - ], - [ - 44128, - 15 - ], - [ - 44351, - 15 - ], - [ - 44429, - 14 - ], - [ - 44651, - 15 - ], - [ - 44730, - 14 - ], - [ - 44950, - 15 - ], - [ - 45030, - 15 - ], - [ - 45249, - 15 - ], - [ - 45331, - 15 - ], - [ - 45549, - 14 - ], - [ - 45632, - 14 - ], - [ - 45848, - 15 - ], - [ - 45933, - 14 - ], - [ - 46147, - 15 - ], - [ - 46234, - 14 - ], - [ - 46447, - 14 - ], - [ - 46534, - 14 - ], - [ - 46746, - 14 - ], - [ - 46835, - 14 - ], - [ - 47045, - 14 - ], - [ - 47136, - 14 - ], - [ - 47345, - 14 - ], - [ - 47437, - 13 - ], - [ - 47644, - 14 - ], - [ - 47738, - 13 - ], - [ - 47943, - 14 - ], - [ - 48038, - 14 - ], - [ - 48243, - 13 - ], - [ - 48339, - 14 - ], - [ - 48542, - 14 - ], - [ - 48640, - 13 - ], - [ - 48841, - 14 - ], - [ - 48941, - 13 - ], - [ - 49141, - 13 - ], - [ - 49242, - 13 - ], - [ - 49440, - 13 - ], - [ - 49542, - 14 - ], - [ - 49739, - 14 - ], - [ - 49843, - 13 - ], - [ - 50039, - 13 - ], - [ - 50144, - 13 - ], - [ - 50338, - 13 - ], - [ - 50445, - 13 - ], - [ - 50637, - 13 - ], - [ - 50746, - 12 - ], - [ - 50937, - 13 - ], - [ - 51046, - 13 - ], - [ - 51236, - 13 - ], - [ - 51347, - 13 - ], - [ - 51535, - 13 - ], - [ - 51648, - 12 - ], - [ - 51835, - 12 - ], - [ - 51949, - 12 - ], - [ - 52134, - 12 - ], - [ - 52250, - 12 - ], - [ - 52433, - 13 - ], - [ - 52550, - 12 - ], - [ - 52733, - 12 - ], - [ - 52851, - 12 - ], - [ - 53032, - 12 - ], - [ - 53152, - 12 - ], - [ - 53331, - 12 - ], - [ - 53453, - 12 - ], - [ - 53631, - 12 - ], - [ - 53754, - 11 - ], - [ - 53930, - 12 - ], - [ - 54054, - 12 - ], - [ - 54229, - 12 - ], - [ - 54355, - 12 - ], - [ - 54529, - 11 - ], - [ - 54656, - 11 - ], - [ - 54828, - 12 - ], - [ - 54957, - 11 - ], - [ - 55127, - 12 - ], - [ - 55258, - 11 - ], - [ - 55427, - 11 - ], - [ - 55558, - 11 - ], - [ - 55726, - 11 - ], - [ - 55859, - 11 - ], - [ - 56025, - 12 - ], - [ - 56160, - 11 - ], - [ - 56325, - 11 - ], - [ - 56461, - 11 - ], - [ - 56624, - 11 - ], - [ - 56762, - 10 - ], - [ - 56923, - 11 - ], - [ - 57062, - 11 - ], - [ - 57223, - 11 - ], - [ - 57363, - 11 - ], - [ - 57522, - 11 - ], - [ - 57664, - 10 - ], - [ - 57821, - 11 - ], - [ - 57965, - 10 - ], - [ - 58121, - 10 - ], - [ - 58266, - 10 - ], - [ - 58420, - 10 - ], - [ - 58566, - 11 - ], - [ - 58719, - 11 - ], - [ - 58867, - 10 - ], - [ - 59019, - 10 - ], - [ - 59168, - 10 - ], - [ - 59318, - 10 - ], - [ - 59469, - 10 - ], - [ - 59617, - 10 - ], - [ - 59770, - 9 - ], - [ - 59917, - 10 - ], - [ - 60070, - 10 - ], - [ - 60216, - 10 - ], - [ - 60371, - 10 - ], - [ - 60515, - 10 - ], - [ - 60672, - 9 - ], - [ - 60815, - 9 - ], - [ - 60973, - 9 - ], - [ - 61114, - 10 - ], - [ - 61274, - 9 - ], - [ - 61413, - 10 - ], - [ - 61574, - 10 - ], - [ - 61713, - 9 - ], - [ - 61875, - 9 - ], - [ - 62012, - 9 - ], - [ - 62176, - 10 - ], - [ - 62310, - 10 - ] - ], - "point": [ - 149, - 57 - ] - } - }, - "high_idx": 6 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan323", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 1.75, - "y": 0.9009992, - "z": -1.75 - }, - "object_poses": [ - { - "objectName": "Mug_291e6e8a", - "position": { - "x": 1.86725879, - "y": 0.8947598, - "z": -3.04438734 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 2.6435318, - "y": 0.09426052, - "z": 1.2579757 - }, - "rotation": { - "x": 0.0, - "y": 269.999969, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 2.00748444, - "y": 0.3608297, - "z": -3.1774168 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": -2.484939, - "y": 0.6866529, - "z": -3.30473566 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": 1.344, - "y": 0.0254880525, - "z": -3.40722513 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 2.55655146, - "y": 0.9010136, - "z": -3.25128746 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": 2.72887468, - "y": 0.9010136, - "z": -3.113354 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": -2.34961438, - "y": 0.680996, - "z": -3.15000129 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": -2.42893124, - "y": 0.0825129449, - "z": -3.14999986 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 1.69493556, - "y": 0.896906853, - "z": -3.18232059 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 2.7640667, - "y": 1.24995315, - "z": 1.76700008 - }, - "rotation": { - "x": 0.0, - "y": -0.000121235847, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": -1.874496, - "y": 0.6184952, - "z": -2.26129913 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ead726ec", - "position": { - "x": 2.68565321, - "y": 1.23239172, - "z": 1.51173782 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": -1.3084228, - "y": 0.680686533, - "z": -2.46113777 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "Book_6af2ca87", - "position": { - "x": -1.025386, - "y": 0.6184952, - "z": -1.8616221 - }, - "rotation": { - "x": 0.0, - "y": 2.3905659e-05, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d3dde43e", - "position": { - "x": 2.38422823, - "y": 0.896755755, - "z": -3.25128746 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_007dc71b", - "position": { - "x": -2.57515264, - "y": 0.6866529, - "z": -3.07263136 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "Pencil_60b0ad3a", - "position": { - "x": -2.43982935, - "y": 0.685253859, - "z": -3.07263231 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_fee2aeab", - "position": { - "x": -0.6678181, - "y": 0.612493753, - "z": -1.36408424 - }, - "rotation": { - "x": 0.0, - "y": 81.4677048, - "z": 0.0 - } - }, - { - "objectName": "Laptop_47496765", - "position": { - "x": -1.31, - "y": 0.612493753, - "z": -1.542 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ead726ec", - "position": { - "x": -2.575154, - "y": 0.684800267, - "z": -3.22736716 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_bdf4a642", - "position": { - "x": 2.113902, - "y": 0.307989359, - "z": 0.373447418 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_235e1525", - "position": { - "x": 2.77987313, - "y": 1.22873855, - "z": 1.28314769 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0b6c1a13", - "position": { - "x": -2.124, - "y": 0.658, - "z": -1.522 - }, - "rotation": { - "x": 0.0, - "y": 28.29679, - "z": 0.0 - } - }, - { - "objectName": "Pillow_91b27506", - "position": { - "x": 2.18800354, - "y": 0.415439069, - "z": -0.29622364 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4eeddff6", - "position": { - "x": 2.72887468, - "y": 0.8963665, - "z": -2.97542048 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_291e6e8a", - "position": { - "x": -2.39472413, - "y": 0.679, - "z": -3.38210416 - }, - "rotation": { - "x": 0.0, - "y": 90.00049, - "z": 0.0 - } - }, - { - "objectName": "Bowl_fd13eed7", - "position": { - "x": 2.211905, - "y": 0.898797631, - "z": -3.18232059 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2536683449, - "scene_num": 323 - }, - "task_id": "trial_T20190908_022729_383819", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A24RGLS3BRZ60J_3GA6AFUKOR5WBVX550VRRHUD3293HP", - "high_descs": [ - "Turn to the right and locate the chair.", - "Pick up the pencil from the back of the desk.", - "Carry the pencil and move a few steps to the right and turn left to still face the desk.", - "Place the pencil in a cup on the close side of the desk.", - "Pick up the cup from the desk.", - "Carry the cup and turn left. Go back and then turn right to find the tall dresser.", - "Place the cup and pencil on the top right of the dresser." - ], - "task_desc": "Move a cup and pencil to a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3ON104KXQNDZQHBY0DMA2PW6WQ0W4L", - "high_descs": [ - "move to the desk at the foot of the bed", - "pick up a pencil from the desk", - "move to the right of the desk", - "put the pencil in the mug on the desk", - "pick up the mug from the desk", - "move to the dresser behind you", - "put the mug on the dresser" - ], - "task_desc": "Put a mug with a pencil on the dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3OF2M9AATJ5OYE56WSTX8AFKAEFKZA", - "high_descs": [ - "Turn right and walk to the desk.", - "Pick up the pencil to the right of the lamp.", - "Turn right and walk to the other end of the desk.", - "Place the pencil in the black mug.", - "Pick up the mug.", - "Turn around and walk past the bed to the dresser at the other side.", - "Place them on on the dresser in front of the keys." - ], - "task_desc": "Place a mug on a dresser.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194640_510340/traj_data.json b/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194640_510340/traj_data.json deleted file mode 100644 index f2a6c5ec8..000000000 --- a/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194640_510340/traj_data.json +++ /dev/null @@ -1,5597 +0,0 @@ -{ - "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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 41 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Cloth", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bathtubbasin" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|3|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -6.65296032, - -6.65296032, - 1.6228016, - 1.6228016, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "BathtubBasin", - [ - -6.452, - -6.452, - 2.16, - 2.16, - 0.20935288, - 0.20935288 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.66|+00.07|+00.41" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sinkbasin" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|10|3|60" - } - }, - { - "discrete_action": { - "action": "CleanObject", - "args": [ - "cloth" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "CleanObject", - "cleanObjectId": "Cloth|-01.66|+00.07|+00.41", - "coordinateObjectId": [ - "Cloth", - [ - -6.65296032, - -6.65296032, - 1.6228016, - 1.6228016, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Sink|-01.83|+00.69|+02.78|SinkBasin" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -6.65296032, - -6.65296032, - 1.6228016, - 1.6228016, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.66|+00.07|+00.41", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - } - ], - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|-01.66|+00.07|+00.41" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 86, - 106, - 117, - 125 - ], - "mask": [ - [ - 31595, - 6 - ], - [ - 31607, - 3 - ], - [ - 31893, - 9 - ], - [ - 31905, - 6 - ], - [ - 32192, - 10 - ], - [ - 32203, - 8 - ], - [ - 32490, - 12 - ], - [ - 32503, - 9 - ], - [ - 32790, - 22 - ], - [ - 33090, - 22 - ], - [ - 33390, - 22 - ], - [ - 33690, - 20 - ], - [ - 33990, - 19 - ], - [ - 34290, - 21 - ], - [ - 34590, - 25 - ], - [ - 34889, - 27 - ], - [ - 35188, - 29 - ], - [ - 35487, - 31 - ], - [ - 35786, - 30 - ], - [ - 36088, - 26 - ], - [ - 36390, - 22 - ], - [ - 36691, - 11 - ], - [ - 36704, - 6 - ], - [ - 36993, - 8 - ], - [ - 37294, - 5 - ] - ], - "point": [ - 101, - 114 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Cloth|-01.66|+00.07|+00.41", - "placeStationary": true, - "receptacleObjectId": "Sink|-01.83|+00.69|+02.78|SinkBasin" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 113, - 267, - 165 - ], - "mask": [ - [ - 33805, - 23 - ], - [ - 34101, - 32 - ], - [ - 34396, - 42 - ], - [ - 34694, - 47 - ], - [ - 34991, - 52 - ], - [ - 35289, - 57 - ], - [ - 35587, - 62 - ], - [ - 35885, - 65 - ], - [ - 36184, - 68 - ], - [ - 36483, - 71 - ], - [ - 36782, - 73 - ], - [ - 37080, - 77 - ], - [ - 37380, - 78 - ], - [ - 37679, - 80 - ], - [ - 37978, - 82 - ], - [ - 38278, - 83 - ], - [ - 38577, - 85 - ], - [ - 38877, - 85 - ], - [ - 39176, - 87 - ], - [ - 39476, - 88 - ], - [ - 39775, - 89 - ], - [ - 40075, - 90 - ], - [ - 40375, - 90 - ], - [ - 40675, - 91 - ], - [ - 40975, - 91 - ], - [ - 41275, - 92 - ], - [ - 41575, - 92 - ], - [ - 41875, - 92 - ], - [ - 42175, - 93 - ], - [ - 42475, - 93 - ], - [ - 42776, - 92 - ], - [ - 43076, - 92 - ], - [ - 43376, - 92 - ], - [ - 43676, - 92 - ], - [ - 43977, - 91 - ], - [ - 44277, - 91 - ], - [ - 44578, - 89 - ], - [ - 44878, - 89 - ], - [ - 45179, - 88 - ], - [ - 45480, - 86 - ], - [ - 45781, - 85 - ], - [ - 46081, - 85 - ], - [ - 46382, - 83 - ], - [ - 46683, - 81 - ], - [ - 46985, - 78 - ], - [ - 47286, - 76 - ], - [ - 47588, - 73 - ], - [ - 47889, - 71 - ], - [ - 48191, - 68 - ], - [ - 48494, - 62 - ], - [ - 48798, - 56 - ], - [ - 49106, - 46 - ], - [ - 49414, - 32 - ] - ], - "point": [ - 221, - 138 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "ToggleObjectOn", - "cleanObjectId": "Cloth|-01.66|+00.07|+00.41", - "coordinateObjectId": [ - "Cloth", - [ - -6.65296032, - -6.65296032, - 1.6228016, - 1.6228016, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Faucet|-01.99|+00.95|+02.78" - }, - "discrete_action": { - "action": "ToggleObjectOn", - "args": { - "bbox": [ - 171, - 46, - 292, - 112 - ], - "mask": [ - [ - 13731, - 1 - ], - [ - 14026, - 10 - ], - [ - 14324, - 14 - ], - [ - 14583, - 4 - ], - [ - 14622, - 17 - ], - [ - 14674, - 5 - ], - [ - 14880, - 10 - ], - [ - 14921, - 19 - ], - [ - 14971, - 10 - ], - [ - 15178, - 13 - ], - [ - 15220, - 20 - ], - [ - 15269, - 13 - ], - [ - 15477, - 15 - ], - [ - 15519, - 21 - ], - [ - 15568, - 14 - ], - [ - 15777, - 15 - ], - [ - 15819, - 22 - ], - [ - 15867, - 17 - ], - [ - 16076, - 16 - ], - [ - 16118, - 23 - ], - [ - 16166, - 20 - ], - [ - 16376, - 16 - ], - [ - 16417, - 24 - ], - [ - 16465, - 21 - ], - [ - 16676, - 16 - ], - [ - 16717, - 24 - ], - [ - 16765, - 21 - ], - [ - 16976, - 17 - ], - [ - 17017, - 24 - ], - [ - 17065, - 21 - ], - [ - 17276, - 16 - ], - [ - 17317, - 23 - ], - [ - 17364, - 21 - ], - [ - 17576, - 15 - ], - [ - 17617, - 22 - ], - [ - 17664, - 21 - ], - [ - 17876, - 15 - ], - [ - 17917, - 22 - ], - [ - 17965, - 19 - ], - [ - 18177, - 13 - ], - [ - 18217, - 21 - ], - [ - 18265, - 18 - ], - [ - 18478, - 11 - ], - [ - 18518, - 19 - ], - [ - 18566, - 17 - ], - [ - 18780, - 8 - ], - [ - 18819, - 17 - ], - [ - 18868, - 14 - ], - [ - 19071, - 29 - ], - [ - 19119, - 16 - ], - [ - 19162, - 30 - ], - [ - 19371, - 29 - ], - [ - 19421, - 14 - ], - [ - 19462, - 31 - ], - [ - 19671, - 29 - ], - [ - 19724, - 12 - ], - [ - 19762, - 31 - ], - [ - 19971, - 29 - ], - [ - 20027, - 9 - ], - [ - 20062, - 31 - ], - [ - 20271, - 28 - ], - [ - 20327, - 9 - ], - [ - 20362, - 30 - ], - [ - 20571, - 28 - ], - [ - 20627, - 9 - ], - [ - 20662, - 29 - ], - [ - 20882, - 5 - ], - [ - 20927, - 10 - ], - [ - 20972, - 6 - ], - [ - 21181, - 6 - ], - [ - 21227, - 10 - ], - [ - 21271, - 7 - ], - [ - 21481, - 6 - ], - [ - 21528, - 9 - ], - [ - 21571, - 6 - ], - [ - 21781, - 6 - ], - [ - 21828, - 9 - ], - [ - 21870, - 7 - ], - [ - 22081, - 6 - ], - [ - 22128, - 9 - ], - [ - 22169, - 7 - ], - [ - 22381, - 6 - ], - [ - 22428, - 10 - ], - [ - 22469, - 7 - ], - [ - 22681, - 5 - ], - [ - 22728, - 10 - ], - [ - 22768, - 7 - ], - [ - 22981, - 5 - ], - [ - 23029, - 9 - ], - [ - 23068, - 7 - ], - [ - 23281, - 5 - ], - [ - 23329, - 9 - ], - [ - 23369, - 5 - ], - [ - 23629, - 10 - ], - [ - 23929, - 10 - ], - [ - 24229, - 10 - ], - [ - 24530, - 9 - ], - [ - 24830, - 10 - ], - [ - 25130, - 10 - ], - [ - 25430, - 10 - ], - [ - 25730, - 10 - ], - [ - 26031, - 9 - ], - [ - 26331, - 9 - ], - [ - 26631, - 9 - ], - [ - 26931, - 9 - ], - [ - 27231, - 9 - ], - [ - 27530, - 10 - ], - [ - 27830, - 10 - ], - [ - 28130, - 9 - ], - [ - 28430, - 9 - ], - [ - 28729, - 10 - ], - [ - 29029, - 10 - ], - [ - 29329, - 9 - ], - [ - 29628, - 10 - ], - [ - 29928, - 10 - ], - [ - 30228, - 9 - ], - [ - 30527, - 10 - ], - [ - 30826, - 10 - ], - [ - 31125, - 11 - ], - [ - 31425, - 11 - ], - [ - 31725, - 11 - ], - [ - 32024, - 11 - ], - [ - 32324, - 11 - ], - [ - 32624, - 11 - ], - [ - 32925, - 9 - ], - [ - 33226, - 8 - ], - [ - 33527, - 5 - ] - ], - "point": [ - 231, - 78 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "ToggleObjectOff", - "cleanObjectId": "Cloth|-01.66|+00.07|+00.41", - "coordinateObjectId": [ - "Cloth", - [ - -6.65296032, - -6.65296032, - 1.6228016, - 1.6228016, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Faucet|-01.99|+00.95|+02.78" - }, - "discrete_action": { - "action": "ToggleObjectOff", - "args": { - "bbox": [ - 172, - 46, - 292, - 112 - ], - "mask": [ - [ - 13731, - 1 - ], - [ - 14026, - 10 - ], - [ - 14324, - 14 - ], - [ - 14583, - 4 - ], - [ - 14622, - 17 - ], - [ - 14674, - 5 - ], - [ - 14880, - 10 - ], - [ - 14921, - 19 - ], - [ - 14971, - 10 - ], - [ - 15178, - 13 - ], - [ - 15220, - 20 - ], - [ - 15269, - 13 - ], - [ - 15477, - 15 - ], - [ - 15519, - 21 - ], - [ - 15568, - 14 - ], - [ - 15777, - 15 - ], - [ - 15819, - 22 - ], - [ - 15867, - 16 - ], - [ - 16076, - 16 - ], - [ - 16118, - 23 - ], - [ - 16166, - 17 - ], - [ - 16376, - 16 - ], - [ - 16417, - 24 - ], - [ - 16465, - 18 - ], - [ - 16675, - 17 - ], - [ - 16693, - 3 - ], - [ - 16717, - 24 - ], - [ - 16765, - 17 - ], - [ - 16790, - 1 - ], - [ - 16974, - 23 - ], - [ - 17017, - 24 - ], - [ - 17065, - 17 - ], - [ - 17088, - 3 - ], - [ - 17274, - 24 - ], - [ - 17317, - 23 - ], - [ - 17364, - 17 - ], - [ - 17386, - 6 - ], - [ - 17573, - 25 - ], - [ - 17617, - 22 - ], - [ - 17664, - 16 - ], - [ - 17684, - 8 - ], - [ - 17873, - 25 - ], - [ - 17917, - 22 - ], - [ - 17965, - 14 - ], - [ - 17982, - 11 - ], - [ - 18174, - 23 - ], - [ - 18217, - 21 - ], - [ - 18265, - 14 - ], - [ - 18281, - 12 - ], - [ - 18476, - 19 - ], - [ - 18518, - 19 - ], - [ - 18566, - 25 - ], - [ - 18777, - 17 - ], - [ - 18819, - 17 - ], - [ - 18868, - 21 - ], - [ - 19078, - 15 - ], - [ - 19119, - 16 - ], - [ - 19171, - 16 - ], - [ - 19379, - 12 - ], - [ - 19421, - 14 - ], - [ - 19472, - 14 - ], - [ - 19679, - 11 - ], - [ - 19724, - 12 - ], - [ - 19772, - 12 - ], - [ - 19978, - 13 - ], - [ - 20027, - 9 - ], - [ - 20070, - 12 - ], - [ - 20276, - 16 - ], - [ - 20327, - 9 - ], - [ - 20368, - 14 - ], - [ - 20575, - 18 - ], - [ - 20627, - 9 - ], - [ - 20666, - 17 - ], - [ - 20874, - 10 - ], - [ - 20885, - 9 - ], - [ - 20927, - 10 - ], - [ - 20964, - 20 - ], - [ - 21172, - 10 - ], - [ - 21186, - 9 - ], - [ - 21227, - 10 - ], - [ - 21263, - 12 - ], - [ - 21276, - 8 - ], - [ - 21472, - 9 - ], - [ - 21487, - 9 - ], - [ - 21528, - 9 - ], - [ - 21562, - 11 - ], - [ - 21577, - 8 - ], - [ - 21772, - 8 - ], - [ - 21788, - 7 - ], - [ - 21828, - 9 - ], - [ - 21862, - 9 - ], - [ - 21878, - 7 - ], - [ - 22073, - 5 - ], - [ - 22089, - 6 - ], - [ - 22128, - 9 - ], - [ - 22163, - 6 - ], - [ - 22179, - 6 - ], - [ - 22374, - 3 - ], - [ - 22391, - 3 - ], - [ - 22428, - 10 - ], - [ - 22463, - 4 - ], - [ - 22479, - 6 - ], - [ - 22728, - 10 - ], - [ - 22764, - 1 - ], - [ - 22780, - 3 - ], - [ - 23029, - 9 - ], - [ - 23329, - 9 - ], - [ - 23629, - 10 - ], - [ - 23929, - 10 - ], - [ - 24229, - 10 - ], - [ - 24530, - 9 - ], - [ - 24830, - 10 - ], - [ - 25130, - 10 - ], - [ - 25430, - 10 - ], - [ - 25730, - 10 - ], - [ - 26031, - 9 - ], - [ - 26331, - 9 - ], - [ - 26631, - 9 - ], - [ - 26931, - 9 - ], - [ - 27231, - 9 - ], - [ - 27530, - 10 - ], - [ - 27830, - 10 - ], - [ - 28130, - 9 - ], - [ - 28430, - 9 - ], - [ - 28729, - 10 - ], - [ - 29029, - 10 - ], - [ - 29329, - 9 - ], - [ - 29628, - 10 - ], - [ - 29928, - 10 - ], - [ - 30228, - 9 - ], - [ - 30527, - 10 - ], - [ - 30826, - 10 - ], - [ - 31125, - 11 - ], - [ - 31425, - 11 - ], - [ - 31725, - 11 - ], - [ - 32024, - 11 - ], - [ - 32324, - 11 - ], - [ - 32624, - 11 - ], - [ - 32925, - 9 - ], - [ - 33226, - 8 - ], - [ - 33527, - 5 - ] - ], - "point": [ - 232, - 78 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|-01.66|+00.07|+00.41" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 198, - 126, - 262, - 154 - ], - "mask": [ - [ - 37714, - 10 - ], - [ - 38011, - 18 - ], - [ - 38308, - 23 - ], - [ - 38605, - 37 - ], - [ - 38903, - 47 - ], - [ - 39201, - 52 - ], - [ - 39500, - 56 - ], - [ - 39799, - 59 - ], - [ - 40098, - 61 - ], - [ - 40399, - 62 - ], - [ - 40700, - 63 - ], - [ - 41003, - 59 - ], - [ - 41307, - 53 - ], - [ - 41606, - 36 - ], - [ - 41644, - 14 - ], - [ - 41904, - 37 - ], - [ - 41946, - 9 - ], - [ - 42203, - 38 - ], - [ - 42250, - 2 - ], - [ - 42502, - 38 - ], - [ - 42801, - 39 - ], - [ - 43100, - 41 - ], - [ - 43400, - 42 - ], - [ - 43699, - 45 - ], - [ - 43999, - 45 - ], - [ - 44298, - 25 - ], - [ - 44324, - 18 - ], - [ - 44598, - 24 - ], - [ - 44625, - 14 - ], - [ - 44903, - 19 - ], - [ - 44927, - 10 - ], - [ - 45206, - 15 - ], - [ - 45229, - 7 - ], - [ - 45509, - 10 - ], - [ - 45529, - 5 - ], - [ - 45812, - 5 - ], - [ - 45829, - 4 - ], - [ - 46130, - 1 - ] - ], - "point": [ - 230, - 139 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "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": "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": "PutObject", - "forceAction": true, - "objectId": "Cloth|-01.66|+00.07|+00.41", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1232, - 84 - ], - [ - 1396, - 78 - ], - [ - 1533, - 84 - ], - [ - 1695, - 79 - ], - [ - 1834, - 84 - ], - [ - 1995, - 79 - ], - [ - 2135, - 83 - ], - [ - 2251, - 2 - ], - [ - 2294, - 81 - ], - [ - 2436, - 83 - ], - [ - 2549, - 4 - ], - [ - 2594, - 81 - ], - [ - 2736, - 86 - ], - [ - 2846, - 8 - ], - [ - 2893, - 83 - ], - [ - 3037, - 117 - ], - [ - 3192, - 84 - ], - [ - 3338, - 116 - ], - [ - 3492, - 84 - ], - [ - 3638, - 117 - ], - [ - 3791, - 86 - ], - [ - 3939, - 116 - ], - [ - 4091, - 86 - ], - [ - 4239, - 117 - ], - [ - 4390, - 88 - ], - [ - 4540, - 116 - ], - [ - 4689, - 89 - ], - [ - 4800, - 1 - ], - [ - 4839, - 118 - ], - [ - 4989, - 89 - ], - [ - 5100, - 1 - ], - [ - 5139, - 118 - ], - [ - 5288, - 91 - ], - [ - 5400, - 2 - ], - [ - 5437, - 119 - ], - [ - 5588, - 91 - ], - [ - 5700, - 3 - ], - [ - 5735, - 120 - ], - [ - 5889, - 91 - ], - [ - 6000, - 6 - ], - [ - 6032, - 123 - ], - [ - 6189, - 74 - ], - [ - 6267, - 13 - ], - [ - 6300, - 10 - ], - [ - 6328, - 126 - ], - [ - 6490, - 71 - ], - [ - 6571, - 9 - ], - [ - 6600, - 154 - ], - [ - 6790, - 71 - ], - [ - 6873, - 8 - ], - [ - 6900, - 153 - ], - [ - 7091, - 69 - ], - [ - 7174, - 7 - ], - [ - 7200, - 153 - ], - [ - 7391, - 69 - ], - [ - 7476, - 6 - ], - [ - 7500, - 152 - ], - [ - 7691, - 68 - ], - [ - 7777, - 5 - ], - [ - 7800, - 152 - ], - [ - 7991, - 68 - ], - [ - 8078, - 5 - ], - [ - 8100, - 152 - ], - [ - 8292, - 67 - ], - [ - 8379, - 4 - ], - [ - 8400, - 151 - ], - [ - 8592, - 66 - ], - [ - 8680, - 3 - ], - [ - 8700, - 151 - ], - [ - 8892, - 66 - ], - [ - 8981, - 3 - ], - [ - 9000, - 151 - ], - [ - 9192, - 65 - ], - [ - 9281, - 3 - ], - [ - 9300, - 152 - ], - [ - 9491, - 66 - ], - [ - 9582, - 3 - ], - [ - 9600, - 152 - ], - [ - 9791, - 66 - ], - [ - 9882, - 3 - ], - [ - 9900, - 154 - ], - [ - 10089, - 67 - ], - [ - 10182, - 3 - ], - [ - 10200, - 155 - ], - [ - 10388, - 68 - ], - [ - 10482, - 4 - ], - [ - 10500, - 159 - ], - [ - 10684, - 71 - ], - [ - 10782, - 4 - ], - [ - 10800, - 163 - ], - [ - 10980, - 75 - ], - [ - 11082, - 5 - ], - [ - 11100, - 255 - ], - [ - 11381, - 6 - ], - [ - 11400, - 254 - ], - [ - 11681, - 6 - ], - [ - 11700, - 254 - ], - [ - 11980, - 8 - ], - [ - 12000, - 253 - ], - [ - 12280, - 8 - ], - [ - 12300, - 253 - ], - [ - 12579, - 10 - ], - [ - 12600, - 253 - ], - [ - 12879, - 10 - ], - [ - 12900, - 252 - ], - [ - 13178, - 11 - ], - [ - 13200, - 252 - ], - [ - 13478, - 12 - ], - [ - 13500, - 251 - ], - [ - 13777, - 13 - ], - [ - 13800, - 251 - ], - [ - 14077, - 14 - ], - [ - 14100, - 251 - ], - [ - 14376, - 15 - ], - [ - 14400, - 250 - ], - [ - 14676, - 15 - ], - [ - 14700, - 250 - ], - [ - 14975, - 17 - ], - [ - 15000, - 249 - ], - [ - 15275, - 17 - ], - [ - 15300, - 249 - ], - [ - 15574, - 19 - ], - [ - 15600, - 249 - ], - [ - 15874, - 19 - ], - [ - 15900, - 248 - ], - [ - 16173, - 20 - ], - [ - 16200, - 248 - ], - [ - 16473, - 21 - ], - [ - 16500, - 248 - ], - [ - 16772, - 22 - ], - [ - 16800, - 248 - ], - [ - 17072, - 23 - ], - [ - 17100, - 248 - ], - [ - 17371, - 24 - ], - [ - 17400, - 248 - ], - [ - 17671, - 24 - ], - [ - 17700, - 249 - ], - [ - 17970, - 26 - ], - [ - 18000, - 250 - ], - [ - 18270, - 26 - ], - [ - 18300, - 251 - ], - [ - 18569, - 28 - ], - [ - 18600, - 252 - ], - [ - 18868, - 29 - ], - [ - 18900, - 254 - ], - [ - 19167, - 31 - ], - [ - 19200, - 258 - ], - [ - 19464, - 34 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61105, - 8 - ], - [ - 61271, - 8 - ], - [ - 61404, - 8 - ], - [ - 61572, - 8 - ], - [ - 61704, - 8 - ], - [ - 61873, - 7 - ], - [ - 62003, - 8 - ], - [ - 62174, - 7 - ], - [ - 62302, - 9 - ], - [ - 62474, - 8 - ], - [ - 62602, - 8 - ], - [ - 62775, - 8 - ], - [ - 62901, - 8 - ], - [ - 63076, - 7 - ], - [ - 63201, - 8 - ], - [ - 63377, - 7 - ], - [ - 63500, - 8 - ], - [ - 63678, - 7 - ], - [ - 63802, - 5 - ], - [ - 63979, - 7 - ], - [ - 64103, - 4 - ], - [ - 64279, - 7 - ], - [ - 64405, - 1 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": true, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -0.25, - "y": 0.900691152, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.79516649, - "y": 0.01379109, - "z": 2.24681449 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": 0.499484718, - "y": 1.16447866, - "z": 3.73282433 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -0.414203942, - "y": 0.4476165, - "z": 0.2736684 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -0.414203942, - "y": 0.44772163, - "z": 0.163579524 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -0.08948474, - "y": 1.16072166, - "z": 3.89424181 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.76473927, - "y": 0.01379109, - "z": 2.16637135 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": -1.8315, - "y": 0.584199965, - "z": 2.3903 - }, - "rotation": { - "x": 4.07111e-13, - "y": 180.0, - "z": 90.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": -1.918308, - "y": 0.763356566, - "z": 2.518014 - }, - "rotation": { - "x": 1.88859049e-05, - "y": 1.6120183e-10, - "z": -1.468302e-05 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.66324008, - "y": 0.07402537, - "z": 0.4057004 - }, - "rotation": { - "x": -9.85794353e-21, - "y": 90.0000458, - "z": 1.40334191e-14 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": 0.204999983, - "y": 1.16426623, - "z": 3.92652535 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -1.79909873, - "y": 1.04600561, - "z": 1.94370246 - }, - "rotation": { - "x": 0.0, - "y": 90.00051, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": 0.303161561, - "y": 1.1645838, - "z": 3.82967472 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1641390843, - "scene_num": 413 - }, - "task_id": "trial_T20190906_194640_510340", - "task_type": "pick_clean_then_place_in_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A24RGLS3BRZ60J_3PEIJLRY6WAQOJZ8KOOFZ0T4ODGXWV", - "high_descs": [ - "Turn around and find the corner bathtub.", - "Pick up the washcloth from inside the tub.", - "Turn to the right, past the toilet and find the sink on the left.", - "Place the washcloth in the left sink and turn on the water. Turn off the water and pick up the washcloth.", - "Turn around to the right, and find the tall dresser on the left side of the room.", - "Place the washcloth on top of the dresser." - ], - "task_desc": "Rinse out the washcloth and place it on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A10AVWALIHR4UQ_3S3AMIZX3XM3CFOMCXN2TZJ9GF9CDM", - "high_descs": [ - "Turn right and move towards the bath towel then turn right and face the bathtub to the left of the toilet.", - "Pick up the dirty cloth near the drain from the bathtub.", - "Turn right, move past the toilet and turn left and move to the sink next to the toilet paper dispenser.", - "Place the dirty cloth in the sink, rinse it with water, and pick up the now clean cloth.", - "Turn around and head towards the door then turn left and move to the dresser.", - "Place the cloth in front of the spray bottle and to the left of the soap dispenser on top of the dresser." - ], - "task_desc": "Place a clean cloth on top of the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3TYCR1GOTF0ZIKNOHS5YNASZY33ZLO", - "high_descs": [ - "Move to the tub.", - "Pick up the dirty rag from the tub. ", - "Bring the rag to the sink.", - "Clean the rag with water in the sink. ", - "Bring the rag to the white dresser.", - "Place the rag on top of the dresser. " - ], - "task_desc": "Put the cleaned rag on top of the white dresser. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194709_189668/traj_data.json b/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194709_189668/traj_data.json deleted file mode 100644 index 9c10e1831..000000000 --- a/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194709_189668/traj_data.json +++ /dev/null @@ -1,5557 +0,0 @@ -{ - "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": 1, - "image_name": "000000043.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000044.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000045.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000046.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000047.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000061.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000062.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000065.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000129.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 32 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 39 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Cloth", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|13|0|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - 0.034707368, - 0.034707368, - 15.31869888, - 15.31869888, - 4.639248, - 4.639248 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "Cloth|+00.01|+01.16|+03.83" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sinkbasin" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|10|3|60" - } - }, - { - "discrete_action": { - "action": "CleanObject", - "args": [ - "cloth" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "CleanObject", - "cleanObjectId": "Cloth|+00.01|+01.16|+03.83", - "coordinateObjectId": [ - "Cloth", - [ - 0.034707368, - 0.034707368, - 15.31869888, - 15.31869888, - 4.639248, - 4.639248 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Sink|-01.83|+00.69|+02.78|SinkBasin" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - 0.034707368, - 0.034707368, - 15.31869888, - 15.31869888, - 4.639248, - 4.639248 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "Cloth|+00.01|+01.16|+03.83", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "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": "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": "Cloth|+00.01|+01.16|+03.83" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 113, - 88, - 192, - 130 - ], - "mask": [ - [ - 26268, - 4 - ], - [ - 26566, - 9 - ], - [ - 26856, - 3 - ], - [ - 26861, - 18 - ], - [ - 27154, - 27 - ], - [ - 27445, - 8 - ], - [ - 27454, - 30 - ], - [ - 27737, - 49 - ], - [ - 28032, - 56 - ], - [ - 28328, - 61 - ], - [ - 28625, - 66 - ], - [ - 28922, - 70 - ], - [ - 29220, - 73 - ], - [ - 29517, - 75 - ], - [ - 29815, - 76 - ], - [ - 30113, - 77 - ], - [ - 30414, - 72 - ], - [ - 30715, - 21 - ], - [ - 30737, - 45 - ], - [ - 31016, - 19 - ], - [ - 31037, - 45 - ], - [ - 31317, - 16 - ], - [ - 31337, - 46 - ], - [ - 31619, - 12 - ], - [ - 31636, - 48 - ], - [ - 31920, - 6 - ], - [ - 31936, - 49 - ], - [ - 32235, - 51 - ], - [ - 32534, - 53 - ], - [ - 32833, - 54 - ], - [ - 33132, - 56 - ], - [ - 33431, - 57 - ], - [ - 33730, - 59 - ], - [ - 34029, - 60 - ], - [ - 34328, - 62 - ], - [ - 34627, - 63 - ], - [ - 34927, - 64 - ], - [ - 35227, - 64 - ], - [ - 35528, - 25 - ], - [ - 35556, - 35 - ], - [ - 35829, - 23 - ], - [ - 35856, - 35 - ], - [ - 36130, - 21 - ], - [ - 36156, - 33 - ], - [ - 36431, - 18 - ], - [ - 36456, - 29 - ], - [ - 36732, - 15 - ], - [ - 36756, - 26 - ], - [ - 37033, - 12 - ], - [ - 37057, - 22 - ], - [ - 37334, - 10 - ], - [ - 37358, - 19 - ], - [ - 37635, - 8 - ], - [ - 37659, - 15 - ], - [ - 37935, - 7 - ], - [ - 37960, - 12 - ], - [ - 38236, - 6 - ], - [ - 38261, - 9 - ], - [ - 38537, - 4 - ], - [ - 38563, - 4 - ], - [ - 38839, - 1 - ] - ], - "point": [ - 152, - 108 - ] - } - }, - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Cloth|+00.01|+01.16|+03.83", - "placeStationary": true, - "receptacleObjectId": "Sink|-01.83|+00.69|+02.78|SinkBasin" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 113, - 267, - 165 - ], - "mask": [ - [ - 33805, - 23 - ], - [ - 34101, - 32 - ], - [ - 34396, - 42 - ], - [ - 34694, - 47 - ], - [ - 34991, - 52 - ], - [ - 35289, - 57 - ], - [ - 35587, - 62 - ], - [ - 35885, - 65 - ], - [ - 36184, - 68 - ], - [ - 36483, - 71 - ], - [ - 36782, - 73 - ], - [ - 37080, - 77 - ], - [ - 37380, - 78 - ], - [ - 37679, - 80 - ], - [ - 37978, - 82 - ], - [ - 38278, - 83 - ], - [ - 38577, - 85 - ], - [ - 38877, - 85 - ], - [ - 39176, - 87 - ], - [ - 39476, - 88 - ], - [ - 39775, - 89 - ], - [ - 40075, - 90 - ], - [ - 40375, - 90 - ], - [ - 40675, - 91 - ], - [ - 40975, - 91 - ], - [ - 41275, - 92 - ], - [ - 41575, - 92 - ], - [ - 41875, - 92 - ], - [ - 42175, - 93 - ], - [ - 42475, - 93 - ], - [ - 42776, - 92 - ], - [ - 43076, - 92 - ], - [ - 43376, - 92 - ], - [ - 43676, - 92 - ], - [ - 43977, - 91 - ], - [ - 44277, - 91 - ], - [ - 44578, - 89 - ], - [ - 44878, - 89 - ], - [ - 45179, - 88 - ], - [ - 45480, - 86 - ], - [ - 45781, - 85 - ], - [ - 46081, - 85 - ], - [ - 46382, - 83 - ], - [ - 46683, - 81 - ], - [ - 46985, - 78 - ], - [ - 47286, - 76 - ], - [ - 47588, - 73 - ], - [ - 47889, - 71 - ], - [ - 48191, - 68 - ], - [ - 48494, - 62 - ], - [ - 48798, - 56 - ], - [ - 49106, - 46 - ], - [ - 49414, - 32 - ] - ], - "point": [ - 221, - 138 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "ToggleObjectOn", - "cleanObjectId": "Cloth|+00.01|+01.16|+03.83", - "coordinateObjectId": [ - "Cloth", - [ - 0.034707368, - 0.034707368, - 15.31869888, - 15.31869888, - 4.639248, - 4.639248 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Faucet|-01.99|+00.95|+02.78" - }, - "discrete_action": { - "action": "ToggleObjectOn", - "args": { - "bbox": [ - 171, - 46, - 292, - 112 - ], - "mask": [ - [ - 13731, - 1 - ], - [ - 14026, - 10 - ], - [ - 14324, - 14 - ], - [ - 14583, - 4 - ], - [ - 14622, - 17 - ], - [ - 14674, - 5 - ], - [ - 14880, - 10 - ], - [ - 14921, - 19 - ], - [ - 14971, - 10 - ], - [ - 15178, - 13 - ], - [ - 15220, - 20 - ], - [ - 15269, - 13 - ], - [ - 15477, - 15 - ], - [ - 15519, - 21 - ], - [ - 15568, - 14 - ], - [ - 15777, - 15 - ], - [ - 15819, - 22 - ], - [ - 15867, - 17 - ], - [ - 16076, - 16 - ], - [ - 16118, - 23 - ], - [ - 16166, - 20 - ], - [ - 16376, - 16 - ], - [ - 16417, - 24 - ], - [ - 16465, - 21 - ], - [ - 16676, - 16 - ], - [ - 16717, - 24 - ], - [ - 16765, - 21 - ], - [ - 16976, - 17 - ], - [ - 17017, - 24 - ], - [ - 17065, - 21 - ], - [ - 17276, - 16 - ], - [ - 17317, - 23 - ], - [ - 17364, - 21 - ], - [ - 17576, - 15 - ], - [ - 17617, - 22 - ], - [ - 17664, - 21 - ], - [ - 17876, - 15 - ], - [ - 17917, - 22 - ], - [ - 17965, - 19 - ], - [ - 18177, - 13 - ], - [ - 18217, - 21 - ], - [ - 18265, - 18 - ], - [ - 18478, - 11 - ], - [ - 18518, - 19 - ], - [ - 18566, - 17 - ], - [ - 18780, - 8 - ], - [ - 18819, - 17 - ], - [ - 18868, - 14 - ], - [ - 19071, - 29 - ], - [ - 19119, - 16 - ], - [ - 19162, - 30 - ], - [ - 19371, - 29 - ], - [ - 19421, - 14 - ], - [ - 19462, - 31 - ], - [ - 19671, - 29 - ], - [ - 19724, - 12 - ], - [ - 19762, - 31 - ], - [ - 19971, - 29 - ], - [ - 20027, - 9 - ], - [ - 20062, - 31 - ], - [ - 20271, - 28 - ], - [ - 20327, - 9 - ], - [ - 20362, - 30 - ], - [ - 20571, - 28 - ], - [ - 20627, - 9 - ], - [ - 20662, - 29 - ], - [ - 20882, - 5 - ], - [ - 20927, - 10 - ], - [ - 20972, - 6 - ], - [ - 21181, - 6 - ], - [ - 21227, - 10 - ], - [ - 21271, - 7 - ], - [ - 21481, - 6 - ], - [ - 21528, - 9 - ], - [ - 21571, - 6 - ], - [ - 21781, - 6 - ], - [ - 21828, - 9 - ], - [ - 21870, - 7 - ], - [ - 22081, - 6 - ], - [ - 22128, - 9 - ], - [ - 22169, - 7 - ], - [ - 22381, - 6 - ], - [ - 22428, - 10 - ], - [ - 22469, - 7 - ], - [ - 22681, - 5 - ], - [ - 22728, - 10 - ], - [ - 22768, - 7 - ], - [ - 22981, - 5 - ], - [ - 23029, - 9 - ], - [ - 23068, - 7 - ], - [ - 23281, - 5 - ], - [ - 23329, - 9 - ], - [ - 23369, - 5 - ], - [ - 23629, - 10 - ], - [ - 23929, - 10 - ], - [ - 24229, - 10 - ], - [ - 24530, - 9 - ], - [ - 24830, - 10 - ], - [ - 25130, - 10 - ], - [ - 25430, - 10 - ], - [ - 25730, - 10 - ], - [ - 26031, - 9 - ], - [ - 26331, - 9 - ], - [ - 26631, - 9 - ], - [ - 26931, - 9 - ], - [ - 27231, - 9 - ], - [ - 27530, - 10 - ], - [ - 27830, - 10 - ], - [ - 28130, - 9 - ], - [ - 28430, - 9 - ], - [ - 28729, - 10 - ], - [ - 29029, - 10 - ], - [ - 29329, - 9 - ], - [ - 29628, - 10 - ], - [ - 29928, - 10 - ], - [ - 30228, - 9 - ], - [ - 30527, - 10 - ], - [ - 30826, - 10 - ], - [ - 31125, - 11 - ], - [ - 31425, - 11 - ], - [ - 31725, - 11 - ], - [ - 32024, - 11 - ], - [ - 32324, - 11 - ], - [ - 32624, - 11 - ], - [ - 32925, - 9 - ], - [ - 33226, - 8 - ], - [ - 33527, - 5 - ] - ], - "point": [ - 231, - 78 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "ToggleObjectOff", - "cleanObjectId": "Cloth|+00.01|+01.16|+03.83", - "coordinateObjectId": [ - "Cloth", - [ - 0.034707368, - 0.034707368, - 15.31869888, - 15.31869888, - 4.639248, - 4.639248 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Faucet|-01.99|+00.95|+02.78" - }, - "discrete_action": { - "action": "ToggleObjectOff", - "args": { - "bbox": [ - 172, - 46, - 292, - 112 - ], - "mask": [ - [ - 13731, - 1 - ], - [ - 14026, - 10 - ], - [ - 14324, - 14 - ], - [ - 14583, - 4 - ], - [ - 14622, - 17 - ], - [ - 14674, - 5 - ], - [ - 14880, - 10 - ], - [ - 14921, - 19 - ], - [ - 14971, - 10 - ], - [ - 15178, - 13 - ], - [ - 15220, - 20 - ], - [ - 15269, - 13 - ], - [ - 15477, - 15 - ], - [ - 15519, - 21 - ], - [ - 15568, - 14 - ], - [ - 15777, - 15 - ], - [ - 15819, - 22 - ], - [ - 15867, - 16 - ], - [ - 16076, - 16 - ], - [ - 16118, - 23 - ], - [ - 16166, - 17 - ], - [ - 16376, - 16 - ], - [ - 16417, - 24 - ], - [ - 16465, - 18 - ], - [ - 16675, - 17 - ], - [ - 16693, - 3 - ], - [ - 16717, - 24 - ], - [ - 16765, - 17 - ], - [ - 16790, - 1 - ], - [ - 16974, - 23 - ], - [ - 17017, - 24 - ], - [ - 17065, - 17 - ], - [ - 17088, - 3 - ], - [ - 17274, - 24 - ], - [ - 17317, - 23 - ], - [ - 17364, - 17 - ], - [ - 17386, - 6 - ], - [ - 17573, - 25 - ], - [ - 17617, - 22 - ], - [ - 17664, - 16 - ], - [ - 17684, - 8 - ], - [ - 17873, - 25 - ], - [ - 17917, - 22 - ], - [ - 17965, - 14 - ], - [ - 17982, - 11 - ], - [ - 18174, - 23 - ], - [ - 18217, - 21 - ], - [ - 18265, - 14 - ], - [ - 18281, - 12 - ], - [ - 18476, - 19 - ], - [ - 18518, - 19 - ], - [ - 18566, - 25 - ], - [ - 18777, - 17 - ], - [ - 18819, - 17 - ], - [ - 18868, - 21 - ], - [ - 19078, - 15 - ], - [ - 19119, - 16 - ], - [ - 19171, - 16 - ], - [ - 19379, - 12 - ], - [ - 19421, - 14 - ], - [ - 19472, - 14 - ], - [ - 19679, - 11 - ], - [ - 19724, - 12 - ], - [ - 19772, - 12 - ], - [ - 19978, - 13 - ], - [ - 20027, - 9 - ], - [ - 20070, - 12 - ], - [ - 20276, - 16 - ], - [ - 20327, - 9 - ], - [ - 20368, - 14 - ], - [ - 20575, - 18 - ], - [ - 20627, - 9 - ], - [ - 20666, - 17 - ], - [ - 20874, - 10 - ], - [ - 20885, - 9 - ], - [ - 20927, - 10 - ], - [ - 20964, - 20 - ], - [ - 21172, - 10 - ], - [ - 21186, - 9 - ], - [ - 21227, - 10 - ], - [ - 21263, - 12 - ], - [ - 21276, - 8 - ], - [ - 21472, - 9 - ], - [ - 21487, - 9 - ], - [ - 21528, - 9 - ], - [ - 21562, - 11 - ], - [ - 21577, - 8 - ], - [ - 21772, - 8 - ], - [ - 21788, - 7 - ], - [ - 21828, - 9 - ], - [ - 21862, - 9 - ], - [ - 21878, - 7 - ], - [ - 22073, - 5 - ], - [ - 22089, - 6 - ], - [ - 22128, - 9 - ], - [ - 22163, - 6 - ], - [ - 22179, - 6 - ], - [ - 22374, - 3 - ], - [ - 22391, - 3 - ], - [ - 22428, - 10 - ], - [ - 22463, - 4 - ], - [ - 22479, - 6 - ], - [ - 22728, - 10 - ], - [ - 22764, - 1 - ], - [ - 22780, - 3 - ], - [ - 23029, - 9 - ], - [ - 23329, - 9 - ], - [ - 23629, - 10 - ], - [ - 23929, - 10 - ], - [ - 24229, - 10 - ], - [ - 24530, - 9 - ], - [ - 24830, - 10 - ], - [ - 25130, - 10 - ], - [ - 25430, - 10 - ], - [ - 25730, - 10 - ], - [ - 26031, - 9 - ], - [ - 26331, - 9 - ], - [ - 26631, - 9 - ], - [ - 26931, - 9 - ], - [ - 27231, - 9 - ], - [ - 27530, - 10 - ], - [ - 27830, - 10 - ], - [ - 28130, - 9 - ], - [ - 28430, - 9 - ], - [ - 28729, - 10 - ], - [ - 29029, - 10 - ], - [ - 29329, - 9 - ], - [ - 29628, - 10 - ], - [ - 29928, - 10 - ], - [ - 30228, - 9 - ], - [ - 30527, - 10 - ], - [ - 30826, - 10 - ], - [ - 31125, - 11 - ], - [ - 31425, - 11 - ], - [ - 31725, - 11 - ], - [ - 32024, - 11 - ], - [ - 32324, - 11 - ], - [ - 32624, - 11 - ], - [ - 32925, - 9 - ], - [ - 33226, - 8 - ], - [ - 33527, - 5 - ] - ], - "point": [ - 232, - 78 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|+00.01|+01.16|+03.83" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 198, - 126, - 262, - 154 - ], - "mask": [ - [ - 37714, - 10 - ], - [ - 38011, - 18 - ], - [ - 38308, - 23 - ], - [ - 38605, - 37 - ], - [ - 38903, - 47 - ], - [ - 39201, - 52 - ], - [ - 39500, - 56 - ], - [ - 39799, - 59 - ], - [ - 40098, - 61 - ], - [ - 40399, - 62 - ], - [ - 40700, - 63 - ], - [ - 41003, - 59 - ], - [ - 41307, - 53 - ], - [ - 41606, - 36 - ], - [ - 41644, - 14 - ], - [ - 41904, - 37 - ], - [ - 41946, - 9 - ], - [ - 42203, - 38 - ], - [ - 42250, - 2 - ], - [ - 42502, - 38 - ], - [ - 42801, - 39 - ], - [ - 43100, - 41 - ], - [ - 43400, - 42 - ], - [ - 43699, - 45 - ], - [ - 43999, - 45 - ], - [ - 44298, - 25 - ], - [ - 44324, - 18 - ], - [ - 44598, - 24 - ], - [ - 44625, - 14 - ], - [ - 44903, - 19 - ], - [ - 44927, - 10 - ], - [ - 45206, - 15 - ], - [ - 45229, - 7 - ], - [ - 45509, - 10 - ], - [ - 45529, - 5 - ], - [ - 45812, - 5 - ], - [ - 45829, - 4 - ], - [ - 46130, - 1 - ] - ], - "point": [ - 230, - 139 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "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": "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": "PutObject", - "forceAction": true, - "objectId": "Cloth|+00.01|+01.16|+03.83", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 154 - ], - [ - 1399, - 75 - ], - [ - 1500, - 154 - ], - [ - 1700, - 74 - ], - [ - 1800, - 154 - ], - [ - 2001, - 73 - ], - [ - 2100, - 154 - ], - [ - 2302, - 73 - ], - [ - 2400, - 154 - ], - [ - 2603, - 72 - ], - [ - 2700, - 153 - ], - [ - 2903, - 73 - ], - [ - 3000, - 153 - ], - [ - 3204, - 72 - ], - [ - 3300, - 153 - ], - [ - 3504, - 72 - ], - [ - 3600, - 153 - ], - [ - 3805, - 72 - ], - [ - 3900, - 153 - ], - [ - 4105, - 72 - ], - [ - 4200, - 153 - ], - [ - 4406, - 72 - ], - [ - 4500, - 153 - ], - [ - 4706, - 72 - ], - [ - 4800, - 153 - ], - [ - 5006, - 72 - ], - [ - 5100, - 152 - ], - [ - 5306, - 73 - ], - [ - 5400, - 152 - ], - [ - 5606, - 73 - ], - [ - 5700, - 152 - ], - [ - 5906, - 74 - ], - [ - 6000, - 152 - ], - [ - 6206, - 74 - ], - [ - 6300, - 152 - ], - [ - 6506, - 74 - ], - [ - 6600, - 152 - ], - [ - 6806, - 75 - ], - [ - 6900, - 152 - ], - [ - 7106, - 75 - ], - [ - 7200, - 152 - ], - [ - 7406, - 76 - ], - [ - 7500, - 152 - ], - [ - 7706, - 76 - ], - [ - 7800, - 152 - ], - [ - 8006, - 77 - ], - [ - 8100, - 152 - ], - [ - 8305, - 78 - ], - [ - 8400, - 152 - ], - [ - 8605, - 78 - ], - [ - 8700, - 152 - ], - [ - 8905, - 79 - ], - [ - 9000, - 152 - ], - [ - 9205, - 79 - ], - [ - 9300, - 152 - ], - [ - 9504, - 81 - ], - [ - 9600, - 152 - ], - [ - 9804, - 81 - ], - [ - 9900, - 152 - ], - [ - 10104, - 81 - ], - [ - 10200, - 152 - ], - [ - 10404, - 82 - ], - [ - 10500, - 152 - ], - [ - 10703, - 83 - ], - [ - 10800, - 152 - ], - [ - 11003, - 84 - ], - [ - 11100, - 152 - ], - [ - 11303, - 84 - ], - [ - 11400, - 152 - ], - [ - 11603, - 84 - ], - [ - 11700, - 152 - ], - [ - 11902, - 86 - ], - [ - 12000, - 152 - ], - [ - 12202, - 86 - ], - [ - 12300, - 152 - ], - [ - 12502, - 87 - ], - [ - 12600, - 152 - ], - [ - 12801, - 88 - ], - [ - 12900, - 152 - ], - [ - 13101, - 88 - ], - [ - 13200, - 153 - ], - [ - 13401, - 89 - ], - [ - 13500, - 153 - ], - [ - 13701, - 89 - ], - [ - 13800, - 153 - ], - [ - 14000, - 91 - ], - [ - 14100, - 153 - ], - [ - 14300, - 91 - ], - [ - 14400, - 153 - ], - [ - 14600, - 91 - ], - [ - 14700, - 153 - ], - [ - 14899, - 93 - ], - [ - 15000, - 153 - ], - [ - 15199, - 93 - ], - [ - 15300, - 154 - ], - [ - 15499, - 94 - ], - [ - 15600, - 154 - ], - [ - 15798, - 95 - ], - [ - 15900, - 154 - ], - [ - 16098, - 95 - ], - [ - 16200, - 154 - ], - [ - 16397, - 97 - ], - [ - 16500, - 155 - ], - [ - 16697, - 97 - ], - [ - 16800, - 155 - ], - [ - 16996, - 99 - ], - [ - 17100, - 156 - ], - [ - 17295, - 100 - ], - [ - 17400, - 157 - ], - [ - 17594, - 101 - ], - [ - 17700, - 158 - ], - [ - 17893, - 103 - ], - [ - 18000, - 160 - ], - [ - 18190, - 106 - ], - [ - 18300, - 297 - ], - [ - 18600, - 297 - ], - [ - 18900, - 298 - ], - [ - 19200, - 298 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61105, - 8 - ], - [ - 61271, - 8 - ], - [ - 61404, - 8 - ], - [ - 61572, - 8 - ], - [ - 61704, - 8 - ], - [ - 61873, - 7 - ], - [ - 62003, - 8 - ], - [ - 62174, - 7 - ], - [ - 62302, - 9 - ], - [ - 62474, - 8 - ], - [ - 62602, - 8 - ], - [ - 62775, - 8 - ], - [ - 62901, - 8 - ], - [ - 63076, - 7 - ], - [ - 63201, - 8 - ], - [ - 63377, - 7 - ], - [ - 63500, - 8 - ], - [ - 63678, - 7 - ], - [ - 63802, - 5 - ], - [ - 63979, - 7 - ], - [ - 64103, - 4 - ], - [ - 64279, - 7 - ], - [ - 64405, - 1 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": true, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.75, - "y": 0.900691152, - "z": 2.75 - }, - "object_poses": [ - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.13209343, - "y": 0.07402537, - "z": 0.6046678 - }, - "rotation": { - "x": 9.92313751e-15, - "y": 315.000061, - "z": -9.923112e-15 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": 0.008676842, - "y": 1.159812, - "z": 3.82967472 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -0.5007916, - "y": 0.446069747, - "z": 0.236972123 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.78281879, - "y": 0.06906557, - "z": 3.68307257 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": 0.303161561, - "y": 1.16426623, - "z": 3.73282433 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -0.370910168, - "y": 0.4477217, - "z": 0.09018695 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.66324008, - "y": 0.07328317, - "z": 0.4057004 - }, - "rotation": { - "x": -9.85794353e-21, - "y": 90.0000458, - "z": 1.40334191e-14 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": -1.70791709, - "y": 0.0645169, - "z": 3.3558476 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": -0.5007916, - "y": 0.443, - "z": 0.126883268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.41107965, - "y": 0.07402537, - "z": 0.405700147 - }, - "rotation": { - "x": -9.85794353e-21, - "y": 90.0000458, - "z": 1.40334191e-14 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.78757071, - "y": 0.06892097, - "z": 2.56573725 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -0.414203942, - "y": 0.4476165, - "z": 0.2736684 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.734312, - "y": 0.015442973, - "z": 2.22 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4248492024, - "scene_num": 413 - }, - "task_id": "trial_T20190906_194709_189668", - "task_type": "pick_clean_then_place_in_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1GVTH5YS3WOK0_39KFRKBFIQC7JFGGYYJ71KNRNDDYOK", - "high_descs": [ - "Turn around and head towards the dresser.", - "Pick up the towel on top of the dresser.", - "Turn left and head towards the sink on the left side.", - "Place the towel in the sink, turn on the faucet, wash the towel, turn off the faucet, and pick up the towel.", - "Turn around, walk towards the door, and then turn right towards the dresser.", - "Place the towel to the left of the spray bottle on top of the dresser." - ], - "task_desc": "Clean the dirty towel on top of the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3CP1TO84PWIVAKHR0YGDJAMVR1K528", - "high_descs": [ - "Go to the cabinet to your left.", - "Take the rag from the top of the cabinet.", - "Take the rag to the sink to your left.", - "Wash the rag in the sink.", - "Return to the cabinet.", - "Place the rag on the cabinet next to the spray bottle." - ], - "task_desc": "Put a washed rag on the cabinet. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3ITXP059PZ0WMIDAJFZDB2I470NSJ1", - "high_descs": [ - "Go to the white shelf on the right.", - "Pick up the dirty cloth from the shelf.", - "Bring the cloth to the sink.", - "Clean the cloth in the sink with water. ", - "Bring the cleaned cloth to the white shelf.", - "Put the cloth on the shelf. " - ], - "task_desc": "Put a cleaned cloth on the white shelf. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194730_320895/traj_data.json b/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194730_320895/traj_data.json deleted file mode 100644 index 1a7801e0e..000000000 --- a/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-413/trial_T20190906_194730_320895/traj_data.json +++ /dev/null @@ -1,5573 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 11 - }, - { - "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": 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": 1, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "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": 15 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 23 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "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": 30 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "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": 31 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "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": 32 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 33 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 34 - }, - { - "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": 4, - "image_name": "000000223.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 46 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Cloth", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bathtubbasin" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|3|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -6.62800072, - -6.62800072, - 0.854718924, - 0.854718924, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "BathtubBasin", - [ - -6.452, - -6.452, - 2.16, - 2.16, - 0.20935288, - 0.20935288 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.66|+00.07|+00.21" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sinkbasin" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|10|3|60" - } - }, - { - "discrete_action": { - "action": "CleanObject", - "args": [ - "cloth" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "CleanObject", - "cleanObjectId": "Cloth|-01.66|+00.07|+00.21", - "coordinateObjectId": [ - "Cloth", - [ - -6.62800072, - -6.62800072, - 0.854718924, - 0.854718924, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Sink|-01.83|+00.69|+02.78|SinkBasin" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -6.62800072, - -6.62800072, - 0.854718924, - 0.854718924, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.66|+00.07|+00.21", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|-01.66|+00.07|+00.21" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 63, - 104, - 87, - 128 - ], - "mask": [ - [ - 30982, - 1 - ], - [ - 31280, - 4 - ], - [ - 31578, - 6 - ], - [ - 31878, - 7 - ], - [ - 32170, - 1 - ], - [ - 32178, - 8 - ], - [ - 32467, - 6 - ], - [ - 32478, - 8 - ], - [ - 32766, - 9 - ], - [ - 32778, - 9 - ], - [ - 33065, - 22 - ], - [ - 33364, - 23 - ], - [ - 33666, - 20 - ], - [ - 33967, - 19 - ], - [ - 34268, - 18 - ], - [ - 34569, - 17 - ], - [ - 34866, - 21 - ], - [ - 35164, - 24 - ], - [ - 35463, - 25 - ], - [ - 35763, - 25 - ], - [ - 36063, - 24 - ], - [ - 36364, - 22 - ], - [ - 36664, - 21 - ], - [ - 36965, - 19 - ], - [ - 37265, - 18 - ], - [ - 37566, - 8 - ], - [ - 37577, - 5 - ], - [ - 37878, - 3 - ], - [ - 38179, - 1 - ] - ], - "point": [ - 75, - 115 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Cloth|-01.66|+00.07|+00.21", - "placeStationary": true, - "receptacleObjectId": "Sink|-01.83|+00.69|+02.78|SinkBasin" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 113, - 267, - 165 - ], - "mask": [ - [ - 33805, - 23 - ], - [ - 34101, - 32 - ], - [ - 34396, - 42 - ], - [ - 34694, - 47 - ], - [ - 34991, - 52 - ], - [ - 35289, - 57 - ], - [ - 35587, - 62 - ], - [ - 35885, - 65 - ], - [ - 36184, - 68 - ], - [ - 36483, - 71 - ], - [ - 36782, - 73 - ], - [ - 37080, - 77 - ], - [ - 37380, - 78 - ], - [ - 37679, - 80 - ], - [ - 37978, - 82 - ], - [ - 38278, - 83 - ], - [ - 38577, - 85 - ], - [ - 38877, - 85 - ], - [ - 39176, - 87 - ], - [ - 39476, - 88 - ], - [ - 39775, - 89 - ], - [ - 40075, - 90 - ], - [ - 40375, - 90 - ], - [ - 40675, - 91 - ], - [ - 40975, - 91 - ], - [ - 41275, - 92 - ], - [ - 41575, - 92 - ], - [ - 41875, - 92 - ], - [ - 42175, - 93 - ], - [ - 42475, - 93 - ], - [ - 42776, - 92 - ], - [ - 43076, - 92 - ], - [ - 43376, - 92 - ], - [ - 43676, - 92 - ], - [ - 43977, - 91 - ], - [ - 44277, - 91 - ], - [ - 44578, - 89 - ], - [ - 44878, - 89 - ], - [ - 45179, - 88 - ], - [ - 45480, - 86 - ], - [ - 45781, - 85 - ], - [ - 46081, - 85 - ], - [ - 46382, - 83 - ], - [ - 46683, - 81 - ], - [ - 46985, - 78 - ], - [ - 47286, - 76 - ], - [ - 47588, - 73 - ], - [ - 47889, - 71 - ], - [ - 48191, - 68 - ], - [ - 48494, - 62 - ], - [ - 48798, - 56 - ], - [ - 49106, - 46 - ], - [ - 49414, - 32 - ] - ], - "point": [ - 221, - 138 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "ToggleObjectOn", - "cleanObjectId": "Cloth|-01.66|+00.07|+00.21", - "coordinateObjectId": [ - "Cloth", - [ - -6.62800072, - -6.62800072, - 0.854718924, - 0.854718924, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Faucet|-01.99|+00.95|+02.78" - }, - "discrete_action": { - "action": "ToggleObjectOn", - "args": { - "bbox": [ - 171, - 46, - 292, - 112 - ], - "mask": [ - [ - 13731, - 1 - ], - [ - 14026, - 10 - ], - [ - 14324, - 14 - ], - [ - 14583, - 4 - ], - [ - 14622, - 17 - ], - [ - 14674, - 5 - ], - [ - 14880, - 10 - ], - [ - 14921, - 19 - ], - [ - 14971, - 10 - ], - [ - 15178, - 13 - ], - [ - 15220, - 20 - ], - [ - 15269, - 13 - ], - [ - 15477, - 15 - ], - [ - 15519, - 21 - ], - [ - 15568, - 14 - ], - [ - 15777, - 15 - ], - [ - 15819, - 22 - ], - [ - 15867, - 17 - ], - [ - 16076, - 16 - ], - [ - 16118, - 23 - ], - [ - 16166, - 20 - ], - [ - 16376, - 16 - ], - [ - 16417, - 24 - ], - [ - 16465, - 21 - ], - [ - 16676, - 16 - ], - [ - 16717, - 24 - ], - [ - 16765, - 21 - ], - [ - 16976, - 17 - ], - [ - 17017, - 24 - ], - [ - 17065, - 21 - ], - [ - 17276, - 16 - ], - [ - 17317, - 23 - ], - [ - 17364, - 21 - ], - [ - 17576, - 15 - ], - [ - 17617, - 22 - ], - [ - 17664, - 21 - ], - [ - 17876, - 15 - ], - [ - 17917, - 22 - ], - [ - 17965, - 19 - ], - [ - 18177, - 13 - ], - [ - 18217, - 21 - ], - [ - 18265, - 18 - ], - [ - 18478, - 11 - ], - [ - 18518, - 19 - ], - [ - 18566, - 17 - ], - [ - 18780, - 8 - ], - [ - 18819, - 17 - ], - [ - 18868, - 14 - ], - [ - 19071, - 29 - ], - [ - 19119, - 16 - ], - [ - 19162, - 30 - ], - [ - 19371, - 29 - ], - [ - 19421, - 14 - ], - [ - 19462, - 31 - ], - [ - 19671, - 29 - ], - [ - 19724, - 12 - ], - [ - 19762, - 31 - ], - [ - 19971, - 29 - ], - [ - 20027, - 9 - ], - [ - 20062, - 31 - ], - [ - 20271, - 28 - ], - [ - 20327, - 9 - ], - [ - 20362, - 30 - ], - [ - 20571, - 28 - ], - [ - 20627, - 9 - ], - [ - 20662, - 29 - ], - [ - 20882, - 5 - ], - [ - 20927, - 10 - ], - [ - 20972, - 6 - ], - [ - 21181, - 6 - ], - [ - 21227, - 10 - ], - [ - 21271, - 7 - ], - [ - 21481, - 6 - ], - [ - 21528, - 9 - ], - [ - 21571, - 6 - ], - [ - 21781, - 6 - ], - [ - 21828, - 9 - ], - [ - 21870, - 7 - ], - [ - 22081, - 6 - ], - [ - 22128, - 9 - ], - [ - 22169, - 7 - ], - [ - 22381, - 6 - ], - [ - 22428, - 10 - ], - [ - 22469, - 7 - ], - [ - 22681, - 5 - ], - [ - 22728, - 10 - ], - [ - 22768, - 7 - ], - [ - 22981, - 5 - ], - [ - 23029, - 9 - ], - [ - 23068, - 7 - ], - [ - 23281, - 5 - ], - [ - 23329, - 9 - ], - [ - 23369, - 5 - ], - [ - 23629, - 10 - ], - [ - 23929, - 10 - ], - [ - 24229, - 10 - ], - [ - 24530, - 9 - ], - [ - 24830, - 10 - ], - [ - 25130, - 10 - ], - [ - 25430, - 10 - ], - [ - 25730, - 10 - ], - [ - 26031, - 9 - ], - [ - 26331, - 9 - ], - [ - 26631, - 9 - ], - [ - 26931, - 9 - ], - [ - 27231, - 9 - ], - [ - 27530, - 10 - ], - [ - 27830, - 10 - ], - [ - 28130, - 9 - ], - [ - 28430, - 9 - ], - [ - 28729, - 10 - ], - [ - 29029, - 10 - ], - [ - 29329, - 9 - ], - [ - 29628, - 10 - ], - [ - 29928, - 10 - ], - [ - 30228, - 9 - ], - [ - 30527, - 10 - ], - [ - 30826, - 10 - ], - [ - 31125, - 11 - ], - [ - 31425, - 11 - ], - [ - 31725, - 11 - ], - [ - 32024, - 11 - ], - [ - 32324, - 11 - ], - [ - 32624, - 11 - ], - [ - 32925, - 9 - ], - [ - 33226, - 8 - ], - [ - 33527, - 5 - ] - ], - "point": [ - 231, - 78 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "ToggleObjectOff", - "cleanObjectId": "Cloth|-01.66|+00.07|+00.21", - "coordinateObjectId": [ - "Cloth", - [ - -6.62800072, - -6.62800072, - 0.854718924, - 0.854718924, - 0.29610148, - 0.29610148 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -7.18200256, - -7.18200256, - 11.12779712, - 11.12779712, - 2.7777984, - 2.7777984 - ] - ], - "forceVisible": true, - "objectId": "Faucet|-01.99|+00.95|+02.78" - }, - "discrete_action": { - "action": "ToggleObjectOff", - "args": { - "bbox": [ - 172, - 46, - 292, - 112 - ], - "mask": [ - [ - 13731, - 1 - ], - [ - 14026, - 10 - ], - [ - 14324, - 14 - ], - [ - 14583, - 4 - ], - [ - 14622, - 17 - ], - [ - 14674, - 5 - ], - [ - 14880, - 10 - ], - [ - 14921, - 19 - ], - [ - 14971, - 10 - ], - [ - 15178, - 13 - ], - [ - 15220, - 20 - ], - [ - 15269, - 13 - ], - [ - 15477, - 15 - ], - [ - 15519, - 21 - ], - [ - 15568, - 14 - ], - [ - 15777, - 15 - ], - [ - 15819, - 22 - ], - [ - 15867, - 16 - ], - [ - 16076, - 16 - ], - [ - 16118, - 23 - ], - [ - 16166, - 17 - ], - [ - 16376, - 16 - ], - [ - 16417, - 24 - ], - [ - 16465, - 18 - ], - [ - 16675, - 17 - ], - [ - 16693, - 3 - ], - [ - 16717, - 24 - ], - [ - 16765, - 17 - ], - [ - 16790, - 1 - ], - [ - 16974, - 23 - ], - [ - 17017, - 24 - ], - [ - 17065, - 17 - ], - [ - 17088, - 3 - ], - [ - 17274, - 24 - ], - [ - 17317, - 23 - ], - [ - 17364, - 17 - ], - [ - 17386, - 6 - ], - [ - 17573, - 25 - ], - [ - 17617, - 22 - ], - [ - 17664, - 16 - ], - [ - 17684, - 8 - ], - [ - 17873, - 25 - ], - [ - 17917, - 22 - ], - [ - 17965, - 14 - ], - [ - 17982, - 11 - ], - [ - 18174, - 23 - ], - [ - 18217, - 21 - ], - [ - 18265, - 14 - ], - [ - 18281, - 12 - ], - [ - 18476, - 19 - ], - [ - 18518, - 19 - ], - [ - 18566, - 25 - ], - [ - 18777, - 17 - ], - [ - 18819, - 17 - ], - [ - 18868, - 21 - ], - [ - 19078, - 15 - ], - [ - 19119, - 16 - ], - [ - 19171, - 16 - ], - [ - 19379, - 12 - ], - [ - 19421, - 14 - ], - [ - 19472, - 14 - ], - [ - 19679, - 11 - ], - [ - 19724, - 12 - ], - [ - 19772, - 12 - ], - [ - 19978, - 13 - ], - [ - 20027, - 9 - ], - [ - 20070, - 12 - ], - [ - 20276, - 16 - ], - [ - 20327, - 9 - ], - [ - 20368, - 14 - ], - [ - 20575, - 18 - ], - [ - 20627, - 9 - ], - [ - 20666, - 17 - ], - [ - 20874, - 10 - ], - [ - 20885, - 9 - ], - [ - 20927, - 10 - ], - [ - 20964, - 20 - ], - [ - 21172, - 10 - ], - [ - 21186, - 9 - ], - [ - 21227, - 10 - ], - [ - 21263, - 12 - ], - [ - 21276, - 8 - ], - [ - 21472, - 9 - ], - [ - 21487, - 9 - ], - [ - 21528, - 9 - ], - [ - 21562, - 11 - ], - [ - 21577, - 8 - ], - [ - 21772, - 8 - ], - [ - 21788, - 7 - ], - [ - 21828, - 9 - ], - [ - 21862, - 9 - ], - [ - 21878, - 7 - ], - [ - 22073, - 5 - ], - [ - 22089, - 6 - ], - [ - 22128, - 9 - ], - [ - 22163, - 6 - ], - [ - 22179, - 6 - ], - [ - 22374, - 3 - ], - [ - 22391, - 3 - ], - [ - 22428, - 10 - ], - [ - 22463, - 4 - ], - [ - 22479, - 6 - ], - [ - 22728, - 10 - ], - [ - 22764, - 1 - ], - [ - 22780, - 3 - ], - [ - 23029, - 9 - ], - [ - 23329, - 9 - ], - [ - 23629, - 10 - ], - [ - 23929, - 10 - ], - [ - 24229, - 10 - ], - [ - 24530, - 9 - ], - [ - 24830, - 10 - ], - [ - 25130, - 10 - ], - [ - 25430, - 10 - ], - [ - 25730, - 10 - ], - [ - 26031, - 9 - ], - [ - 26331, - 9 - ], - [ - 26631, - 9 - ], - [ - 26931, - 9 - ], - [ - 27231, - 9 - ], - [ - 27530, - 10 - ], - [ - 27830, - 10 - ], - [ - 28130, - 9 - ], - [ - 28430, - 9 - ], - [ - 28729, - 10 - ], - [ - 29029, - 10 - ], - [ - 29329, - 9 - ], - [ - 29628, - 10 - ], - [ - 29928, - 10 - ], - [ - 30228, - 9 - ], - [ - 30527, - 10 - ], - [ - 30826, - 10 - ], - [ - 31125, - 11 - ], - [ - 31425, - 11 - ], - [ - 31725, - 11 - ], - [ - 32024, - 11 - ], - [ - 32324, - 11 - ], - [ - 32624, - 11 - ], - [ - 32925, - 9 - ], - [ - 33226, - 8 - ], - [ - 33527, - 5 - ] - ], - "point": [ - 232, - 78 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|-01.66|+00.07|+00.21" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 198, - 126, - 262, - 154 - ], - "mask": [ - [ - 37714, - 10 - ], - [ - 38011, - 18 - ], - [ - 38308, - 23 - ], - [ - 38605, - 37 - ], - [ - 38903, - 47 - ], - [ - 39201, - 52 - ], - [ - 39500, - 56 - ], - [ - 39799, - 59 - ], - [ - 40098, - 61 - ], - [ - 40399, - 62 - ], - [ - 40700, - 63 - ], - [ - 41003, - 59 - ], - [ - 41307, - 53 - ], - [ - 41606, - 36 - ], - [ - 41644, - 14 - ], - [ - 41904, - 37 - ], - [ - 41946, - 9 - ], - [ - 42203, - 38 - ], - [ - 42250, - 2 - ], - [ - 42502, - 38 - ], - [ - 42801, - 39 - ], - [ - 43100, - 41 - ], - [ - 43400, - 42 - ], - [ - 43699, - 45 - ], - [ - 43999, - 45 - ], - [ - 44298, - 25 - ], - [ - 44324, - 18 - ], - [ - 44598, - 24 - ], - [ - 44625, - 14 - ], - [ - 44903, - 19 - ], - [ - 44927, - 10 - ], - [ - 45206, - 15 - ], - [ - 45229, - 7 - ], - [ - 45509, - 10 - ], - [ - 45529, - 5 - ], - [ - 45812, - 5 - ], - [ - 45829, - 4 - ], - [ - 46130, - 1 - ] - ], - "point": [ - 230, - 139 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "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": "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": "PutObject", - "forceAction": true, - "objectId": "Cloth|-01.66|+00.07|+00.21", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 144 - ], - [ - 1412, - 62 - ], - [ - 1500, - 144 - ], - [ - 1712, - 62 - ], - [ - 1800, - 144 - ], - [ - 2012, - 62 - ], - [ - 2100, - 144 - ], - [ - 2312, - 63 - ], - [ - 2400, - 144 - ], - [ - 2612, - 63 - ], - [ - 2700, - 144 - ], - [ - 2911, - 65 - ], - [ - 3000, - 144 - ], - [ - 3211, - 65 - ], - [ - 3300, - 144 - ], - [ - 3511, - 65 - ], - [ - 3600, - 144 - ], - [ - 3810, - 67 - ], - [ - 3900, - 145 - ], - [ - 4110, - 67 - ], - [ - 4200, - 145 - ], - [ - 4409, - 69 - ], - [ - 4500, - 145 - ], - [ - 4709, - 69 - ], - [ - 4800, - 145 - ], - [ - 5009, - 69 - ], - [ - 5100, - 146 - ], - [ - 5308, - 71 - ], - [ - 5400, - 146 - ], - [ - 5608, - 71 - ], - [ - 5700, - 146 - ], - [ - 5907, - 73 - ], - [ - 6000, - 147 - ], - [ - 6207, - 73 - ], - [ - 6300, - 147 - ], - [ - 6506, - 74 - ], - [ - 6600, - 148 - ], - [ - 6805, - 76 - ], - [ - 6900, - 148 - ], - [ - 7105, - 76 - ], - [ - 7200, - 148 - ], - [ - 7404, - 78 - ], - [ - 7500, - 149 - ], - [ - 7704, - 78 - ], - [ - 7800, - 149 - ], - [ - 8003, - 80 - ], - [ - 8100, - 149 - ], - [ - 8303, - 80 - ], - [ - 8400, - 150 - ], - [ - 8602, - 81 - ], - [ - 8700, - 150 - ], - [ - 8901, - 83 - ], - [ - 9000, - 151 - ], - [ - 9201, - 83 - ], - [ - 9300, - 151 - ], - [ - 9500, - 85 - ], - [ - 9600, - 152 - ], - [ - 9800, - 85 - ], - [ - 9900, - 152 - ], - [ - 10099, - 86 - ], - [ - 10200, - 153 - ], - [ - 10398, - 88 - ], - [ - 10500, - 153 - ], - [ - 10698, - 88 - ], - [ - 10800, - 154 - ], - [ - 10997, - 90 - ], - [ - 11100, - 154 - ], - [ - 11296, - 91 - ], - [ - 11400, - 155 - ], - [ - 11596, - 91 - ], - [ - 11700, - 155 - ], - [ - 11895, - 93 - ], - [ - 12000, - 156 - ], - [ - 12194, - 94 - ], - [ - 12300, - 156 - ], - [ - 12494, - 95 - ], - [ - 12600, - 157 - ], - [ - 12793, - 96 - ], - [ - 12900, - 157 - ], - [ - 13093, - 96 - ], - [ - 13200, - 157 - ], - [ - 13392, - 98 - ], - [ - 13500, - 156 - ], - [ - 13692, - 98 - ], - [ - 13800, - 156 - ], - [ - 13992, - 99 - ], - [ - 14100, - 155 - ], - [ - 14293, - 98 - ], - [ - 14400, - 155 - ], - [ - 14593, - 98 - ], - [ - 14700, - 154 - ], - [ - 14894, - 98 - ], - [ - 15000, - 154 - ], - [ - 15194, - 98 - ], - [ - 15300, - 153 - ], - [ - 15494, - 99 - ], - [ - 15600, - 153 - ], - [ - 15795, - 98 - ], - [ - 15900, - 152 - ], - [ - 16095, - 98 - ], - [ - 16200, - 152 - ], - [ - 16395, - 99 - ], - [ - 16500, - 151 - ], - [ - 16695, - 99 - ], - [ - 16800, - 151 - ], - [ - 16995, - 100 - ], - [ - 17100, - 151 - ], - [ - 17295, - 100 - ], - [ - 17400, - 152 - ], - [ - 17595, - 100 - ], - [ - 17700, - 152 - ], - [ - 17894, - 102 - ], - [ - 18000, - 154 - ], - [ - 18193, - 103 - ], - [ - 18300, - 155 - ], - [ - 18492, - 105 - ], - [ - 18600, - 158 - ], - [ - 18789, - 108 - ], - [ - 18900, - 162 - ], - [ - 19085, - 113 - ], - [ - 19200, - 166 - ], - [ - 19381, - 117 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61105, - 8 - ], - [ - 61271, - 8 - ], - [ - 61404, - 8 - ], - [ - 61572, - 8 - ], - [ - 61704, - 8 - ], - [ - 61873, - 7 - ], - [ - 62003, - 8 - ], - [ - 62174, - 7 - ], - [ - 62302, - 9 - ], - [ - 62474, - 8 - ], - [ - 62602, - 8 - ], - [ - 62775, - 8 - ], - [ - 62901, - 8 - ], - [ - 63076, - 7 - ], - [ - 63201, - 8 - ], - [ - 63377, - 7 - ], - [ - 63500, - 8 - ], - [ - 63678, - 7 - ], - [ - 63802, - 5 - ], - [ - 63979, - 7 - ], - [ - 64103, - 4 - ], - [ - 64279, - 7 - ], - [ - 64405, - 1 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": true, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.5, - "y": 0.900691152, - "z": 3.25 - }, - "object_poses": [ - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.65700018, - "y": 0.07402537, - "z": 0.213679731 - }, - "rotation": { - "x": 1.40334191e-14, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -0.327616334, - "y": 0.4476165, - "z": 0.126883268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": 0.303161561, - "y": 1.1645838, - "z": 3.73282433 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.86722422, - "y": 0.06923854, - "z": 3.28410244 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.79516649, - "y": 0.0168782938, - "z": 2.19318557 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": -0.370910168, - "y": 0.443, - "z": 0.236972123 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": -1.918308, - "y": 0.763356566, - "z": 2.518014 - }, - "rotation": { - "x": 1.88859049e-05, - "y": 1.6120183e-10, - "z": -1.468302e-05 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.7864002, - "y": 0.07402537, - "z": 0.970161 - }, - "rotation": { - "x": 1.40334191e-14, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.86722422, - "y": 0.06892097, - "z": 2.63748217 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -0.0120080113, - "y": 0.09410226, - "z": 3.79201841 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.69560754, - "y": 0.7724278, - "z": 3.12294936 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4247009914, - "scene_num": 413 - }, - "task_id": "trial_T20190906_194730_320895", - "task_type": "pick_clean_then_place_in_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A23HZ18KTCK2DA_3G5F9DBFOSEGN4ZOPA1XACMWTCDVH4", - "high_descs": [ - "Go forward to the tub. Turn right and face the tub.", - "Pick up the wash rag on the left.", - "Turn around and go to the sink. ", - "Put the wash rag in the sink. Turn the water on to get it wet. Turn the water off.", - "Turn around and go to the dresser.", - "Put the wash rag on the dresser to the left of the bottle." - ], - "task_desc": "Get a wash rag wet to put on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3TR2532VISBRZKFDC2WAAXMCPB66J9", - "high_descs": [ - "walk over to the bath tub", - "grab a dirty towel out of the bath tub", - "walk over to the bathroom sink", - "put the dirty towel in the sink and rinse it off, then pick it back up", - "turn around and bring the towel over to the white cabinet", - "place the towel on top of the white cabinet" - ], - "task_desc": "place a wet clean towel on top of the white cabinet in the bathroom", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1GVTH5YS3WOK0_3XCC1ODXDOS17QHAZGJHITPUZWMRQZ", - "high_descs": [ - "Walk straight towards the bath tub.", - "Pick up the dirty towel on the left.", - "Turn around and head towards the sink on your left.", - "Place the towel in the left sink, wash the towel, and pick it up.", - "Turn around, head towards the door, turn left, and head towards the dresser.", - "Place the towel on top of the dresser." - ], - "task_desc": "Place the clean towel on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/traj_data.json b/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/traj_data.json deleted file mode 100644 index 5edc06a7b..000000000 --- a/data/json_2.1.0/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/traj_data.json +++ /dev/null @@ -1,5482 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 13 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 22 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 24 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 35 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 58 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Cloth", - "parent_target": "Dresser", - "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": [ - "cloth" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -10.18826292, - -10.18826292, - -12.75544, - -12.75544, - 3.990848, - 3.990848 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -10.82, - -10.82, - -11.692, - -11.692, - 4.12, - 4.12 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-02.55|+01.00|-03.19" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sinkbasin" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|-6|2|60" - } - }, - { - "discrete_action": { - "action": "CleanObject", - "args": [ - "cloth" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "CleanObject", - "cleanObjectId": "Cloth|-02.55|+01.00|-03.19", - "coordinateObjectId": [ - "Cloth", - [ - -10.18826292, - -10.18826292, - -12.75544, - -12.75544, - 3.990848, - 3.990848 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -1.244, - -1.244, - -8.308, - -8.308, - 3.4384, - 3.4384 - ] - ], - "forceVisible": true, - "objectId": "Sink|-00.31|+00.00|-02.08|SinkBasin" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|-14|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -10.18826292, - -10.18826292, - -12.75544, - -12.75544, - 3.990848, - 3.990848 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.82, - -0.82, - -13.596, - -13.596, - 3.244, - 3.244 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-02.55|+01.00|-03.19", - "receptacleObjectId": "Dresser|-00.21|+00.81|-03.40" - } - }, - { - "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|-02.55|+01.00|-03.19" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 140, - 134, - 201, - 186 - ], - "mask": [ - [ - 40077, - 2 - ], - [ - 40375, - 5 - ], - [ - 40673, - 8 - ], - [ - 40971, - 12 - ], - [ - 41270, - 14 - ], - [ - 41569, - 16 - ], - [ - 41869, - 17 - ], - [ - 42153, - 2 - ], - [ - 42170, - 17 - ], - [ - 42450, - 9 - ], - [ - 42470, - 18 - ], - [ - 42748, - 13 - ], - [ - 42771, - 18 - ], - [ - 43046, - 19 - ], - [ - 43071, - 19 - ], - [ - 43345, - 24 - ], - [ - 43373, - 18 - ], - [ - 43643, - 28 - ], - [ - 43674, - 17 - ], - [ - 43942, - 30 - ], - [ - 43974, - 18 - ], - [ - 44241, - 52 - ], - [ - 44540, - 53 - ], - [ - 44840, - 53 - ], - [ - 45142, - 51 - ], - [ - 45446, - 47 - ], - [ - 45747, - 46 - ], - [ - 46048, - 45 - ], - [ - 46350, - 43 - ], - [ - 46651, - 42 - ], - [ - 46953, - 40 - ], - [ - 47256, - 38 - ], - [ - 47554, - 42 - ], - [ - 47847, - 50 - ], - [ - 48144, - 54 - ], - [ - 48443, - 56 - ], - [ - 48741, - 59 - ], - [ - 49040, - 61 - ], - [ - 49340, - 61 - ], - [ - 49641, - 61 - ], - [ - 49941, - 61 - ], - [ - 50242, - 60 - ], - [ - 50542, - 60 - ], - [ - 50843, - 58 - ], - [ - 51144, - 56 - ], - [ - 51445, - 54 - ], - [ - 51745, - 54 - ], - [ - 52046, - 52 - ], - [ - 52347, - 50 - ], - [ - 52648, - 48 - ], - [ - 52948, - 48 - ], - [ - 53249, - 46 - ], - [ - 53550, - 26 - ], - [ - 53578, - 16 - ], - [ - 53851, - 23 - ], - [ - 53879, - 14 - ], - [ - 54151, - 20 - ], - [ - 54180, - 13 - ], - [ - 54452, - 15 - ], - [ - 54481, - 11 - ], - [ - 54782, - 9 - ], - [ - 55083, - 8 - ], - [ - 55384, - 6 - ], - [ - 55687, - 2 - ] - ], - "point": [ - 170, - 159 - ] - } - }, - "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": "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": "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": "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": "Cloth|-02.55|+01.00|-03.19", - "placeStationary": true, - "receptacleObjectId": "Sink|-00.31|+00.00|-02.08|SinkBasin" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 53, - 68, - 128, - 147 - ], - "mask": [ - [ - 20181, - 34 - ], - [ - 20476, - 44 - ], - [ - 20774, - 47 - ], - [ - 21072, - 51 - ], - [ - 21370, - 55 - ], - [ - 21669, - 56 - ], - [ - 21969, - 57 - ], - [ - 22268, - 59 - ], - [ - 22567, - 60 - ], - [ - 22866, - 62 - ], - [ - 23165, - 63 - ], - [ - 23465, - 64 - ], - [ - 23765, - 64 - ], - [ - 24064, - 65 - ], - [ - 24364, - 65 - ], - [ - 24664, - 65 - ], - [ - 24963, - 66 - ], - [ - 25263, - 66 - ], - [ - 25563, - 66 - ], - [ - 25863, - 66 - ], - [ - 26162, - 67 - ], - [ - 26462, - 67 - ], - [ - 26762, - 67 - ], - [ - 27062, - 67 - ], - [ - 27361, - 68 - ], - [ - 27661, - 68 - ], - [ - 27961, - 68 - ], - [ - 28261, - 68 - ], - [ - 28560, - 69 - ], - [ - 28860, - 69 - ], - [ - 29160, - 69 - ], - [ - 29460, - 68 - ], - [ - 29760, - 68 - ], - [ - 30059, - 69 - ], - [ - 30359, - 69 - ], - [ - 30659, - 69 - ], - [ - 30959, - 69 - ], - [ - 31258, - 70 - ], - [ - 31558, - 70 - ], - [ - 31858, - 70 - ], - [ - 32158, - 70 - ], - [ - 32458, - 70 - ], - [ - 32757, - 71 - ], - [ - 33057, - 71 - ], - [ - 33357, - 71 - ], - [ - 33657, - 71 - ], - [ - 33956, - 72 - ], - [ - 34256, - 72 - ], - [ - 34556, - 72 - ], - [ - 34856, - 72 - ], - [ - 35155, - 72 - ], - [ - 35455, - 72 - ], - [ - 35755, - 72 - ], - [ - 36055, - 72 - ], - [ - 36355, - 72 - ], - [ - 36654, - 73 - ], - [ - 36954, - 73 - ], - [ - 37254, - 73 - ], - [ - 37554, - 73 - ], - [ - 37854, - 73 - ], - [ - 38154, - 72 - ], - [ - 38453, - 73 - ], - [ - 38753, - 73 - ], - [ - 39053, - 73 - ], - [ - 39353, - 73 - ], - [ - 39653, - 72 - ], - [ - 39953, - 71 - ], - [ - 40254, - 70 - ], - [ - 40554, - 69 - ], - [ - 40854, - 68 - ], - [ - 41155, - 67 - ], - [ - 41455, - 66 - ], - [ - 41755, - 65 - ], - [ - 42057, - 62 - ], - [ - 42358, - 59 - ], - [ - 42659, - 57 - ], - [ - 42960, - 54 - ], - [ - 43262, - 51 - ], - [ - 43565, - 44 - ], - [ - 43869, - 36 - ] - ], - "point": [ - 90, - 106 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "ToggleObjectOn", - "cleanObjectId": "Cloth|-02.55|+01.00|-03.19", - "coordinateObjectId": [ - "Cloth", - [ - -10.18826292, - -10.18826292, - -12.75544, - -12.75544, - 3.990848, - 3.990848 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -1.244, - -1.244, - -8.308, - -8.308, - 3.4384, - 3.4384 - ] - ], - "forceVisible": true, - "objectId": "Faucet|-00.04|+01.02|-02.08" - }, - "discrete_action": { - "action": "ToggleObjectOn", - "args": { - "bbox": [ - 0, - 1, - 47, - 83 - ], - "mask": [ - [ - 27, - 13 - ], - [ - 327, - 13 - ], - [ - 628, - 13 - ], - [ - 928, - 13 - ], - [ - 1229, - 12 - ], - [ - 1529, - 13 - ], - [ - 1829, - 14 - ], - [ - 2100, - 1 - ], - [ - 2130, - 13 - ], - [ - 2400, - 6 - ], - [ - 2430, - 14 - ], - [ - 2700, - 7 - ], - [ - 2730, - 14 - ], - [ - 3000, - 8 - ], - [ - 3030, - 14 - ], - [ - 3300, - 9 - ], - [ - 3331, - 14 - ], - [ - 3600, - 9 - ], - [ - 3631, - 14 - ], - [ - 3900, - 10 - ], - [ - 3931, - 14 - ], - [ - 4200, - 10 - ], - [ - 4232, - 14 - ], - [ - 4500, - 11 - ], - [ - 4532, - 14 - ], - [ - 4800, - 11 - ], - [ - 4833, - 14 - ], - [ - 5100, - 12 - ], - [ - 5133, - 14 - ], - [ - 5400, - 12 - ], - [ - 5434, - 13 - ], - [ - 5700, - 13 - ], - [ - 5734, - 14 - ], - [ - 6000, - 13 - ], - [ - 6034, - 14 - ], - [ - 6300, - 14 - ], - [ - 6335, - 13 - ], - [ - 6600, - 14 - ], - [ - 6635, - 13 - ], - [ - 6900, - 15 - ], - [ - 6936, - 11 - ], - [ - 7200, - 15 - ], - [ - 7236, - 10 - ], - [ - 7500, - 16 - ], - [ - 7538, - 6 - ], - [ - 7800, - 16 - ], - [ - 8100, - 19 - ], - [ - 8400, - 20 - ], - [ - 8700, - 22 - ], - [ - 9000, - 23 - ], - [ - 9300, - 24 - ], - [ - 9600, - 24 - ], - [ - 9900, - 24 - ], - [ - 10200, - 24 - ], - [ - 10500, - 24 - ], - [ - 10800, - 24 - ], - [ - 11100, - 23 - ], - [ - 11400, - 22 - ], - [ - 11700, - 22 - ], - [ - 12000, - 21 - ], - [ - 12300, - 19 - ], - [ - 12600, - 17 - ], - [ - 12901, - 14 - ], - [ - 13205, - 6 - ], - [ - 19200, - 3 - ], - [ - 19500, - 5 - ], - [ - 19800, - 6 - ], - [ - 20100, - 7 - ], - [ - 20400, - 8 - ], - [ - 20700, - 9 - ], - [ - 21000, - 10 - ], - [ - 21300, - 10 - ], - [ - 21600, - 10 - ], - [ - 21900, - 10 - ], - [ - 22200, - 9 - ], - [ - 22500, - 9 - ], - [ - 22800, - 9 - ], - [ - 23100, - 8 - ], - [ - 23400, - 7 - ], - [ - 23700, - 6 - ], - [ - 24000, - 6 - ], - [ - 24300, - 4 - ], - [ - 24600, - 2 - ] - ], - "point": [ - 21, - 39 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "ToggleObjectOff", - "cleanObjectId": "Cloth|-02.55|+01.00|-03.19", - "coordinateObjectId": [ - "Cloth", - [ - -10.18826292, - -10.18826292, - -12.75544, - -12.75544, - 3.990848, - 3.990848 - ] - ], - "coordinateReceptacleObjectId": [ - "SinkBasin", - [ - -1.244, - -1.244, - -8.308, - -8.308, - 3.4384, - 3.4384 - ] - ], - "forceVisible": true, - "objectId": "Faucet|-00.04|+01.02|-02.08" - }, - "discrete_action": { - "action": "ToggleObjectOff", - "args": { - "bbox": [ - 0, - 1, - 47, - 83 - ], - "mask": [ - [ - 27, - 13 - ], - [ - 327, - 13 - ], - [ - 628, - 13 - ], - [ - 928, - 13 - ], - [ - 1229, - 12 - ], - [ - 1529, - 13 - ], - [ - 1829, - 14 - ], - [ - 2100, - 1 - ], - [ - 2130, - 13 - ], - [ - 2400, - 6 - ], - [ - 2430, - 14 - ], - [ - 2700, - 7 - ], - [ - 2730, - 14 - ], - [ - 3000, - 8 - ], - [ - 3030, - 14 - ], - [ - 3300, - 9 - ], - [ - 3331, - 14 - ], - [ - 3600, - 9 - ], - [ - 3631, - 14 - ], - [ - 3900, - 10 - ], - [ - 3931, - 14 - ], - [ - 4200, - 10 - ], - [ - 4232, - 14 - ], - [ - 4500, - 11 - ], - [ - 4532, - 14 - ], - [ - 4800, - 11 - ], - [ - 4833, - 14 - ], - [ - 5100, - 12 - ], - [ - 5133, - 14 - ], - [ - 5400, - 12 - ], - [ - 5434, - 13 - ], - [ - 5700, - 13 - ], - [ - 5734, - 14 - ], - [ - 6000, - 13 - ], - [ - 6034, - 14 - ], - [ - 6300, - 14 - ], - [ - 6335, - 13 - ], - [ - 6600, - 14 - ], - [ - 6635, - 13 - ], - [ - 6900, - 15 - ], - [ - 6936, - 11 - ], - [ - 7200, - 15 - ], - [ - 7236, - 10 - ], - [ - 7500, - 16 - ], - [ - 7538, - 6 - ], - [ - 7800, - 16 - ], - [ - 8100, - 19 - ], - [ - 8400, - 20 - ], - [ - 8700, - 22 - ], - [ - 9000, - 23 - ], - [ - 9300, - 24 - ], - [ - 9600, - 24 - ], - [ - 9900, - 24 - ], - [ - 10200, - 24 - ], - [ - 10500, - 24 - ], - [ - 10800, - 24 - ], - [ - 11100, - 23 - ], - [ - 11400, - 22 - ], - [ - 11700, - 22 - ], - [ - 12000, - 21 - ], - [ - 12300, - 19 - ], - [ - 12600, - 17 - ], - [ - 12901, - 14 - ], - [ - 13205, - 6 - ], - [ - 19200, - 3 - ], - [ - 19500, - 5 - ], - [ - 19800, - 6 - ], - [ - 20100, - 7 - ], - [ - 20400, - 8 - ], - [ - 20700, - 9 - ], - [ - 21000, - 10 - ], - [ - 21300, - 10 - ], - [ - 21600, - 10 - ], - [ - 21900, - 10 - ], - [ - 22200, - 9 - ], - [ - 22500, - 9 - ], - [ - 22800, - 9 - ], - [ - 23100, - 8 - ], - [ - 23400, - 7 - ], - [ - 23700, - 6 - ], - [ - 24000, - 6 - ], - [ - 24300, - 4 - ], - [ - 24600, - 2 - ] - ], - "point": [ - 21, - 39 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|-02.55|+01.00|-03.19" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 94, - 63, - 117, - 127 - ], - "mask": [ - [ - 18711, - 3 - ], - [ - 19009, - 5 - ], - [ - 19308, - 6 - ], - [ - 19607, - 7 - ], - [ - 19907, - 7 - ], - [ - 20207, - 7 - ], - [ - 20506, - 8 - ], - [ - 20806, - 8 - ], - [ - 21106, - 8 - ], - [ - 21406, - 8 - ], - [ - 21706, - 8 - ], - [ - 22006, - 8 - ], - [ - 22306, - 8 - ], - [ - 22606, - 8 - ], - [ - 22906, - 8 - ], - [ - 23206, - 8 - ], - [ - 23506, - 8 - ], - [ - 23515, - 1 - ], - [ - 23805, - 11 - ], - [ - 24105, - 11 - ], - [ - 24405, - 11 - ], - [ - 24705, - 11 - ], - [ - 25004, - 13 - ], - [ - 25302, - 15 - ], - [ - 25601, - 16 - ], - [ - 25899, - 18 - ], - [ - 26198, - 19 - ], - [ - 26498, - 19 - ], - [ - 26797, - 20 - ], - [ - 27096, - 21 - ], - [ - 27395, - 22 - ], - [ - 27694, - 23 - ], - [ - 27995, - 22 - ], - [ - 28295, - 22 - ], - [ - 28595, - 22 - ], - [ - 28896, - 21 - ], - [ - 29197, - 20 - ], - [ - 29499, - 19 - ], - [ - 29801, - 17 - ], - [ - 30102, - 16 - ], - [ - 30403, - 15 - ], - [ - 30704, - 14 - ], - [ - 31004, - 14 - ], - [ - 31305, - 13 - ], - [ - 31606, - 12 - ], - [ - 31907, - 11 - ], - [ - 32207, - 11 - ], - [ - 32507, - 10 - ], - [ - 32808, - 9 - ], - [ - 33108, - 9 - ], - [ - 33408, - 9 - ], - [ - 33708, - 9 - ], - [ - 34008, - 8 - ], - [ - 34308, - 8 - ], - [ - 34608, - 7 - ], - [ - 34908, - 8 - ], - [ - 35208, - 8 - ], - [ - 35509, - 7 - ], - [ - 35809, - 7 - ], - [ - 36109, - 7 - ], - [ - 36409, - 7 - ], - [ - 36709, - 7 - ], - [ - 37009, - 7 - ], - [ - 37309, - 7 - ], - [ - 37610, - 6 - ], - [ - 37911, - 5 - ] - ], - "point": [ - 105, - 94 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Cloth|-02.55|+01.00|-03.19", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.21|+00.81|-03.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 62, - 299, - 255 - ], - "mask": [ - [ - 18300, - 72 - ], - [ - 18409, - 116 - ], - [ - 18600, - 71 - ], - [ - 18711, - 113 - ], - [ - 18900, - 70 - ], - [ - 19013, - 111 - ], - [ - 19200, - 69 - ], - [ - 19314, - 109 - ], - [ - 19500, - 68 - ], - [ - 19616, - 107 - ], - [ - 19800, - 66 - ], - [ - 19917, - 105 - ], - [ - 20100, - 65 - ], - [ - 20218, - 104 - ], - [ - 20400, - 64 - ], - [ - 20518, - 103 - ], - [ - 20700, - 63 - ], - [ - 20819, - 102 - ], - [ - 21000, - 63 - ], - [ - 21120, - 100 - ], - [ - 21300, - 62 - ], - [ - 21421, - 99 - ], - [ - 21600, - 61 - ], - [ - 21722, - 98 - ], - [ - 21900, - 61 - ], - [ - 22023, - 97 - ], - [ - 22200, - 60 - ], - [ - 22323, - 96 - ], - [ - 22500, - 60 - ], - [ - 22624, - 95 - ], - [ - 22800, - 59 - ], - [ - 22925, - 94 - ], - [ - 23100, - 59 - ], - [ - 23226, - 93 - ], - [ - 23400, - 58 - ], - [ - 23526, - 93 - ], - [ - 23700, - 58 - ], - [ - 23827, - 92 - ], - [ - 24000, - 57 - ], - [ - 24127, - 92 - ], - [ - 24300, - 57 - ], - [ - 24427, - 92 - ], - [ - 24600, - 57 - ], - [ - 24728, - 91 - ], - [ - 24900, - 56 - ], - [ - 25028, - 90 - ], - [ - 25200, - 56 - ], - [ - 25328, - 90 - ], - [ - 25500, - 56 - ], - [ - 25628, - 90 - ], - [ - 25800, - 56 - ], - [ - 25929, - 89 - ], - [ - 26100, - 56 - ], - [ - 26229, - 89 - ], - [ - 26400, - 56 - ], - [ - 26529, - 90 - ], - [ - 26700, - 56 - ], - [ - 26829, - 90 - ], - [ - 27000, - 56 - ], - [ - 27129, - 90 - ], - [ - 27300, - 56 - ], - [ - 27430, - 89 - ], - [ - 27600, - 56 - ], - [ - 27730, - 90 - ], - [ - 27900, - 56 - ], - [ - 28030, - 90 - ], - [ - 28200, - 56 - ], - [ - 28330, - 90 - ], - [ - 28500, - 56 - ], - [ - 28630, - 91 - ], - [ - 28800, - 56 - ], - [ - 28930, - 91 - ], - [ - 29100, - 56 - ], - [ - 29230, - 92 - ], - [ - 29400, - 56 - ], - [ - 29530, - 92 - ], - [ - 29700, - 56 - ], - [ - 29830, - 93 - ], - [ - 30000, - 56 - ], - [ - 30130, - 93 - ], - [ - 30286, - 1 - ], - [ - 30300, - 56 - ], - [ - 30430, - 94 - ], - [ - 30585, - 2 - ], - [ - 30600, - 57 - ], - [ - 30730, - 95 - ], - [ - 30884, - 3 - ], - [ - 30900, - 57 - ], - [ - 31029, - 97 - ], - [ - 31183, - 5 - ], - [ - 31200, - 57 - ], - [ - 31329, - 97 - ], - [ - 31482, - 6 - ], - [ - 31500, - 58 - ], - [ - 31629, - 99 - ], - [ - 31781, - 7 - ], - [ - 31800, - 58 - ], - [ - 31928, - 101 - ], - [ - 32079, - 10 - ], - [ - 32100, - 59 - ], - [ - 32228, - 102 - ], - [ - 32378, - 11 - ], - [ - 32400, - 59 - ], - [ - 32528, - 103 - ], - [ - 32676, - 13 - ], - [ - 32700, - 60 - ], - [ - 32827, - 105 - ], - [ - 32974, - 16 - ], - [ - 33000, - 60 - ], - [ - 33127, - 106 - ], - [ - 33273, - 17 - ], - [ - 33300, - 61 - ], - [ - 33427, - 108 - ], - [ - 33571, - 19 - ], - [ - 33600, - 62 - ], - [ - 33726, - 111 - ], - [ - 33869, - 22 - ], - [ - 33900, - 62 - ], - [ - 34026, - 113 - ], - [ - 34167, - 24 - ], - [ - 34200, - 63 - ], - [ - 34325, - 116 - ], - [ - 34464, - 27 - ], - [ - 34500, - 64 - ], - [ - 34624, - 123 - ], - [ - 34758, - 34 - ], - [ - 34800, - 64 - ], - [ - 34924, - 168 - ], - [ - 35100, - 65 - ], - [ - 35223, - 169 - ], - [ - 35400, - 66 - ], - [ - 35522, - 171 - ], - [ - 35700, - 66 - ], - [ - 35821, - 172 - ], - [ - 36000, - 67 - ], - [ - 36120, - 173 - ], - [ - 36300, - 68 - ], - [ - 36419, - 175 - ], - [ - 36600, - 70 - ], - [ - 36718, - 176 - ], - [ - 36900, - 72 - ], - [ - 37017, - 177 - ], - [ - 37200, - 73 - ], - [ - 37316, - 179 - ], - [ - 37500, - 75 - ], - [ - 37614, - 181 - ], - [ - 37800, - 77 - ], - [ - 37912, - 183 - ], - [ - 38100, - 78 - ], - [ - 38211, - 185 - ], - [ - 38400, - 80 - ], - [ - 38509, - 187 - ], - [ - 38700, - 82 - ], - [ - 38807, - 189 - ], - [ - 39000, - 87 - ], - [ - 39102, - 195 - ], - [ - 39300, - 93 - ], - [ - 39395, - 202 - ], - [ - 39600, - 298 - ], - [ - 39900, - 298 - ], - [ - 40200, - 298 - ], - [ - 40500, - 299 - ], - [ - 40800, - 299 - ], - [ - 41100, - 299 - ], - [ - 41400, - 9299 - ], - [ - 50700, - 297 - ], - [ - 51000, - 296 - ], - [ - 51300, - 292 - ], - [ - 51600, - 290 - ], - [ - 51900, - 289 - ], - [ - 52459, - 29 - ], - [ - 52760, - 27 - ], - [ - 53062, - 24 - ], - [ - 53362, - 23 - ], - [ - 53662, - 22 - ], - [ - 53962, - 21 - ], - [ - 54262, - 20 - ], - [ - 54563, - 18 - ], - [ - 54862, - 17 - ], - [ - 55161, - 17 - ], - [ - 55460, - 17 - ], - [ - 55759, - 17 - ], - [ - 56058, - 17 - ], - [ - 56357, - 17 - ], - [ - 56657, - 16 - ], - [ - 56956, - 16 - ], - [ - 57255, - 16 - ], - [ - 57554, - 16 - ], - [ - 57853, - 15 - ], - [ - 58152, - 15 - ], - [ - 58451, - 15 - ], - [ - 58750, - 15 - ], - [ - 59049, - 15 - ], - [ - 59348, - 15 - ], - [ - 59647, - 15 - ], - [ - 59946, - 15 - ], - [ - 60245, - 15 - ], - [ - 60544, - 15 - ], - [ - 60843, - 14 - ], - [ - 61142, - 14 - ], - [ - 61441, - 14 - ], - [ - 61740, - 14 - ], - [ - 62039, - 14 - ], - [ - 62338, - 14 - ], - [ - 62637, - 14 - ], - [ - 62936, - 14 - ], - [ - 63236, - 13 - ], - [ - 63535, - 13 - ], - [ - 63834, - 12 - ], - [ - 64133, - 12 - ], - [ - 64432, - 12 - ], - [ - 64731, - 12 - ], - [ - 65030, - 12 - ], - [ - 65100, - 2 - ], - [ - 65329, - 12 - ], - [ - 65400, - 3 - ], - [ - 65628, - 12 - ], - [ - 65700, - 4 - ], - [ - 65927, - 12 - ], - [ - 66000, - 6 - ], - [ - 66226, - 12 - ], - [ - 66302, - 5 - ], - [ - 66525, - 11 - ], - [ - 66604, - 5 - ], - [ - 66824, - 11 - ], - [ - 66906, - 5 - ], - [ - 67123, - 11 - ], - [ - 67208, - 5 - ], - [ - 67422, - 11 - ], - [ - 67510, - 5 - ], - [ - 67721, - 11 - ], - [ - 67811, - 5 - ], - [ - 68021, - 10 - ], - [ - 68113, - 5 - ], - [ - 68322, - 8 - ], - [ - 68415, - 5 - ], - [ - 68623, - 6 - ], - [ - 68717, - 5 - ], - [ - 68923, - 5 - ], - [ - 69019, - 5 - ], - [ - 69223, - 4 - ], - [ - 69321, - 5 - ], - [ - 69522, - 3 - ], - [ - 69623, - 4 - ], - [ - 69822, - 2 - ], - [ - 69925, - 4 - ], - [ - 70122, - 1 - ], - [ - 70227, - 4 - ], - [ - 70421, - 1 - ], - [ - 70528, - 5 - ], - [ - 70720, - 1 - ], - [ - 70830, - 5 - ], - [ - 71019, - 1 - ], - [ - 71132, - 5 - ], - [ - 71317, - 2 - ], - [ - 71434, - 4 - ], - [ - 71615, - 3 - ], - [ - 71736, - 4 - ], - [ - 71914, - 3 - ], - [ - 72038, - 4 - ], - [ - 72214, - 2 - ], - [ - 72340, - 4 - ], - [ - 72513, - 1 - ], - [ - 72642, - 4 - ], - [ - 72944, - 3 - ], - [ - 73245, - 4 - ], - [ - 73547, - 4 - ], - [ - 73849, - 4 - ], - [ - 74151, - 4 - ], - [ - 74453, - 3 - ], - [ - 74755, - 3 - ], - [ - 75057, - 3 - ], - [ - 75359, - 3 - ], - [ - 75660, - 4 - ], - [ - 75962, - 3 - ], - [ - 76264, - 3 - ] - ], - "point": [ - 149, - 157 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": true, - "floor_plan": "FloorPlan415", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -1.25, - "y": 0.9007236, - "z": -0.5 - }, - "object_poses": [ - { - "objectName": "Cloth_925ae57e", - "position": { - "x": -2.5763967, - "y": 0.362712026, - "z": -3.34040356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_925ae57e", - "position": { - "x": -2.54706573, - "y": 0.997712, - "z": -3.18886 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_096cb92b", - "position": { - "x": -0.162237585, - "y": 0.353755385, - "z": -3.25432777 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_096cb92b", - "position": { - "x": -2.54706573, - "y": 0.992569745, - "z": -2.92300034 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_201a1dc1", - "position": { - "x": -0.18060866, - "y": 1.16290283, - "z": -3.399 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_201a1dc1", - "position": { - "x": -0.148325145, - "y": 1.16676509, - "z": -3.69348478 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_801bc07e", - "position": { - "x": -0.03830002, - "y": 1.481, - "z": -1.549 - }, - "rotation": { - "x": 0.0, - "y": 90.00002, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_096cb92b", - "position": { - "x": -2.91538239, - "y": 0.992569745, - "z": -3.72058 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_b548d64b", - "position": { - "x": -2.69439244, - "y": 0.989500046, - "z": -2.92300034 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_90be43f0", - "position": { - "x": -2.84171915, - "y": 0.989500046, - "z": -3.18886 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Towel_f66c2b38", - "position": { - "x": -1.33899987, - "y": 1.19300008, - "z": -0.1069 - }, - "rotation": { - "x": 0.0, - "y": 179.999969, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_201a1dc1", - "position": { - "x": -0.185981631, - "y": 0.355588466, - "z": -3.471336 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_525406ff", - "position": { - "x": -0.136, - "y": -0.0002756752, - "z": -0.105 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_925ae57e", - "position": { - "x": -2.64918971, - "y": 0.08588481, - "z": -0.822692752 - }, - "rotation": { - "x": 1.51660667e-21, - "y": 90.0, - "z": 1.40334191e-14 - } - }, - { - "objectName": "Plunger_cb0776d8", - "position": { - "x": -0.370999247, - "y": -0.000738665462, - "z": -0.09700089 - }, - "rotation": { - "x": -0.00118371623, - "y": 0.0004447984, - "z": 0.000782377669 - } - }, - { - "objectName": "Candle_7c60a913", - "position": { - "x": -2.69439244, - "y": 0.9912555, - "z": -2.65714025 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_c604c576", - "position": { - "x": -0.088000536, - "y": 1.04582572, - "z": -0.7412733 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3256308277, - "scene_num": 415 - }, - "task_id": "trial_T20190907_000021_504649", - "task_type": "pick_clean_then_place_in_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1ELPYAFO7MANS_3I2PTA7R3WBFKM4F9WAKHH3G443QKG", - "high_descs": [ - "Turn right and veer right to the right dresser ", - "Pick up the dirty rag on the counter.", - "Turn right and veer right to the sink.", - "Wash the rag in the sink.", - "Take a step right.", - "Put the rag on the dresser to the left of both of the bottles." - ], - "task_desc": "Put a clean rag on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3HL2LL0LEPZT8_3VW6495TLMHJDTKI4LS53BLT1QQYYF", - "high_descs": [ - "Turn right, go to the dresser on the right that is in front of the mirror.", - "Take the rag on the top of the dresser near the cardboard roll.", - "Turn around and go to the left side of the sink.", - "Put the rag in the sink. Turn the water on then off. Take the rag from the sink.", - "Go to the white dresser to the right of the sink.", - "Put the rag on the dresser to the left of the left bottle." - ], - "task_desc": "Put a clean rag on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3Q5C1WP23PIOLZZVHUGZERCQZZV51O", - "high_descs": [ - "Turn around and go to the counter to your right, near the door.", - "Take the rag from the counter, to the right of the toilet paper.", - "Turn around and go to the left side of the sink.", - "Wash the rag in the sink.", - "Turn around and go to the left, then go to the dresser on the left.", - "Place the rag on the dresser, to the left of the leftmost soap. " - ], - "task_desc": "Put a clean rag on the dresser.", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165731_066415/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165731_066415/traj_data.json deleted file mode 100644 index 676fa7e2e..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165731_066415/traj_data.json +++ /dev/null @@ -1,6285 +0,0 @@ -{ - "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": 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": 10 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "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": 1, - "image_name": "000000066.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "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": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "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": 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": 3, - "image_name": "000000156.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "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": 33 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000344.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000345.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000346.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000347.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000348.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000349.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000350.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000351.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000352.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000353.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000354.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000355.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000356.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000357.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000358.png", - "low_idx": 67 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 4.33898448, - 4.33898448, - 4.265648, - 4.265648, - 2.9179696, - 2.9179696 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.08|+00.73|+01.07" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 4.33898448, - 4.33898448, - 4.265648, - 4.265648, - 2.9179696, - 2.9179696 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.08|+00.73|+01.07", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|6|1|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 5.36799908, - 5.36799908, - 6.23518084, - 6.23518084, - 4.55727052, - 4.55727052 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.368, - 5.368, - 5.52000044, - 5.52000044, - 4.52544688, - 4.52544688 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.34|+01.14|+01.56" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 5.36799908, - 5.36799908, - 6.23518084, - 6.23518084, - 4.55727052, - 4.55727052 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.34|+01.14|+01.56", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|+01.08|+00.73|+01.07" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 119, - 89, - 142, - 146 - ], - "mask": [ - [ - 26521, - 21 - ], - [ - 26820, - 22 - ], - [ - 27120, - 22 - ], - [ - 27420, - 22 - ], - [ - 27720, - 22 - ], - [ - 28020, - 22 - ], - [ - 28319, - 23 - ], - [ - 28619, - 24 - ], - [ - 28919, - 24 - ], - [ - 29219, - 24 - ], - [ - 29519, - 24 - ], - [ - 29819, - 24 - ], - [ - 30119, - 24 - ], - [ - 30419, - 24 - ], - [ - 30719, - 24 - ], - [ - 31019, - 24 - ], - [ - 31319, - 24 - ], - [ - 31619, - 24 - ], - [ - 31919, - 24 - ], - [ - 32219, - 24 - ], - [ - 32519, - 24 - ], - [ - 32819, - 24 - ], - [ - 33119, - 24 - ], - [ - 33419, - 24 - ], - [ - 33719, - 24 - ], - [ - 34019, - 24 - ], - [ - 34319, - 24 - ], - [ - 34619, - 24 - ], - [ - 34919, - 24 - ], - [ - 35219, - 24 - ], - [ - 35519, - 24 - ], - [ - 35819, - 24 - ], - [ - 36119, - 24 - ], - [ - 36419, - 24 - ], - [ - 36719, - 24 - ], - [ - 37019, - 24 - ], - [ - 37319, - 24 - ], - [ - 37619, - 24 - ], - [ - 37919, - 24 - ], - [ - 38219, - 24 - ], - [ - 38519, - 24 - ], - [ - 38819, - 24 - ], - [ - 39119, - 24 - ], - [ - 39419, - 24 - ], - [ - 39719, - 24 - ], - [ - 40019, - 24 - ], - [ - 40319, - 24 - ], - [ - 40620, - 23 - ], - [ - 40920, - 23 - ], - [ - 41220, - 23 - ], - [ - 41520, - 23 - ], - [ - 41820, - 23 - ], - [ - 42120, - 23 - ], - [ - 42420, - 22 - ], - [ - 42721, - 21 - ], - [ - 43021, - 21 - ], - [ - 43321, - 21 - ], - [ - 43622, - 20 - ] - ], - "point": [ - 130, - 116 - ] - } - }, - "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "AlarmClock|+01.08|+00.73|+01.07", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 117 - ], - [ - 24805, - 22 - ], - [ - 24970, - 118 - ], - [ - 25105, - 23 - ], - [ - 25270, - 118 - ], - [ - 25405, - 24 - ], - [ - 25570, - 118 - ], - [ - 25705, - 25 - ], - [ - 25869, - 119 - ], - [ - 26006, - 25 - ], - [ - 26169, - 119 - ], - [ - 26306, - 27 - ], - [ - 26469, - 99 - ], - [ - 26572, - 16 - ], - [ - 26606, - 28 - ], - [ - 26769, - 81 - ], - [ - 26853, - 14 - ], - [ - 26874, - 15 - ], - [ - 26906, - 29 - ], - [ - 27068, - 83 - ], - [ - 27156, - 11 - ], - [ - 27174, - 15 - ], - [ - 27206, - 30 - ], - [ - 27368, - 85 - ], - [ - 27459, - 8 - ], - [ - 27474, - 15 - ], - [ - 27506, - 30 - ], - [ - 27668, - 87 - ], - [ - 27759, - 9 - ], - [ - 27773, - 16 - ], - [ - 27806, - 28 - ], - [ - 27968, - 87 - ], - [ - 28059, - 10 - ], - [ - 28074, - 2 - ], - [ - 28078, - 11 - ], - [ - 28107, - 26 - ], - [ - 28268, - 96 - ], - [ - 28369, - 1 - ], - [ - 28371, - 1 - ], - [ - 28376, - 1 - ], - [ - 28378, - 11 - ], - [ - 28407, - 26 - ], - [ - 28567, - 93 - ], - [ - 28661, - 5 - ], - [ - 28680, - 9 - ], - [ - 28707, - 25 - ], - [ - 28867, - 95 - ], - [ - 28965, - 1 - ], - [ - 28982, - 7 - ], - [ - 29007, - 24 - ], - [ - 29167, - 94 - ], - [ - 29284, - 5 - ], - [ - 29307, - 23 - ], - [ - 29467, - 91 - ], - [ - 29585, - 4 - ], - [ - 29607, - 22 - ], - [ - 29767, - 89 - ], - [ - 29860, - 1 - ], - [ - 29862, - 1 - ], - [ - 29886, - 4 - ], - [ - 29907, - 22 - ], - [ - 30066, - 90 - ], - [ - 30158, - 5 - ], - [ - 30186, - 4 - ], - [ - 30208, - 20 - ], - [ - 30366, - 96 - ], - [ - 30487, - 3 - ], - [ - 30508, - 19 - ], - [ - 30666, - 96 - ], - [ - 30787, - 3 - ], - [ - 30808, - 18 - ], - [ - 30966, - 96 - ], - [ - 31108, - 18 - ], - [ - 31266, - 96 - ], - [ - 31408, - 17 - ], - [ - 31565, - 97 - ], - [ - 31708, - 16 - ], - [ - 31775, - 2 - ], - [ - 31865, - 97 - ], - [ - 32008, - 16 - ], - [ - 32072, - 6 - ], - [ - 32165, - 97 - ], - [ - 32288, - 2 - ], - [ - 32309, - 14 - ], - [ - 32372, - 6 - ], - [ - 32465, - 97 - ], - [ - 32587, - 4 - ], - [ - 32608, - 15 - ], - [ - 32672, - 6 - ], - [ - 32765, - 96 - ], - [ - 32887, - 3 - ], - [ - 32893, - 30 - ], - [ - 32972, - 7 - ], - [ - 33064, - 97 - ], - [ - 33187, - 3 - ], - [ - 33193, - 30 - ], - [ - 33272, - 7 - ], - [ - 33364, - 97 - ], - [ - 33486, - 3 - ], - [ - 33492, - 31 - ], - [ - 33572, - 7 - ], - [ - 33664, - 97 - ], - [ - 33786, - 1 - ], - [ - 33792, - 31 - ], - [ - 33871, - 8 - ], - [ - 33964, - 97 - ], - [ - 34091, - 31 - ], - [ - 34171, - 9 - ], - [ - 34263, - 98 - ], - [ - 34391, - 31 - ], - [ - 34471, - 9 - ], - [ - 34563, - 98 - ], - [ - 34690, - 32 - ], - [ - 34771, - 9 - ], - [ - 34863, - 98 - ], - [ - 34988, - 35 - ], - [ - 35070, - 11 - ], - [ - 35163, - 98 - ], - [ - 35286, - 37 - ], - [ - 35370, - 11 - ], - [ - 35463, - 98 - ], - [ - 35585, - 38 - ], - [ - 35670, - 11 - ], - [ - 35762, - 99 - ], - [ - 35885, - 39 - ], - [ - 35969, - 13 - ], - [ - 36062, - 99 - ], - [ - 36185, - 39 - ], - [ - 36269, - 13 - ], - [ - 36362, - 99 - ], - [ - 36484, - 41 - ], - [ - 36569, - 13 - ], - [ - 36662, - 100 - ], - [ - 36784, - 41 - ], - [ - 36868, - 15 - ], - [ - 36962, - 35 - ], - [ - 36998, - 3 - ], - [ - 37005, - 57 - ], - [ - 37084, - 42 - ], - [ - 37168, - 15 - ], - [ - 37261, - 21 - ], - [ - 37285, - 10 - ], - [ - 37306, - 57 - ], - [ - 37383, - 44 - ], - [ - 37467, - 16 - ], - [ - 37561, - 20 - ], - [ - 37582, - 5 - ], - [ - 37592, - 1 - ], - [ - 37594, - 1 - ], - [ - 37601, - 63 - ], - [ - 37682, - 46 - ], - [ - 37767, - 17 - ], - [ - 37861, - 20 - ], - [ - 37882, - 7 - ], - [ - 37890, - 1 - ], - [ - 37892, - 1 - ], - [ - 37899, - 66 - ], - [ - 37981, - 48 - ], - [ - 38066, - 18 - ], - [ - 38161, - 20 - ], - [ - 38182, - 7 - ], - [ - 38190, - 1 - ], - [ - 38193, - 1 - ], - [ - 38195, - 1 - ], - [ - 38199, - 67 - ], - [ - 38280, - 50 - ], - [ - 38366, - 18 - ], - [ - 38461, - 29 - ], - [ - 38491, - 1 - ], - [ - 38494, - 6 - ], - [ - 38501, - 68 - ], - [ - 38578, - 53 - ], - [ - 38664, - 21 - ], - [ - 38760, - 21 - ], - [ - 38782, - 7 - ], - [ - 38791, - 3 - ], - [ - 38795, - 6 - ], - [ - 38802, - 130 - ], - [ - 38964, - 21 - ], - [ - 39060, - 21 - ], - [ - 39086, - 2 - ], - [ - 39089, - 13 - ], - [ - 39105, - 129 - ], - [ - 39262, - 23 - ], - [ - 39360, - 26 - ], - [ - 39391, - 10 - ], - [ - 39406, - 130 - ], - [ - 39560, - 25 - ], - [ - 39660, - 25 - ], - [ - 39692, - 9 - ], - [ - 39706, - 132 - ], - [ - 39859, - 27 - ], - [ - 39960, - 24 - ], - [ - 39992, - 10 - ], - [ - 40008, - 133 - ], - [ - 40157, - 29 - ], - [ - 40259, - 25 - ], - [ - 40292, - 13 - ], - [ - 40309, - 138 - ], - [ - 40451, - 35 - ], - [ - 40559, - 25 - ], - [ - 40592, - 14 - ], - [ - 40611, - 176 - ], - [ - 40859, - 26 - ], - [ - 40891, - 18 - ], - [ - 40910, - 177 - ], - [ - 41159, - 28 - ], - [ - 41189, - 198 - ], - [ - 41458, - 230 - ], - [ - 41758, - 230 - ], - [ - 42058, - 230 - ], - [ - 42358, - 231 - ], - [ - 42658, - 231 - ], - [ - 42957, - 232 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 7 - ], - [ - 58138, - 8 - ], - [ - 58287, - 3 - ], - [ - 58437, - 8 - ], - [ - 58736, - 8 - ], - [ - 59035, - 9 - ], - [ - 59335, - 8 - ], - [ - 59634, - 8 - ], - [ - 59933, - 8 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|+01.34|+01.14|+01.56" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 101, - 87, - 163, - 145 - ], - "mask": [ - [ - 25925, - 15 - ], - [ - 26221, - 23 - ], - [ - 26519, - 27 - ], - [ - 26818, - 29 - ], - [ - 27117, - 31 - ], - [ - 27416, - 34 - ], - [ - 27715, - 36 - ], - [ - 28014, - 38 - ], - [ - 28312, - 42 - ], - [ - 28611, - 44 - ], - [ - 28911, - 45 - ], - [ - 29210, - 46 - ], - [ - 29509, - 48 - ], - [ - 29808, - 50 - ], - [ - 30108, - 51 - ], - [ - 30407, - 53 - ], - [ - 30707, - 53 - ], - [ - 31006, - 54 - ], - [ - 31306, - 55 - ], - [ - 31605, - 56 - ], - [ - 31905, - 57 - ], - [ - 32204, - 58 - ], - [ - 32504, - 58 - ], - [ - 32804, - 58 - ], - [ - 33103, - 60 - ], - [ - 33403, - 60 - ], - [ - 33703, - 60 - ], - [ - 34002, - 61 - ], - [ - 34302, - 61 - ], - [ - 34602, - 61 - ], - [ - 34901, - 62 - ], - [ - 35201, - 62 - ], - [ - 35501, - 63 - ], - [ - 35801, - 63 - ], - [ - 36101, - 63 - ], - [ - 36401, - 63 - ], - [ - 36701, - 63 - ], - [ - 37001, - 63 - ], - [ - 37301, - 63 - ], - [ - 37602, - 62 - ], - [ - 37902, - 62 - ], - [ - 38202, - 61 - ], - [ - 38502, - 61 - ], - [ - 38803, - 60 - ], - [ - 39103, - 60 - ], - [ - 39403, - 60 - ], - [ - 39704, - 58 - ], - [ - 40004, - 58 - ], - [ - 40305, - 56 - ], - [ - 40606, - 55 - ], - [ - 40906, - 54 - ], - [ - 41207, - 53 - ], - [ - 41508, - 51 - ], - [ - 41809, - 49 - ], - [ - 42110, - 47 - ], - [ - 42410, - 46 - ], - [ - 42711, - 44 - ], - [ - 43013, - 41 - ], - [ - 43314, - 39 - ] - ], - "point": [ - 132, - 115 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|+01.34|+01.14|+01.56", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 117 - ], - [ - 24805, - 22 - ], - [ - 24970, - 118 - ], - [ - 25105, - 23 - ], - [ - 25270, - 118 - ], - [ - 25405, - 24 - ], - [ - 25570, - 118 - ], - [ - 25705, - 25 - ], - [ - 25869, - 119 - ], - [ - 26006, - 25 - ], - [ - 26169, - 119 - ], - [ - 26306, - 27 - ], - [ - 26469, - 99 - ], - [ - 26572, - 16 - ], - [ - 26606, - 28 - ], - [ - 26769, - 81 - ], - [ - 26853, - 14 - ], - [ - 26874, - 15 - ], - [ - 26906, - 29 - ], - [ - 27068, - 83 - ], - [ - 27156, - 11 - ], - [ - 27174, - 15 - ], - [ - 27206, - 30 - ], - [ - 27368, - 85 - ], - [ - 27459, - 8 - ], - [ - 27474, - 15 - ], - [ - 27506, - 30 - ], - [ - 27668, - 87 - ], - [ - 27759, - 9 - ], - [ - 27773, - 16 - ], - [ - 27806, - 28 - ], - [ - 27968, - 87 - ], - [ - 28059, - 10 - ], - [ - 28074, - 2 - ], - [ - 28078, - 11 - ], - [ - 28107, - 26 - ], - [ - 28268, - 96 - ], - [ - 28369, - 1 - ], - [ - 28371, - 1 - ], - [ - 28376, - 1 - ], - [ - 28378, - 11 - ], - [ - 28407, - 26 - ], - [ - 28567, - 93 - ], - [ - 28661, - 5 - ], - [ - 28680, - 9 - ], - [ - 28707, - 25 - ], - [ - 28867, - 95 - ], - [ - 28965, - 1 - ], - [ - 28982, - 7 - ], - [ - 29007, - 24 - ], - [ - 29167, - 94 - ], - [ - 29284, - 5 - ], - [ - 29307, - 23 - ], - [ - 29467, - 74 - ], - [ - 29546, - 12 - ], - [ - 29585, - 4 - ], - [ - 29607, - 22 - ], - [ - 29767, - 67 - ], - [ - 29854, - 2 - ], - [ - 29860, - 1 - ], - [ - 29862, - 1 - ], - [ - 29886, - 4 - ], - [ - 29907, - 22 - ], - [ - 30066, - 65 - ], - [ - 30158, - 5 - ], - [ - 30186, - 4 - ], - [ - 30208, - 20 - ], - [ - 30366, - 62 - ], - [ - 30460, - 2 - ], - [ - 30487, - 3 - ], - [ - 30508, - 19 - ], - [ - 30666, - 60 - ], - [ - 30787, - 3 - ], - [ - 30808, - 18 - ], - [ - 30966, - 58 - ], - [ - 31108, - 18 - ], - [ - 31266, - 57 - ], - [ - 31408, - 17 - ], - [ - 31565, - 57 - ], - [ - 31708, - 16 - ], - [ - 31775, - 2 - ], - [ - 31865, - 56 - ], - [ - 32008, - 16 - ], - [ - 32072, - 6 - ], - [ - 32165, - 55 - ], - [ - 32288, - 2 - ], - [ - 32309, - 14 - ], - [ - 32372, - 6 - ], - [ - 32465, - 54 - ], - [ - 32587, - 4 - ], - [ - 32608, - 15 - ], - [ - 32672, - 6 - ], - [ - 32765, - 53 - ], - [ - 32887, - 3 - ], - [ - 32893, - 30 - ], - [ - 32972, - 7 - ], - [ - 33064, - 54 - ], - [ - 33187, - 3 - ], - [ - 33193, - 30 - ], - [ - 33272, - 7 - ], - [ - 33364, - 53 - ], - [ - 33486, - 3 - ], - [ - 33492, - 31 - ], - [ - 33572, - 7 - ], - [ - 33664, - 53 - ], - [ - 33786, - 1 - ], - [ - 33792, - 31 - ], - [ - 33871, - 8 - ], - [ - 33964, - 53 - ], - [ - 34091, - 31 - ], - [ - 34171, - 9 - ], - [ - 34263, - 54 - ], - [ - 34391, - 31 - ], - [ - 34471, - 9 - ], - [ - 34563, - 54 - ], - [ - 34690, - 32 - ], - [ - 34771, - 9 - ], - [ - 34863, - 54 - ], - [ - 34988, - 35 - ], - [ - 35070, - 11 - ], - [ - 35163, - 53 - ], - [ - 35286, - 37 - ], - [ - 35370, - 11 - ], - [ - 35463, - 53 - ], - [ - 35585, - 38 - ], - [ - 35670, - 11 - ], - [ - 35762, - 54 - ], - [ - 35885, - 39 - ], - [ - 35969, - 13 - ], - [ - 36062, - 54 - ], - [ - 36185, - 39 - ], - [ - 36269, - 13 - ], - [ - 36362, - 54 - ], - [ - 36484, - 41 - ], - [ - 36569, - 13 - ], - [ - 36662, - 54 - ], - [ - 36784, - 41 - ], - [ - 36868, - 15 - ], - [ - 36962, - 35 - ], - [ - 36998, - 3 - ], - [ - 37005, - 11 - ], - [ - 37084, - 42 - ], - [ - 37168, - 15 - ], - [ - 37261, - 21 - ], - [ - 37285, - 10 - ], - [ - 37306, - 10 - ], - [ - 37383, - 44 - ], - [ - 37467, - 16 - ], - [ - 37561, - 20 - ], - [ - 37582, - 5 - ], - [ - 37592, - 1 - ], - [ - 37594, - 1 - ], - [ - 37601, - 15 - ], - [ - 37682, - 46 - ], - [ - 37767, - 17 - ], - [ - 37861, - 20 - ], - [ - 37882, - 7 - ], - [ - 37890, - 1 - ], - [ - 37892, - 1 - ], - [ - 37899, - 17 - ], - [ - 37981, - 48 - ], - [ - 38066, - 18 - ], - [ - 38161, - 20 - ], - [ - 38182, - 7 - ], - [ - 38190, - 1 - ], - [ - 38193, - 1 - ], - [ - 38195, - 1 - ], - [ - 38199, - 17 - ], - [ - 38280, - 50 - ], - [ - 38366, - 18 - ], - [ - 38461, - 29 - ], - [ - 38491, - 1 - ], - [ - 38494, - 6 - ], - [ - 38501, - 15 - ], - [ - 38578, - 53 - ], - [ - 38664, - 21 - ], - [ - 38760, - 21 - ], - [ - 38782, - 7 - ], - [ - 38791, - 3 - ], - [ - 38795, - 6 - ], - [ - 38802, - 14 - ], - [ - 38873, - 59 - ], - [ - 38964, - 21 - ], - [ - 39060, - 21 - ], - [ - 39086, - 2 - ], - [ - 39089, - 13 - ], - [ - 39105, - 10 - ], - [ - 39173, - 61 - ], - [ - 39262, - 23 - ], - [ - 39360, - 26 - ], - [ - 39391, - 10 - ], - [ - 39406, - 9 - ], - [ - 39473, - 63 - ], - [ - 39560, - 25 - ], - [ - 39660, - 25 - ], - [ - 39692, - 9 - ], - [ - 39706, - 9 - ], - [ - 39773, - 65 - ], - [ - 39859, - 27 - ], - [ - 39960, - 24 - ], - [ - 39992, - 10 - ], - [ - 40008, - 8 - ], - [ - 40073, - 68 - ], - [ - 40157, - 29 - ], - [ - 40259, - 25 - ], - [ - 40292, - 13 - ], - [ - 40309, - 7 - ], - [ - 40372, - 75 - ], - [ - 40451, - 35 - ], - [ - 40559, - 25 - ], - [ - 40592, - 14 - ], - [ - 40611, - 6 - ], - [ - 40674, - 113 - ], - [ - 40859, - 26 - ], - [ - 40891, - 18 - ], - [ - 40910, - 7 - ], - [ - 40977, - 110 - ], - [ - 41159, - 28 - ], - [ - 41189, - 29 - ], - [ - 41280, - 107 - ], - [ - 41458, - 59 - ], - [ - 41583, - 105 - ], - [ - 41758, - 55 - ], - [ - 41887, - 101 - ], - [ - 42058, - 54 - ], - [ - 42188, - 100 - ], - [ - 42358, - 52 - ], - [ - 42490, - 99 - ], - [ - 42658, - 49 - ], - [ - 42793, - 96 - ], - [ - 42957, - 49 - ], - [ - 43094, - 95 - ], - [ - 43257, - 47 - ], - [ - 43396, - 94 - ], - [ - 43557, - 46 - ], - [ - 43697, - 93 - ], - [ - 43857, - 45 - ], - [ - 43998, - 92 - ], - [ - 44157, - 43 - ], - [ - 44300, - 90 - ], - [ - 44458, - 41 - ], - [ - 44601, - 88 - ], - [ - 44758, - 39 - ], - [ - 44903, - 85 - ], - [ - 45059, - 37 - ], - [ - 45204, - 83 - ], - [ - 45360, - 35 - ], - [ - 45505, - 81 - ], - [ - 45662, - 31 - ], - [ - 45807, - 76 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 10 - ], - [ - 50359, - 11 - ], - [ - 50471, - 9 - ], - [ - 50659, - 10 - ], - [ - 50772, - 8 - ], - [ - 50958, - 10 - ], - [ - 51073, - 6 - ], - [ - 51257, - 10 - ], - [ - 51373, - 6 - ], - [ - 51556, - 10 - ], - [ - 51674, - 4 - ], - [ - 51855, - 10 - ], - [ - 51974, - 4 - ], - [ - 52154, - 10 - ], - [ - 52275, - 3 - ], - [ - 52454, - 9 - ], - [ - 52576, - 1 - ], - [ - 52753, - 9 - ], - [ - 52876, - 1 - ], - [ - 53052, - 10 - ], - [ - 53351, - 10 - ], - [ - 53650, - 10 - ], - [ - 53949, - 10 - ], - [ - 54249, - 9 - ], - [ - 54548, - 9 - ], - [ - 54847, - 9 - ], - [ - 55146, - 9 - ], - [ - 55445, - 9 - ], - [ - 55745, - 8 - ], - [ - 56044, - 9 - ], - [ - 56343, - 9 - ], - [ - 56642, - 9 - ], - [ - 56941, - 9 - ], - [ - 57240, - 9 - ], - [ - 57540, - 8 - ], - [ - 57839, - 8 - ], - [ - 58138, - 8 - ], - [ - 58437, - 8 - ], - [ - 58736, - 8 - ], - [ - 59035, - 9 - ], - [ - 59335, - 8 - ], - [ - 59634, - 8 - ], - [ - 59933, - 8 - ], - [ - 60233, - 7 - ] - ], - "point": [ - 174, - 135 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -0.25, - "y": 0.9009992, - "z": -1.0 - }, - "object_poses": [ - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": -0.213294759, - "y": 0.6935049, - "z": -1.794143 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.34200025, - "y": 1.14213014, - "z": 1.0899266 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.098079, - "y": 0.3216827, - "z": 1.66630054 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.342, - "y": 1.14211643, - "z": 1.40250564 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.09598863, - "y": 0.691035748, - "z": -1.794143 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 0.07861589, - "y": 0.09902375, - "z": -1.66384864 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.20506942, - "y": 0.7802308, - "z": 0.107696474 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.08474612, - "y": 0.7294924, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.08003473, - "y": 0.7768329, - "z": -0.714678645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.704930544, - "y": 0.7768329, - "z": -0.166428566 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.145, - "y": 0.721387863, - "z": 1.806 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.310377, - "y": 1.14213014, - "z": 1.246216 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.35345471, - "y": 0.721387863, - "z": 0.8918423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.223, - "y": 0.721387863, - "z": 1.342 - }, - "rotation": { - "x": 0.0, - "y": 255.000214, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.06036317, - "y": 0.552519739, - "z": 1.59514642 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 0.255929768, - "y": 0.694151, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.34199977, - "y": 1.13931763, - "z": 1.55879521 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.35601091, - "y": 0.732291162, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8728, - "y": 0.816, - "z": -1.513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.134, - "y": 0.07714022, - "z": 0.588 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.17351043, - "y": 0.0812827, - "z": 1.87976277 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": -0.09598863, - "y": 0.691315234, - "z": -1.6609292 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2424477757, - "scene_num": 305 - }, - "task_id": "trial_T20190907_165731_066415", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A36DK84J5YJ942_32AT8R96GOQ50YO4VE3RI4RFPJLUS6", - "high_descs": [ - "Move to the desk at the foot of the bed", - "pick up a clock from the desk", - "move to the end table to the right of the bed", - "put the clock on the end table", - "move to the desk at the foot of the bed", - "pick up a clock from the desk", - "move to the end table to the right of the bed", - "put the clock on the end table" - ], - "task_desc": "Put two clocks on the end table to the right of the bed.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3T9K2RY06UO14_32SVAV9L3IQH18PRZULZAV79Q03A3R", - "high_descs": [ - "Turn around and go to the desk.", - "Pick up a clock on the desk.", - "Turn around and go to the nightstand next to the bed.", - "Put the clock on the nightstand. ", - "Turn around and go to the desk.", - "Pick up a clock on the desk.", - "Turn around and go to the nightstand next to the bed.", - "Put the clock on the nightstand. " - ], - "task_desc": "Move two clocks from the desk to the nightstand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3YT88D1N0BFNDLYDBLYO49A5VCX3KZ", - "high_descs": [ - "Turn right and walk until you're even with the desk chair and then turn right and walk to it.", - "Pick up the alarm clock you see to the right of the laptop.", - "TUrn around and take a step so you're past the bed then turn left and walk to the nightstand.", - "Put the alarm clock on the edge in front of the coffee mug so it's facing you.", - "Turn around and walk to the door then turn right and walk to the desk.", - "Pick up the alarm clock on top of the desk.", - "Walk back to where you put the first alarm clock.", - "Put this alarm clock to the right of the first one." - ], - "task_desc": "Put two alarm clocks on a stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165758_902037/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165758_902037/traj_data.json deleted file mode 100644 index aa986aaf5..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165758_902037/traj_data.json +++ /dev/null @@ -1,5247 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 6 - }, - { - "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": 7 - }, - { - "high_idx": 2, - "image_name": "000000066.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 7 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 7 - }, - { - "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": 8 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 8 - }, - { - "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": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 9 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 12 - }, - { - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 23 - }, - { - "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": 23 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 37 - }, - { - "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": 6, - "image_name": "000000232.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000296.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000297.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000298.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000299.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000300.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000301.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000302.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000303.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000304.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000307.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000308.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000309.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000310.png", - "low_idx": 52 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 5.368, - 5.368, - 3.843999384, - 3.843999384, - 4.52471016, - 4.52471016 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.368, - 5.368, - 5.52000044, - 5.52000044, - 4.52544688, - 4.52544688 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.34|+01.13|+00.96" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 5.368, - 5.368, - 3.843999384, - 3.843999384, - 4.52471016, - 4.52471016 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.34|+01.13|+00.96", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 4.88151408, - 4.88151408, - 4.265648, - 4.265648, - 2.9179696, - 2.9179696 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.22|+00.73|+01.07" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 4.88151408, - 4.88151408, - 4.265648, - 4.265648, - 2.9179696, - 2.9179696 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.22|+00.73|+01.07", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|+01.34|+01.13|+00.96" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 130, - 87, - 192, - 145 - ], - "mask": [ - [ - 25954, - 16 - ], - [ - 26250, - 23 - ], - [ - 26548, - 27 - ], - [ - 26847, - 29 - ], - [ - 27146, - 31 - ], - [ - 27445, - 33 - ], - [ - 27743, - 36 - ], - [ - 28042, - 39 - ], - [ - 28341, - 41 - ], - [ - 28639, - 44 - ], - [ - 28939, - 45 - ], - [ - 29238, - 46 - ], - [ - 29537, - 48 - ], - [ - 29836, - 50 - ], - [ - 30136, - 51 - ], - [ - 30435, - 52 - ], - [ - 30734, - 54 - ], - [ - 31034, - 54 - ], - [ - 31334, - 54 - ], - [ - 31633, - 56 - ], - [ - 31933, - 56 - ], - [ - 32232, - 58 - ], - [ - 32532, - 58 - ], - [ - 32832, - 58 - ], - [ - 33132, - 59 - ], - [ - 33432, - 59 - ], - [ - 33731, - 60 - ], - [ - 34031, - 61 - ], - [ - 34331, - 61 - ], - [ - 34631, - 61 - ], - [ - 34931, - 62 - ], - [ - 35231, - 62 - ], - [ - 35531, - 62 - ], - [ - 35830, - 63 - ], - [ - 36130, - 63 - ], - [ - 36430, - 63 - ], - [ - 36730, - 63 - ], - [ - 37030, - 63 - ], - [ - 37330, - 63 - ], - [ - 37630, - 63 - ], - [ - 37931, - 61 - ], - [ - 38231, - 61 - ], - [ - 38531, - 61 - ], - [ - 38831, - 61 - ], - [ - 39131, - 60 - ], - [ - 39432, - 59 - ], - [ - 39732, - 58 - ], - [ - 40033, - 57 - ], - [ - 40333, - 56 - ], - [ - 40634, - 55 - ], - [ - 40934, - 54 - ], - [ - 41235, - 53 - ], - [ - 41536, - 51 - ], - [ - 41837, - 49 - ], - [ - 42137, - 48 - ], - [ - 42438, - 46 - ], - [ - 42739, - 44 - ], - [ - 43040, - 42 - ], - [ - 43342, - 38 - ] - ], - "point": [ - 161, - 115 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "AlarmClock|+01.34|+01.13|+00.96", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 72 - ], - [ - 25948, - 83 - ], - [ - 26169, - 69 - ], - [ - 26291, - 42 - ], - [ - 26469, - 67 - ], - [ - 26588, - 46 - ], - [ - 26769, - 66 - ], - [ - 26854, - 81 - ], - [ - 27068, - 42 - ], - [ - 27129, - 5 - ], - [ - 27155, - 81 - ], - [ - 27368, - 42 - ], - [ - 27429, - 4 - ], - [ - 27456, - 80 - ], - [ - 27668, - 42 - ], - [ - 27729, - 4 - ], - [ - 27757, - 77 - ], - [ - 27968, - 42 - ], - [ - 28028, - 4 - ], - [ - 28057, - 76 - ], - [ - 28268, - 41 - ], - [ - 28328, - 4 - ], - [ - 28357, - 76 - ], - [ - 28567, - 42 - ], - [ - 28628, - 4 - ], - [ - 28662, - 70 - ], - [ - 28867, - 42 - ], - [ - 28928, - 4 - ], - [ - 28963, - 68 - ], - [ - 29167, - 42 - ], - [ - 29228, - 4 - ], - [ - 29263, - 67 - ], - [ - 29467, - 42 - ], - [ - 29528, - 4 - ], - [ - 29563, - 66 - ], - [ - 29767, - 65 - ], - [ - 29857, - 4 - ], - [ - 29863, - 66 - ], - [ - 30066, - 67 - ], - [ - 30157, - 4 - ], - [ - 30163, - 65 - ], - [ - 30366, - 67 - ], - [ - 30457, - 4 - ], - [ - 30463, - 64 - ], - [ - 30666, - 67 - ], - [ - 30757, - 3 - ], - [ - 30763, - 63 - ], - [ - 30966, - 67 - ], - [ - 31057, - 3 - ], - [ - 31063, - 63 - ], - [ - 31266, - 67 - ], - [ - 31357, - 1 - ], - [ - 31362, - 63 - ], - [ - 31565, - 68 - ], - [ - 31662, - 62 - ], - [ - 31775, - 2 - ], - [ - 31865, - 68 - ], - [ - 31961, - 63 - ], - [ - 32072, - 6 - ], - [ - 32165, - 68 - ], - [ - 32260, - 63 - ], - [ - 32372, - 6 - ], - [ - 32465, - 68 - ], - [ - 32559, - 64 - ], - [ - 32672, - 6 - ], - [ - 32765, - 68 - ], - [ - 32857, - 66 - ], - [ - 32972, - 7 - ], - [ - 33064, - 69 - ], - [ - 33157, - 66 - ], - [ - 33272, - 7 - ], - [ - 33364, - 70 - ], - [ - 33457, - 66 - ], - [ - 33572, - 7 - ], - [ - 33664, - 70 - ], - [ - 33756, - 67 - ], - [ - 33871, - 8 - ], - [ - 33964, - 70 - ], - [ - 34056, - 66 - ], - [ - 34171, - 9 - ], - [ - 34263, - 71 - ], - [ - 34356, - 66 - ], - [ - 34471, - 9 - ], - [ - 34563, - 72 - ], - [ - 34655, - 67 - ], - [ - 34771, - 9 - ], - [ - 34863, - 72 - ], - [ - 34955, - 68 - ], - [ - 35070, - 11 - ], - [ - 35163, - 73 - ], - [ - 35254, - 69 - ], - [ - 35370, - 11 - ], - [ - 35463, - 75 - ], - [ - 35552, - 71 - ], - [ - 35670, - 11 - ], - [ - 35762, - 78 - ], - [ - 35850, - 74 - ], - [ - 35969, - 13 - ], - [ - 36062, - 82 - ], - [ - 36146, - 78 - ], - [ - 36269, - 13 - ], - [ - 36362, - 163 - ], - [ - 36569, - 13 - ], - [ - 36662, - 163 - ], - [ - 36868, - 15 - ], - [ - 36962, - 164 - ], - [ - 37168, - 15 - ], - [ - 37261, - 166 - ], - [ - 37467, - 16 - ], - [ - 37561, - 167 - ], - [ - 37767, - 17 - ], - [ - 37861, - 168 - ], - [ - 38066, - 18 - ], - [ - 38161, - 169 - ], - [ - 38366, - 18 - ], - [ - 38461, - 170 - ], - [ - 38664, - 21 - ], - [ - 38760, - 172 - ], - [ - 38964, - 21 - ], - [ - 39060, - 174 - ], - [ - 39262, - 23 - ], - [ - 39360, - 176 - ], - [ - 39560, - 25 - ], - [ - 39660, - 87 - ], - [ - 39753, - 85 - ], - [ - 39859, - 27 - ], - [ - 39960, - 79 - ], - [ - 40061, - 80 - ], - [ - 40157, - 29 - ], - [ - 40259, - 71 - ], - [ - 40370, - 77 - ], - [ - 40451, - 35 - ], - [ - 40559, - 67 - ], - [ - 40674, - 113 - ], - [ - 40859, - 64 - ], - [ - 40977, - 110 - ], - [ - 41159, - 61 - ], - [ - 41280, - 107 - ], - [ - 41458, - 59 - ], - [ - 41583, - 105 - ], - [ - 41758, - 55 - ], - [ - 41887, - 101 - ], - [ - 42058, - 54 - ], - [ - 42188, - 100 - ], - [ - 42358, - 52 - ], - [ - 42490, - 99 - ], - [ - 42658, - 49 - ], - [ - 42793, - 96 - ], - [ - 42957, - 49 - ], - [ - 43094, - 95 - ], - [ - 43257, - 47 - ], - [ - 43396, - 94 - ], - [ - 43557, - 46 - ], - [ - 43697, - 93 - ], - [ - 43857, - 45 - ], - [ - 43998, - 92 - ], - [ - 44157, - 43 - ], - [ - 44300, - 90 - ], - [ - 44458, - 41 - ], - [ - 44601, - 88 - ], - [ - 44758, - 39 - ], - [ - 44903, - 85 - ], - [ - 45059, - 37 - ], - [ - 45204, - 83 - ], - [ - 45360, - 35 - ], - [ - 45505, - 81 - ], - [ - 45662, - 31 - ], - [ - 45807, - 76 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 10 - ], - [ - 50359, - 11 - ], - [ - 50471, - 9 - ], - [ - 50659, - 10 - ], - [ - 50772, - 8 - ], - [ - 50958, - 10 - ], - [ - 51073, - 6 - ], - [ - 51257, - 10 - ], - [ - 51373, - 6 - ], - [ - 51556, - 10 - ], - [ - 51674, - 4 - ], - [ - 51855, - 10 - ], - [ - 51974, - 4 - ], - [ - 52154, - 10 - ], - [ - 52275, - 3 - ], - [ - 52454, - 9 - ], - [ - 52576, - 1 - ], - [ - 52753, - 9 - ], - [ - 52876, - 1 - ], - [ - 53052, - 10 - ], - [ - 53351, - 10 - ], - [ - 53650, - 10 - ], - [ - 53949, - 10 - ], - [ - 54249, - 9 - ], - [ - 54548, - 9 - ], - [ - 54847, - 9 - ], - [ - 55146, - 9 - ], - [ - 55445, - 9 - ], - [ - 55745, - 8 - ], - [ - 56044, - 9 - ], - [ - 56343, - 9 - ], - [ - 56642, - 9 - ], - [ - 56941, - 9 - ], - [ - 57240, - 9 - ], - [ - 57540, - 8 - ], - [ - 57839, - 8 - ], - [ - 58138, - 8 - ], - [ - 58437, - 8 - ], - [ - 58736, - 8 - ], - [ - 59035, - 9 - ], - [ - 59335, - 8 - ], - [ - 59634, - 8 - ], - [ - 59933, - 8 - ], - [ - 60233, - 7 - ] - ], - "point": [ - 174, - 135 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "PickupObject", - "objectId": "AlarmClock|+01.22|+00.73|+01.07" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 122, - 133, - 142, - 185 - ], - "mask": [ - [ - 39728, - 9 - ], - [ - 40024, - 19 - ], - [ - 40324, - 19 - ], - [ - 40623, - 20 - ], - [ - 40923, - 20 - ], - [ - 41223, - 20 - ], - [ - 41523, - 20 - ], - [ - 41823, - 20 - ], - [ - 42123, - 20 - ], - [ - 42422, - 21 - ], - [ - 42722, - 21 - ], - [ - 43022, - 21 - ], - [ - 43322, - 21 - ], - [ - 43622, - 21 - ], - [ - 43922, - 21 - ], - [ - 44222, - 21 - ], - [ - 44522, - 21 - ], - [ - 44822, - 21 - ], - [ - 45122, - 21 - ], - [ - 45422, - 21 - ], - [ - 45722, - 21 - ], - [ - 46022, - 21 - ], - [ - 46322, - 21 - ], - [ - 46622, - 21 - ], - [ - 46922, - 21 - ], - [ - 47222, - 21 - ], - [ - 47522, - 21 - ], - [ - 47822, - 21 - ], - [ - 48122, - 21 - ], - [ - 48422, - 21 - ], - [ - 48722, - 21 - ], - [ - 49022, - 21 - ], - [ - 49322, - 21 - ], - [ - 49622, - 21 - ], - [ - 49922, - 21 - ], - [ - 50222, - 21 - ], - [ - 50522, - 21 - ], - [ - 50822, - 21 - ], - [ - 51122, - 21 - ], - [ - 51422, - 21 - ], - [ - 51722, - 21 - ], - [ - 52022, - 21 - ], - [ - 52322, - 21 - ], - [ - 52622, - 21 - ], - [ - 52922, - 21 - ], - [ - 53222, - 21 - ], - [ - 53522, - 21 - ], - [ - 53823, - 20 - ], - [ - 54123, - 20 - ], - [ - 54423, - 20 - ], - [ - 54723, - 20 - ], - [ - 55023, - 20 - ], - [ - 55324, - 19 - ] - ], - "point": [ - 132, - 158 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|+01.22|+00.73|+01.07", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 72 - ], - [ - 25948, - 83 - ], - [ - 26169, - 69 - ], - [ - 26291, - 41 - ], - [ - 26469, - 67 - ], - [ - 26588, - 46 - ], - [ - 26769, - 66 - ], - [ - 26854, - 81 - ], - [ - 27068, - 42 - ], - [ - 27129, - 5 - ], - [ - 27155, - 81 - ], - [ - 27368, - 42 - ], - [ - 27429, - 4 - ], - [ - 27456, - 80 - ], - [ - 27668, - 42 - ], - [ - 27729, - 4 - ], - [ - 27757, - 77 - ], - [ - 27968, - 42 - ], - [ - 28028, - 4 - ], - [ - 28057, - 76 - ], - [ - 28268, - 41 - ], - [ - 28328, - 4 - ], - [ - 28357, - 75 - ], - [ - 28567, - 42 - ], - [ - 28628, - 4 - ], - [ - 28662, - 70 - ], - [ - 28867, - 42 - ], - [ - 28928, - 4 - ], - [ - 28963, - 68 - ], - [ - 29167, - 42 - ], - [ - 29228, - 4 - ], - [ - 29263, - 67 - ], - [ - 29467, - 42 - ], - [ - 29528, - 4 - ], - [ - 29563, - 46 - ], - [ - 29614, - 15 - ], - [ - 29767, - 65 - ], - [ - 29857, - 4 - ], - [ - 29863, - 38 - ], - [ - 29921, - 8 - ], - [ - 30066, - 67 - ], - [ - 30157, - 4 - ], - [ - 30163, - 34 - ], - [ - 30224, - 4 - ], - [ - 30366, - 67 - ], - [ - 30457, - 4 - ], - [ - 30463, - 31 - ], - [ - 30526, - 1 - ], - [ - 30666, - 67 - ], - [ - 30757, - 3 - ], - [ - 30763, - 29 - ], - [ - 30966, - 67 - ], - [ - 31057, - 3 - ], - [ - 31063, - 27 - ], - [ - 31266, - 67 - ], - [ - 31357, - 1 - ], - [ - 31362, - 26 - ], - [ - 31565, - 68 - ], - [ - 31662, - 25 - ], - [ - 31774, - 3 - ], - [ - 31865, - 68 - ], - [ - 31961, - 24 - ], - [ - 32072, - 6 - ], - [ - 32165, - 68 - ], - [ - 32260, - 24 - ], - [ - 32372, - 6 - ], - [ - 32465, - 68 - ], - [ - 32559, - 24 - ], - [ - 32672, - 6 - ], - [ - 32765, - 68 - ], - [ - 32857, - 25 - ], - [ - 32972, - 7 - ], - [ - 33064, - 69 - ], - [ - 33157, - 24 - ], - [ - 33272, - 7 - ], - [ - 33364, - 70 - ], - [ - 33457, - 23 - ], - [ - 33572, - 7 - ], - [ - 33664, - 70 - ], - [ - 33756, - 24 - ], - [ - 33871, - 8 - ], - [ - 33964, - 70 - ], - [ - 34056, - 23 - ], - [ - 34171, - 9 - ], - [ - 34263, - 71 - ], - [ - 34356, - 23 - ], - [ - 34471, - 9 - ], - [ - 34563, - 72 - ], - [ - 34655, - 23 - ], - [ - 34771, - 9 - ], - [ - 34863, - 72 - ], - [ - 34955, - 23 - ], - [ - 35070, - 11 - ], - [ - 35163, - 73 - ], - [ - 35254, - 24 - ], - [ - 35370, - 11 - ], - [ - 35463, - 75 - ], - [ - 35552, - 26 - ], - [ - 35670, - 11 - ], - [ - 35762, - 78 - ], - [ - 35850, - 28 - ], - [ - 35969, - 13 - ], - [ - 36062, - 82 - ], - [ - 36146, - 32 - ], - [ - 36269, - 13 - ], - [ - 36362, - 116 - ], - [ - 36569, - 13 - ], - [ - 36662, - 116 - ], - [ - 36868, - 15 - ], - [ - 36962, - 116 - ], - [ - 37168, - 15 - ], - [ - 37261, - 117 - ], - [ - 37467, - 16 - ], - [ - 37561, - 117 - ], - [ - 37767, - 17 - ], - [ - 37861, - 117 - ], - [ - 38066, - 18 - ], - [ - 38161, - 118 - ], - [ - 38366, - 18 - ], - [ - 38461, - 118 - ], - [ - 38664, - 21 - ], - [ - 38760, - 119 - ], - [ - 38963, - 22 - ], - [ - 39060, - 119 - ], - [ - 39262, - 23 - ], - [ - 39360, - 119 - ], - [ - 39560, - 25 - ], - [ - 39660, - 119 - ], - [ - 39836, - 2 - ], - [ - 39859, - 27 - ], - [ - 39960, - 119 - ], - [ - 40136, - 5 - ], - [ - 40156, - 30 - ], - [ - 40259, - 120 - ], - [ - 40435, - 12 - ], - [ - 40451, - 35 - ], - [ - 40559, - 120 - ], - [ - 40734, - 53 - ], - [ - 40859, - 120 - ], - [ - 41034, - 53 - ], - [ - 41159, - 121 - ], - [ - 41332, - 55 - ], - [ - 41458, - 122 - ], - [ - 41631, - 57 - ], - [ - 41758, - 123 - ], - [ - 41930, - 58 - ], - [ - 42058, - 124 - ], - [ - 42228, - 60 - ], - [ - 42358, - 125 - ], - [ - 42527, - 62 - ], - [ - 42658, - 126 - ], - [ - 42825, - 64 - ], - [ - 42957, - 129 - ], - [ - 43122, - 67 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 80 - ], - [ - 45460, - 126 - ], - [ - 45662, - 67 - ], - [ - 45771, - 112 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 10 - ], - [ - 51257, - 10 - ], - [ - 51373, - 9 - ], - [ - 51556, - 10 - ], - [ - 51674, - 7 - ], - [ - 51855, - 10 - ], - [ - 51974, - 7 - ], - [ - 52154, - 10 - ], - [ - 52275, - 5 - ], - [ - 52454, - 9 - ], - [ - 52576, - 3 - ], - [ - 52753, - 9 - ], - [ - 52876, - 2 - ], - [ - 53052, - 10 - ], - [ - 53351, - 10 - ], - [ - 53650, - 10 - ], - [ - 53949, - 10 - ], - [ - 54249, - 9 - ], - [ - 54548, - 9 - ], - [ - 54847, - 9 - ], - [ - 55146, - 9 - ], - [ - 55445, - 9 - ], - [ - 55745, - 8 - ], - [ - 56044, - 9 - ], - [ - 56343, - 9 - ], - [ - 56642, - 9 - ], - [ - 56941, - 9 - ], - [ - 57240, - 9 - ], - [ - 57540, - 8 - ], - [ - 57839, - 8 - ], - [ - 58138, - 8 - ], - [ - 58437, - 8 - ], - [ - 58736, - 8 - ], - [ - 59035, - 9 - ], - [ - 59335, - 8 - ], - [ - 59634, - 8 - ], - [ - 59933, - 8 - ], - [ - 60233, - 7 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.25, - "y": 0.9009992, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.15256226, - "y": 0.727, - "z": 0.9011624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.098079, - "y": 0.3193348, - "z": 1.66630054 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.20506942, - "y": 0.7821378, - "z": -0.4405536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.37362337, - "y": 1.14447808, - "z": 1.2462163 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": -0.35292387, - "y": 0.101479165, - "z": -1.66384864 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.447907031, - "y": 0.691035748, - "z": -1.83854759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": -0.09400001, - "y": 0.389177024, - "z": -1.64055753 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.31037676, - "y": 1.13931763, - "z": 1.40250564 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.22037852, - "y": 0.7294924, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.8299653, - "y": 0.7768329, - "z": 0.107696474 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.22037852, - "y": 0.73039794, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": 1.17351043, - "y": 0.5558287, - "z": 1.73745465 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.35345471, - "y": 0.721387863, - "z": 0.8918423 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.955000043, - "y": 0.7768329, - "z": -0.714678645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 0.138623625, - "y": 0.6933112, - "z": -1.794143 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.21122622, - "y": 0.07646563, - "z": 1.73745465 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.342, - "y": 1.13117754, - "z": 0.960999846 - }, - "rotation": { - "x": -0.00033243146, - "y": 270.000122, - "z": 0.000209692967 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.21122622, - "y": 0.319321036, - "z": 1.5239923 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8728, - "y": 0.816, - "z": -1.513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.19770074, - "y": 0.07714022, - "z": 0.611385942 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": -0.09598863, - "y": 0.6958528, - "z": -1.83854759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 0.0213174969, - "y": 0.691315234, - "z": -1.70533371 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3761452275, - "scene_num": 305 - }, - "task_id": "trial_T20190907_165758_902037", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A22ON3MIIG0IJA_369J354OFGRH8IPC4WB7DKUWYK06GJ", - "high_descs": [ - "Turn around and walk to the desk.", - "Pick up the clock from the right corner of the desk.", - "Turn right and walk past the bed to the dresser in front of the window.", - "Put the clock down on the dresser next to the lamp.", - "Turn around and walk past the bed to the desk.", - "Pick up the clock that is next to the book on the desk.", - "Turn right and walk past the bed to the dresser in front of the window.", - "Put the clock down on the left side of the dresser near the mug." - ], - "task_desc": "Put two clocks on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AUTYWXILTACCR_3G0WWMR1UY1GSSPI692099KKZV4QNA", - "high_descs": [ - "Turn around to face the wooden desk.", - "Pick up the clock on the right.", - "Turn left and walk until you reach the dresser.", - "Place the clock on the dresser, to the left of the lamp.", - "Walk back to the desk.", - "Grab the clock from the lower part of the desk.", - "Walk back to the dresser.", - "Place the clock on the left edge of the dresser." - ], - "task_desc": "Place two clocks on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3WLEIWSYHRY7QD1M10HM87PLXFH2H3", - "high_descs": [ - "turn around, face desk with three clocks on top", - "pick up the clock to the right, at the back, on top of the desk", - "turn right, walk to the night stand next to the bed, stop in front of night stand", - "put the clock on the night stand to the left of the lamp", - "turn around, walk to the desk, face the desk", - "pick up the clock closest to the front of the desk", - "turn right, walk to the nightstand next to the bed, stop in front", - "put the clock on the nightstand, to the left of the other clock" - ], - "task_desc": "get two clocks from the desk and put them on the nightstand", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/traj_data.json deleted file mode 100644 index d0bd53247..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/traj_data.json +++ /dev/null @@ -1,5218 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000032.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000033.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000034.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 22 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000190.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000191.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000205.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000206.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000207.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000210.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000211.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000266.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000267.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000268.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000269.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000270.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000271.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000272.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000273.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000274.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000275.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000276.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000277.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000278.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000279.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000280.png", - "low_idx": 46 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|8|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -3.129632236, - -3.129632236, - 7.21943808, - 7.21943808, - 2.713862656, - 2.713862656 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.78|+00.68|+01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -3.129632236, - -3.129632236, - 7.21943808, - 7.21943808, - 2.713862656, - 2.713862656 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.78|+00.68|+01.80", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|9|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -3.129636528, - -3.129636528, - 8.71180724, - 8.71180724, - 2.713862656, - 2.713862656 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.78|+00.68|+02.18" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -3.129636528, - -3.129636528, - 8.71180724, - 8.71180724, - 2.713862656, - 2.713862656 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.78|+00.68|+02.18", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "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": "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": "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": "PickupObject", - "objectId": "AlarmClock|-00.78|+00.68|+01.80" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 83, - 139, - 125, - 181 - ], - "mask": [ - [ - 41497, - 17 - ], - [ - 41790, - 31 - ], - [ - 42089, - 34 - ], - [ - 42388, - 36 - ], - [ - 42687, - 37 - ], - [ - 42987, - 37 - ], - [ - 43287, - 37 - ], - [ - 43587, - 38 - ], - [ - 43886, - 39 - ], - [ - 44186, - 39 - ], - [ - 44486, - 39 - ], - [ - 44785, - 40 - ], - [ - 45085, - 40 - ], - [ - 45385, - 40 - ], - [ - 45684, - 41 - ], - [ - 45984, - 42 - ], - [ - 46284, - 42 - ], - [ - 46583, - 43 - ], - [ - 46883, - 43 - ], - [ - 47183, - 43 - ], - [ - 47483, - 43 - ], - [ - 47783, - 43 - ], - [ - 48083, - 42 - ], - [ - 48383, - 42 - ], - [ - 48684, - 41 - ], - [ - 48984, - 41 - ], - [ - 49284, - 41 - ], - [ - 49584, - 41 - ], - [ - 49884, - 41 - ], - [ - 50185, - 40 - ], - [ - 50485, - 40 - ], - [ - 50785, - 40 - ], - [ - 51085, - 40 - ], - [ - 51386, - 38 - ], - [ - 51686, - 38 - ], - [ - 51986, - 38 - ], - [ - 52286, - 38 - ], - [ - 52586, - 38 - ], - [ - 52887, - 37 - ], - [ - 53187, - 37 - ], - [ - 53487, - 36 - ], - [ - 53788, - 34 - ], - [ - 54090, - 30 - ] - ], - "point": [ - 104, - 159 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "AlarmClock|-00.78|+00.68|+01.80", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 185 - ], - "mask": [ - [ - 9374, - 44 - ], - [ - 9510, - 1 - ], - [ - 9674, - 44 - ], - [ - 9810, - 1 - ], - [ - 9974, - 44 - ], - [ - 10110, - 1 - ], - [ - 10273, - 45 - ], - [ - 10410, - 1 - ], - [ - 10573, - 45 - ], - [ - 10873, - 45 - ], - [ - 11173, - 45 - ], - [ - 11311, - 1 - ], - [ - 11473, - 45 - ], - [ - 11611, - 1 - ], - [ - 11772, - 46 - ], - [ - 11911, - 1 - ], - [ - 12072, - 45 - ], - [ - 12372, - 45 - ], - [ - 12672, - 45 - ], - [ - 12812, - 1 - ], - [ - 12971, - 46 - ], - [ - 13112, - 1 - ], - [ - 13271, - 46 - ], - [ - 13412, - 1 - ], - [ - 13571, - 46 - ], - [ - 13712, - 1 - ], - [ - 13871, - 46 - ], - [ - 14170, - 47 - ], - [ - 14470, - 47 - ], - [ - 14613, - 1 - ], - [ - 14770, - 47 - ], - [ - 14913, - 1 - ], - [ - 15070, - 47 - ], - [ - 15213, - 1 - ], - [ - 15370, - 46 - ], - [ - 15669, - 47 - ], - [ - 15969, - 47 - ], - [ - 16114, - 1 - ], - [ - 16269, - 47 - ], - [ - 16414, - 1 - ], - [ - 16569, - 47 - ], - [ - 16714, - 1 - ], - [ - 16868, - 48 - ], - [ - 17014, - 1 - ], - [ - 17168, - 48 - ], - [ - 17468, - 48 - ], - [ - 17768, - 48 - ], - [ - 17915, - 1 - ], - [ - 18067, - 49 - ], - [ - 18215, - 1 - ], - [ - 18367, - 48 - ], - [ - 18515, - 1 - ], - [ - 18667, - 48 - ], - [ - 18815, - 1 - ], - [ - 18967, - 48 - ], - [ - 19267, - 48 - ], - [ - 19416, - 1 - ], - [ - 19566, - 49 - ], - [ - 19716, - 1 - ], - [ - 19866, - 49 - ], - [ - 20016, - 1 - ], - [ - 20166, - 49 - ], - [ - 20316, - 1 - ], - [ - 20466, - 49 - ], - [ - 20616, - 1 - ], - [ - 20765, - 50 - ], - [ - 20916, - 1 - ], - [ - 21065, - 51 - ], - [ - 21216, - 2 - ], - [ - 21365, - 153 - ], - [ - 21665, - 153 - ], - [ - 21964, - 47 - ], - [ - 22017, - 101 - ], - [ - 22264, - 46 - ], - [ - 22317, - 101 - ], - [ - 22564, - 46 - ], - [ - 22617, - 102 - ], - [ - 22864, - 46 - ], - [ - 22917, - 102 - ], - [ - 23164, - 46 - ], - [ - 23217, - 102 - ], - [ - 23463, - 47 - ], - [ - 23517, - 102 - ], - [ - 23763, - 47 - ], - [ - 23816, - 103 - ], - [ - 24063, - 47 - ], - [ - 24116, - 103 - ], - [ - 24363, - 47 - ], - [ - 24416, - 104 - ], - [ - 24662, - 48 - ], - [ - 24715, - 105 - ], - [ - 24962, - 48 - ], - [ - 25011, - 1 - ], - [ - 25013, - 107 - ], - [ - 25262, - 48 - ], - [ - 25311, - 1 - ], - [ - 25314, - 106 - ], - [ - 25562, - 48 - ], - [ - 25615, - 105 - ], - [ - 25862, - 48 - ], - [ - 25916, - 105 - ], - [ - 26161, - 50 - ], - [ - 26216, - 105 - ], - [ - 26461, - 49 - ], - [ - 26512, - 1 - ], - [ - 26515, - 106 - ], - [ - 26761, - 49 - ], - [ - 26811, - 3 - ], - [ - 26815, - 106 - ], - [ - 27061, - 48 - ], - [ - 27111, - 3 - ], - [ - 27115, - 106 - ], - [ - 27360, - 49 - ], - [ - 27410, - 4 - ], - [ - 27415, - 106 - ], - [ - 27660, - 48 - ], - [ - 27710, - 4 - ], - [ - 27715, - 107 - ], - [ - 27960, - 48 - ], - [ - 28009, - 113 - ], - [ - 28260, - 162 - ], - [ - 28559, - 163 - ], - [ - 28859, - 163 - ], - [ - 29159, - 164 - ], - [ - 29459, - 164 - ], - [ - 29759, - 164 - ], - [ - 30058, - 165 - ], - [ - 30358, - 165 - ], - [ - 30658, - 165 - ], - [ - 30958, - 166 - ], - [ - 31257, - 167 - ], - [ - 31557, - 23 - ], - [ - 31599, - 125 - ], - [ - 31857, - 22 - ], - [ - 31899, - 125 - ], - [ - 32157, - 22 - ], - [ - 32198, - 126 - ], - [ - 32456, - 23 - ], - [ - 32498, - 127 - ], - [ - 32756, - 23 - ], - [ - 32798, - 49 - ], - [ - 32887, - 38 - ], - [ - 33056, - 23 - ], - [ - 33098, - 49 - ], - [ - 33187, - 38 - ], - [ - 33356, - 23 - ], - [ - 33398, - 127 - ], - [ - 33656, - 22 - ], - [ - 33698, - 127 - ], - [ - 33955, - 23 - ], - [ - 33998, - 127 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 173 - ], - [ - 36653, - 174 - ], - [ - 36953, - 174 - ], - [ - 37253, - 174 - ], - [ - 37553, - 175 - ], - [ - 37852, - 176 - ], - [ - 38152, - 176 - ], - [ - 38452, - 176 - ], - [ - 38752, - 176 - ], - [ - 39051, - 177 - ], - [ - 39351, - 176 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50609, - 1 - ], - [ - 50775, - 4 - ], - [ - 51075, - 5 - ], - [ - 51376, - 5 - ], - [ - 51677, - 4 - ], - [ - 51977, - 4 - ], - [ - 52278, - 4 - ], - [ - 52578, - 5 - ], - [ - 52879, - 4 - ], - [ - 53179, - 5 - ], - [ - 53480, - 4 - ], - [ - 53781, - 4 - ], - [ - 54081, - 4 - ], - [ - 54382, - 3 - ], - [ - 54682, - 3 - ], - [ - 54983, - 2 - ], - [ - 55283, - 2 - ] - ], - "point": [ - 138, - 107 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "PickupObject", - "objectId": "AlarmClock|-00.78|+00.68|+02.18" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 113, - 139, - 151, - 181 - ], - "mask": [ - [ - 41525, - 17 - ], - [ - 41818, - 31 - ], - [ - 42117, - 34 - ], - [ - 42416, - 35 - ], - [ - 42716, - 36 - ], - [ - 43015, - 37 - ], - [ - 43315, - 37 - ], - [ - 43615, - 37 - ], - [ - 43915, - 37 - ], - [ - 44215, - 37 - ], - [ - 44514, - 38 - ], - [ - 44814, - 38 - ], - [ - 45114, - 38 - ], - [ - 45414, - 38 - ], - [ - 45714, - 38 - ], - [ - 46014, - 38 - ], - [ - 46313, - 39 - ], - [ - 46613, - 39 - ], - [ - 46913, - 39 - ], - [ - 47213, - 39 - ], - [ - 47513, - 39 - ], - [ - 47813, - 39 - ], - [ - 48113, - 39 - ], - [ - 48413, - 39 - ], - [ - 48713, - 39 - ], - [ - 49013, - 39 - ], - [ - 49313, - 39 - ], - [ - 49614, - 38 - ], - [ - 49914, - 38 - ], - [ - 50214, - 38 - ], - [ - 50514, - 38 - ], - [ - 50814, - 38 - ], - [ - 51114, - 38 - ], - [ - 51414, - 38 - ], - [ - 51714, - 38 - ], - [ - 52015, - 37 - ], - [ - 52315, - 37 - ], - [ - 52615, - 37 - ], - [ - 52915, - 37 - ], - [ - 53215, - 37 - ], - [ - 53516, - 35 - ], - [ - 53817, - 33 - ], - [ - 54119, - 30 - ] - ], - "point": [ - 132, - 159 - ] - } - }, - "high_idx": 5 - }, - { - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|-00.78|+00.68|+02.18", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 185 - ], - "mask": [ - [ - 9374, - 44 - ], - [ - 9510, - 1 - ], - [ - 9674, - 44 - ], - [ - 9810, - 1 - ], - [ - 9974, - 44 - ], - [ - 10110, - 1 - ], - [ - 10273, - 45 - ], - [ - 10410, - 1 - ], - [ - 10573, - 45 - ], - [ - 10873, - 45 - ], - [ - 11173, - 45 - ], - [ - 11311, - 1 - ], - [ - 11473, - 45 - ], - [ - 11611, - 1 - ], - [ - 11772, - 46 - ], - [ - 11911, - 1 - ], - [ - 12072, - 45 - ], - [ - 12372, - 45 - ], - [ - 12672, - 45 - ], - [ - 12812, - 1 - ], - [ - 12971, - 46 - ], - [ - 13112, - 1 - ], - [ - 13271, - 46 - ], - [ - 13412, - 1 - ], - [ - 13571, - 46 - ], - [ - 13712, - 1 - ], - [ - 13871, - 46 - ], - [ - 14170, - 47 - ], - [ - 14470, - 47 - ], - [ - 14613, - 1 - ], - [ - 14770, - 47 - ], - [ - 14913, - 1 - ], - [ - 15070, - 47 - ], - [ - 15213, - 1 - ], - [ - 15370, - 46 - ], - [ - 15669, - 47 - ], - [ - 15969, - 47 - ], - [ - 16114, - 1 - ], - [ - 16269, - 47 - ], - [ - 16414, - 1 - ], - [ - 16569, - 47 - ], - [ - 16714, - 1 - ], - [ - 16868, - 48 - ], - [ - 17014, - 1 - ], - [ - 17168, - 48 - ], - [ - 17468, - 48 - ], - [ - 17768, - 48 - ], - [ - 17915, - 1 - ], - [ - 18067, - 49 - ], - [ - 18215, - 1 - ], - [ - 18367, - 48 - ], - [ - 18515, - 1 - ], - [ - 18667, - 48 - ], - [ - 18815, - 1 - ], - [ - 18967, - 48 - ], - [ - 19267, - 48 - ], - [ - 19416, - 1 - ], - [ - 19566, - 49 - ], - [ - 19716, - 1 - ], - [ - 19866, - 49 - ], - [ - 20016, - 1 - ], - [ - 20166, - 49 - ], - [ - 20316, - 1 - ], - [ - 20466, - 49 - ], - [ - 20616, - 1 - ], - [ - 20765, - 50 - ], - [ - 20916, - 1 - ], - [ - 21065, - 51 - ], - [ - 21216, - 2 - ], - [ - 21365, - 153 - ], - [ - 21665, - 153 - ], - [ - 21964, - 47 - ], - [ - 22017, - 101 - ], - [ - 22264, - 46 - ], - [ - 22317, - 101 - ], - [ - 22564, - 46 - ], - [ - 22617, - 102 - ], - [ - 22864, - 46 - ], - [ - 22917, - 102 - ], - [ - 23164, - 46 - ], - [ - 23217, - 102 - ], - [ - 23463, - 47 - ], - [ - 23517, - 102 - ], - [ - 23763, - 47 - ], - [ - 23816, - 103 - ], - [ - 24063, - 47 - ], - [ - 24116, - 103 - ], - [ - 24363, - 47 - ], - [ - 24416, - 104 - ], - [ - 24662, - 48 - ], - [ - 24715, - 105 - ], - [ - 24962, - 48 - ], - [ - 25011, - 1 - ], - [ - 25013, - 107 - ], - [ - 25262, - 48 - ], - [ - 25311, - 1 - ], - [ - 25314, - 106 - ], - [ - 25562, - 48 - ], - [ - 25615, - 105 - ], - [ - 25862, - 48 - ], - [ - 25916, - 105 - ], - [ - 26161, - 50 - ], - [ - 26216, - 105 - ], - [ - 26461, - 49 - ], - [ - 26512, - 1 - ], - [ - 26515, - 106 - ], - [ - 26761, - 49 - ], - [ - 26811, - 3 - ], - [ - 26815, - 106 - ], - [ - 27061, - 48 - ], - [ - 27111, - 3 - ], - [ - 27115, - 106 - ], - [ - 27360, - 49 - ], - [ - 27410, - 4 - ], - [ - 27415, - 106 - ], - [ - 27660, - 48 - ], - [ - 27710, - 4 - ], - [ - 27715, - 107 - ], - [ - 27960, - 48 - ], - [ - 28009, - 113 - ], - [ - 28260, - 80 - ], - [ - 28354, - 68 - ], - [ - 28559, - 72 - ], - [ - 28663, - 59 - ], - [ - 28859, - 70 - ], - [ - 28965, - 57 - ], - [ - 29159, - 69 - ], - [ - 29267, - 56 - ], - [ - 29459, - 68 - ], - [ - 29567, - 56 - ], - [ - 29759, - 68 - ], - [ - 29867, - 56 - ], - [ - 30058, - 69 - ], - [ - 30168, - 55 - ], - [ - 30358, - 69 - ], - [ - 30468, - 55 - ], - [ - 30658, - 68 - ], - [ - 30768, - 55 - ], - [ - 30958, - 68 - ], - [ - 31068, - 56 - ], - [ - 31257, - 69 - ], - [ - 31368, - 56 - ], - [ - 31557, - 23 - ], - [ - 31599, - 27 - ], - [ - 31668, - 56 - ], - [ - 31857, - 22 - ], - [ - 31899, - 27 - ], - [ - 31968, - 56 - ], - [ - 32157, - 22 - ], - [ - 32198, - 28 - ], - [ - 32268, - 56 - ], - [ - 32456, - 23 - ], - [ - 32498, - 28 - ], - [ - 32568, - 57 - ], - [ - 32756, - 23 - ], - [ - 32798, - 28 - ], - [ - 32887, - 38 - ], - [ - 33056, - 23 - ], - [ - 33098, - 28 - ], - [ - 33187, - 38 - ], - [ - 33356, - 23 - ], - [ - 33398, - 28 - ], - [ - 33468, - 57 - ], - [ - 33656, - 22 - ], - [ - 33698, - 28 - ], - [ - 33768, - 57 - ], - [ - 33955, - 23 - ], - [ - 33998, - 28 - ], - [ - 34069, - 56 - ], - [ - 34255, - 71 - ], - [ - 34369, - 57 - ], - [ - 34555, - 71 - ], - [ - 34669, - 57 - ], - [ - 34855, - 70 - ], - [ - 34969, - 57 - ], - [ - 35154, - 71 - ], - [ - 35269, - 57 - ], - [ - 35454, - 71 - ], - [ - 35569, - 57 - ], - [ - 35754, - 71 - ], - [ - 35869, - 58 - ], - [ - 36054, - 71 - ], - [ - 36169, - 58 - ], - [ - 36354, - 72 - ], - [ - 36469, - 58 - ], - [ - 36653, - 73 - ], - [ - 36769, - 58 - ], - [ - 36953, - 73 - ], - [ - 37068, - 59 - ], - [ - 37253, - 73 - ], - [ - 37368, - 59 - ], - [ - 37553, - 73 - ], - [ - 37668, - 60 - ], - [ - 37852, - 74 - ], - [ - 37968, - 60 - ], - [ - 38152, - 74 - ], - [ - 38268, - 60 - ], - [ - 38452, - 74 - ], - [ - 38568, - 60 - ], - [ - 38752, - 74 - ], - [ - 38868, - 60 - ], - [ - 39051, - 76 - ], - [ - 39168, - 60 - ], - [ - 39351, - 76 - ], - [ - 39468, - 59 - ], - [ - 39651, - 76 - ], - [ - 39768, - 59 - ], - [ - 39951, - 76 - ], - [ - 40068, - 59 - ], - [ - 40251, - 76 - ], - [ - 40367, - 60 - ], - [ - 40550, - 77 - ], - [ - 40667, - 61 - ], - [ - 40851, - 76 - ], - [ - 40967, - 61 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50609, - 1 - ], - [ - 50775, - 4 - ], - [ - 51075, - 5 - ], - [ - 51376, - 5 - ], - [ - 51677, - 4 - ], - [ - 51977, - 4 - ], - [ - 52278, - 4 - ], - [ - 52578, - 5 - ], - [ - 52879, - 4 - ], - [ - 53179, - 5 - ], - [ - 53480, - 4 - ], - [ - 53781, - 4 - ], - [ - 54081, - 4 - ], - [ - 54382, - 3 - ], - [ - 54682, - 3 - ], - [ - 54983, - 2 - ], - [ - 55283, - 2 - ] - ], - "point": [ - 138, - 94 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.5, - "y": 0.9017602, - "z": -1.25 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.423927367, - "y": 0.6757, - "z": 1.6183145 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.6682143, - "y": 0.9780546, - "z": -1.603857 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.600201964, - "y": 0.0654450953, - "z": 2.01972532 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.637953758, - "y": 0.509939432, - "z": 2.79461241 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.51504433, - "y": 0.7321528, - "z": 0.7285323 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.480186343, - "y": 0.672675, - "z": 3.07569051 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.48018533, - "y": 0.6689956, - "z": 2.72851753 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.667933941, - "y": 0.6691467, - "z": 2.81531048 - }, - "rotation": { - "x": 0.0, - "y": 179.999832, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.8417232, - "y": 0.433147073, - "z": 1.51230407 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.5964906, - "y": 1.5044353, - "z": -0.9428743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.6327728, - "y": 1.83552992, - "z": 1.91463852 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.782409132, - "y": 0.678465664, - "z": 2.17795181 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.5135485, - "y": 0.678465664, - "z": 1.99140644 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.782408059, - "y": 0.678465664, - "z": 1.80485952 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.672662556, - "y": 0.06933537, - "z": 2.307938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.589910448, - "y": 0.07084266, - "z": 3.043787 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": 2.10060215, - "y": 0.7277491, - "z": 0.2360227 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.8297901, - "y": 1.549, - "z": -1.5335114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.423926234, - "y": 0.679538131, - "z": 1.24522209 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.66208363, - "y": 0.315004826, - "z": -0.6394564 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.5848998, - "y": 0.978443861, - "z": -1.32223451 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 1.92654312, - "y": 0.4423166, - "z": 1.88345313 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.679945648, - "y": 0.51975, - "z": 2.09440637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.8556831, - "y": 0.6671691, - "z": 3.07568932 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.603166342, - "y": 0.6757, - "z": 1.2452215 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 446410229, - "scene_num": 318 - }, - "task_id": "trial_T20190908_032459_936721", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1O3TWBUDONVLO_3KKG4CDWKLFOELYQ72CIO5OVYQN94I", - "high_descs": [ - "Walk forward across the room and then turn left to face the table.", - "Pick up the clock the is on the left in the back.", - "Take a step to the right and face the clock in front of the lap top.", - "Place the clock in front of the lap top on the table.", - "Take a step to the left and face the clocks on the table.", - "Pick up the clock on the right on the table.", - "Take a step to the right and face the clock in front of the lap top.", - "Place the clock to the right of the original clock." - ], - "task_desc": "To move two clocks from one side of the table to the other.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AKW57KYG90X61_3KYQYYSHYYO4L4LP22WTOZDQ6ZQDOV", - "high_descs": [ - "move forward towards the shelf", - "pick up the clock from the shelf", - "move right on the shelf", - "drop the clock on the shelf", - "move left towards the shelf", - "pick up the clock", - "move right on the shelf", - "drop the clock on the shelf" - ], - "task_desc": "drop two clocks on the shelf", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HXEXQTZCJ1DW_3R6P78PK7NSNAG0O09J0OUMAI20TGQ", - "high_descs": [ - "walk towards the wall and turn left to face the desk", - "pick up an alarm clock from the desk", - "turn right and walk over to the edge of the desk. turn to face the desk", - "place the alarm clock in front of the computer", - "turn left and walk back to retrieve another alarm clock from the desk", - "pick up another clock from the desk", - "turn around to walk to the edge of the desk with the computer", - "place the alarm clock in front of the computer" - ], - "task_desc": "place two alarm clocks in front of the computer", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/traj_data.json deleted file mode 100644 index 32ab24785..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/traj_data.json +++ /dev/null @@ -1,5784 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 1, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000322.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000323.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000324.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000325.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000326.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000327.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000328.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000329.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000330.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000331.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000332.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000333.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000334.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000335.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000336.png", - "low_idx": 47 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|8|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -2.054194, - -2.054194, - 7.96562576, - 7.96562576, - 2.713862656, - 2.713862656 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.51|+00.68|+01.99" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -2.054194, - -2.054194, - 7.96562576, - 7.96562576, - 2.713862656, - 2.713862656 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.51|+00.68|+01.99", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|8|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -2.771152, - -2.771152, - 7.21943904, - 7.21943904, - 2.713862656, - 2.713862656 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.69|+00.68|+01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - -2.771152, - -2.771152, - 7.21943904, - 7.21943904, - 2.713862656, - 2.713862656 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|-00.69|+00.68|+01.80", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|-00.51|+00.68|+01.99" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 124, - 120, - 170, - 168 - ], - "mask": [ - [ - 35834, - 27 - ], - [ - 36129, - 37 - ], - [ - 36428, - 40 - ], - [ - 36727, - 42 - ], - [ - 37026, - 43 - ], - [ - 37326, - 43 - ], - [ - 37626, - 44 - ], - [ - 37926, - 44 - ], - [ - 38226, - 44 - ], - [ - 38526, - 44 - ], - [ - 38825, - 45 - ], - [ - 39125, - 45 - ], - [ - 39425, - 45 - ], - [ - 39725, - 45 - ], - [ - 40025, - 45 - ], - [ - 40325, - 45 - ], - [ - 40625, - 45 - ], - [ - 40925, - 45 - ], - [ - 41225, - 45 - ], - [ - 41525, - 45 - ], - [ - 41825, - 45 - ], - [ - 42125, - 46 - ], - [ - 42425, - 46 - ], - [ - 42725, - 46 - ], - [ - 43024, - 47 - ], - [ - 43324, - 47 - ], - [ - 43624, - 47 - ], - [ - 43924, - 47 - ], - [ - 44224, - 47 - ], - [ - 44524, - 47 - ], - [ - 44825, - 46 - ], - [ - 45125, - 45 - ], - [ - 45425, - 45 - ], - [ - 45725, - 45 - ], - [ - 46025, - 45 - ], - [ - 46325, - 45 - ], - [ - 46625, - 45 - ], - [ - 46926, - 44 - ], - [ - 47226, - 44 - ], - [ - 47526, - 44 - ], - [ - 47826, - 43 - ], - [ - 48126, - 43 - ], - [ - 48426, - 43 - ], - [ - 48726, - 43 - ], - [ - 49027, - 42 - ], - [ - 49327, - 42 - ], - [ - 49627, - 41 - ], - [ - 49928, - 39 - ], - [ - 50229, - 37 - ] - ], - "point": [ - 147, - 143 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "AlarmClock|-00.51|+00.68|+01.99", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 186 - ], - "mask": [ - [ - 9374, - 137 - ], - [ - 9674, - 137 - ], - [ - 9974, - 81 - ], - [ - 10107, - 4 - ], - [ - 10273, - 82 - ], - [ - 10408, - 3 - ], - [ - 10573, - 82 - ], - [ - 10708, - 3 - ], - [ - 10873, - 82 - ], - [ - 11008, - 3 - ], - [ - 11173, - 82 - ], - [ - 11308, - 4 - ], - [ - 11473, - 82 - ], - [ - 11609, - 3 - ], - [ - 11772, - 83 - ], - [ - 11909, - 3 - ], - [ - 12072, - 83 - ], - [ - 12209, - 3 - ], - [ - 12372, - 83 - ], - [ - 12509, - 3 - ], - [ - 12672, - 83 - ], - [ - 12809, - 4 - ], - [ - 12971, - 84 - ], - [ - 13110, - 3 - ], - [ - 13271, - 84 - ], - [ - 13410, - 3 - ], - [ - 13571, - 84 - ], - [ - 13710, - 3 - ], - [ - 13871, - 84 - ], - [ - 14010, - 3 - ], - [ - 14170, - 85 - ], - [ - 14310, - 3 - ], - [ - 14470, - 85 - ], - [ - 14610, - 4 - ], - [ - 14770, - 85 - ], - [ - 14911, - 3 - ], - [ - 15070, - 85 - ], - [ - 15211, - 3 - ], - [ - 15370, - 85 - ], - [ - 15511, - 3 - ], - [ - 15669, - 86 - ], - [ - 15811, - 3 - ], - [ - 15969, - 86 - ], - [ - 16111, - 4 - ], - [ - 16269, - 86 - ], - [ - 16411, - 4 - ], - [ - 16569, - 86 - ], - [ - 16712, - 3 - ], - [ - 16868, - 87 - ], - [ - 17012, - 3 - ], - [ - 17168, - 87 - ], - [ - 17312, - 3 - ], - [ - 17468, - 87 - ], - [ - 17612, - 3 - ], - [ - 17768, - 87 - ], - [ - 17912, - 4 - ], - [ - 18067, - 88 - ], - [ - 18212, - 4 - ], - [ - 18367, - 88 - ], - [ - 18513, - 3 - ], - [ - 18667, - 88 - ], - [ - 18813, - 3 - ], - [ - 18967, - 88 - ], - [ - 19113, - 3 - ], - [ - 19267, - 88 - ], - [ - 19413, - 4 - ], - [ - 19566, - 89 - ], - [ - 19713, - 4 - ], - [ - 19866, - 89 - ], - [ - 20013, - 4 - ], - [ - 20166, - 89 - ], - [ - 20314, - 3 - ], - [ - 20466, - 89 - ], - [ - 20614, - 3 - ], - [ - 20765, - 90 - ], - [ - 20914, - 3 - ], - [ - 21065, - 90 - ], - [ - 21214, - 4 - ], - [ - 21365, - 90 - ], - [ - 21514, - 4 - ], - [ - 21665, - 90 - ], - [ - 21815, - 3 - ], - [ - 21964, - 91 - ], - [ - 22115, - 3 - ], - [ - 22264, - 91 - ], - [ - 22415, - 3 - ], - [ - 22564, - 91 - ], - [ - 22715, - 4 - ], - [ - 22864, - 91 - ], - [ - 23015, - 4 - ], - [ - 23164, - 91 - ], - [ - 23315, - 4 - ], - [ - 23463, - 92 - ], - [ - 23616, - 3 - ], - [ - 23763, - 92 - ], - [ - 23916, - 3 - ], - [ - 24063, - 92 - ], - [ - 24216, - 3 - ], - [ - 24363, - 92 - ], - [ - 24516, - 4 - ], - [ - 24662, - 93 - ], - [ - 24816, - 4 - ], - [ - 24962, - 93 - ], - [ - 25116, - 4 - ], - [ - 25262, - 93 - ], - [ - 25416, - 4 - ], - [ - 25562, - 93 - ], - [ - 25716, - 4 - ], - [ - 25862, - 93 - ], - [ - 26015, - 6 - ], - [ - 26161, - 94 - ], - [ - 26315, - 6 - ], - [ - 26461, - 94 - ], - [ - 26614, - 7 - ], - [ - 26761, - 98 - ], - [ - 26878, - 43 - ], - [ - 27061, - 97 - ], - [ - 27179, - 42 - ], - [ - 27360, - 97 - ], - [ - 27479, - 42 - ], - [ - 27660, - 97 - ], - [ - 27780, - 42 - ], - [ - 27960, - 96 - ], - [ - 28080, - 42 - ], - [ - 28260, - 96 - ], - [ - 28384, - 38 - ], - [ - 28559, - 97 - ], - [ - 28685, - 37 - ], - [ - 28859, - 97 - ], - [ - 28986, - 36 - ], - [ - 29159, - 97 - ], - [ - 29286, - 37 - ], - [ - 29459, - 97 - ], - [ - 29580, - 4 - ], - [ - 29586, - 37 - ], - [ - 29759, - 97 - ], - [ - 29880, - 4 - ], - [ - 29886, - 37 - ], - [ - 30058, - 98 - ], - [ - 30180, - 3 - ], - [ - 30186, - 37 - ], - [ - 30358, - 98 - ], - [ - 30480, - 3 - ], - [ - 30486, - 37 - ], - [ - 30658, - 98 - ], - [ - 30780, - 2 - ], - [ - 30785, - 38 - ], - [ - 30958, - 98 - ], - [ - 31079, - 2 - ], - [ - 31085, - 39 - ], - [ - 31257, - 99 - ], - [ - 31384, - 40 - ], - [ - 31557, - 99 - ], - [ - 31683, - 41 - ], - [ - 31857, - 99 - ], - [ - 31983, - 41 - ], - [ - 32157, - 99 - ], - [ - 32281, - 43 - ], - [ - 32456, - 100 - ], - [ - 32579, - 46 - ], - [ - 32756, - 100 - ], - [ - 32879, - 46 - ], - [ - 33056, - 100 - ], - [ - 33178, - 47 - ], - [ - 33356, - 100 - ], - [ - 33478, - 47 - ], - [ - 33656, - 100 - ], - [ - 33778, - 47 - ], - [ - 33955, - 102 - ], - [ - 34078, - 47 - ], - [ - 34255, - 102 - ], - [ - 34377, - 49 - ], - [ - 34555, - 103 - ], - [ - 34676, - 50 - ], - [ - 34855, - 104 - ], - [ - 34976, - 50 - ], - [ - 35154, - 107 - ], - [ - 35274, - 52 - ], - [ - 35454, - 109 - ], - [ - 35572, - 54 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 173 - ], - [ - 36653, - 174 - ], - [ - 36953, - 174 - ], - [ - 37253, - 174 - ], - [ - 37553, - 175 - ], - [ - 37852, - 176 - ], - [ - 38152, - 176 - ], - [ - 38452, - 176 - ], - [ - 38752, - 176 - ], - [ - 39051, - 177 - ], - [ - 39351, - 176 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54382, - 4 - ], - [ - 54682, - 4 - ], - [ - 54983, - 4 - ], - [ - 55283, - 4 - ], - [ - 55584, - 1 - ] - ], - "point": [ - 138, - 108 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|-00.69|+00.68|+01.80" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 78, - 84, - 123, - 129 - ], - "mask": [ - [ - 24994, - 16 - ], - [ - 25286, - 32 - ], - [ - 25584, - 36 - ], - [ - 25883, - 38 - ], - [ - 26182, - 40 - ], - [ - 26482, - 40 - ], - [ - 26782, - 40 - ], - [ - 27081, - 41 - ], - [ - 27381, - 42 - ], - [ - 27681, - 42 - ], - [ - 27981, - 42 - ], - [ - 28281, - 42 - ], - [ - 28580, - 43 - ], - [ - 28880, - 43 - ], - [ - 29180, - 43 - ], - [ - 29480, - 44 - ], - [ - 29779, - 45 - ], - [ - 30079, - 45 - ], - [ - 30379, - 45 - ], - [ - 30679, - 45 - ], - [ - 30978, - 46 - ], - [ - 31278, - 46 - ], - [ - 31578, - 46 - ], - [ - 31878, - 46 - ], - [ - 32178, - 46 - ], - [ - 32478, - 46 - ], - [ - 32778, - 46 - ], - [ - 33079, - 45 - ], - [ - 33379, - 45 - ], - [ - 33679, - 44 - ], - [ - 33980, - 43 - ], - [ - 34280, - 43 - ], - [ - 34580, - 43 - ], - [ - 34881, - 42 - ], - [ - 35181, - 42 - ], - [ - 35481, - 42 - ], - [ - 35782, - 41 - ], - [ - 36082, - 41 - ], - [ - 36382, - 41 - ], - [ - 36683, - 40 - ], - [ - 36983, - 40 - ], - [ - 37283, - 40 - ], - [ - 37584, - 38 - ], - [ - 37884, - 38 - ], - [ - 38185, - 37 - ], - [ - 38486, - 34 - ] - ], - "point": [ - 100, - 105 - ] - } - }, - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|-00.69|+00.68|+01.80", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 186 - ], - "mask": [ - [ - 9374, - 137 - ], - [ - 9674, - 137 - ], - [ - 9974, - 81 - ], - [ - 10107, - 4 - ], - [ - 10273, - 82 - ], - [ - 10408, - 3 - ], - [ - 10573, - 82 - ], - [ - 10708, - 3 - ], - [ - 10873, - 82 - ], - [ - 11008, - 3 - ], - [ - 11173, - 82 - ], - [ - 11308, - 4 - ], - [ - 11473, - 82 - ], - [ - 11609, - 3 - ], - [ - 11772, - 83 - ], - [ - 11909, - 3 - ], - [ - 12072, - 83 - ], - [ - 12209, - 3 - ], - [ - 12372, - 83 - ], - [ - 12509, - 3 - ], - [ - 12672, - 83 - ], - [ - 12809, - 4 - ], - [ - 12971, - 84 - ], - [ - 13110, - 3 - ], - [ - 13271, - 84 - ], - [ - 13410, - 3 - ], - [ - 13571, - 84 - ], - [ - 13710, - 3 - ], - [ - 13871, - 84 - ], - [ - 14010, - 3 - ], - [ - 14170, - 85 - ], - [ - 14310, - 3 - ], - [ - 14470, - 85 - ], - [ - 14610, - 4 - ], - [ - 14770, - 85 - ], - [ - 14911, - 3 - ], - [ - 15070, - 85 - ], - [ - 15211, - 3 - ], - [ - 15370, - 85 - ], - [ - 15511, - 3 - ], - [ - 15669, - 86 - ], - [ - 15811, - 3 - ], - [ - 15969, - 86 - ], - [ - 16111, - 4 - ], - [ - 16269, - 86 - ], - [ - 16411, - 4 - ], - [ - 16569, - 86 - ], - [ - 16712, - 3 - ], - [ - 16868, - 87 - ], - [ - 17012, - 3 - ], - [ - 17168, - 87 - ], - [ - 17312, - 3 - ], - [ - 17468, - 87 - ], - [ - 17612, - 3 - ], - [ - 17768, - 87 - ], - [ - 17912, - 4 - ], - [ - 18067, - 88 - ], - [ - 18212, - 4 - ], - [ - 18367, - 88 - ], - [ - 18513, - 3 - ], - [ - 18667, - 88 - ], - [ - 18813, - 3 - ], - [ - 18967, - 88 - ], - [ - 19113, - 3 - ], - [ - 19267, - 88 - ], - [ - 19413, - 4 - ], - [ - 19566, - 89 - ], - [ - 19713, - 4 - ], - [ - 19866, - 89 - ], - [ - 20013, - 4 - ], - [ - 20166, - 89 - ], - [ - 20314, - 3 - ], - [ - 20466, - 89 - ], - [ - 20614, - 3 - ], - [ - 20765, - 90 - ], - [ - 20914, - 3 - ], - [ - 21065, - 90 - ], - [ - 21214, - 4 - ], - [ - 21365, - 90 - ], - [ - 21514, - 4 - ], - [ - 21665, - 90 - ], - [ - 21815, - 3 - ], - [ - 21964, - 91 - ], - [ - 22115, - 3 - ], - [ - 22264, - 91 - ], - [ - 22415, - 3 - ], - [ - 22564, - 91 - ], - [ - 22715, - 4 - ], - [ - 22864, - 91 - ], - [ - 23015, - 4 - ], - [ - 23164, - 91 - ], - [ - 23315, - 4 - ], - [ - 23463, - 92 - ], - [ - 23616, - 3 - ], - [ - 23763, - 92 - ], - [ - 23916, - 3 - ], - [ - 24063, - 92 - ], - [ - 24216, - 3 - ], - [ - 24363, - 92 - ], - [ - 24516, - 4 - ], - [ - 24662, - 93 - ], - [ - 24816, - 4 - ], - [ - 24962, - 93 - ], - [ - 25116, - 4 - ], - [ - 25262, - 93 - ], - [ - 25416, - 4 - ], - [ - 25562, - 93 - ], - [ - 25716, - 4 - ], - [ - 25862, - 93 - ], - [ - 26015, - 6 - ], - [ - 26161, - 94 - ], - [ - 26315, - 6 - ], - [ - 26461, - 94 - ], - [ - 26614, - 7 - ], - [ - 26761, - 98 - ], - [ - 26878, - 43 - ], - [ - 27061, - 97 - ], - [ - 27179, - 42 - ], - [ - 27360, - 97 - ], - [ - 27479, - 42 - ], - [ - 27660, - 97 - ], - [ - 27780, - 42 - ], - [ - 27960, - 96 - ], - [ - 28080, - 42 - ], - [ - 28260, - 58 - ], - [ - 28332, - 24 - ], - [ - 28384, - 38 - ], - [ - 28559, - 50 - ], - [ - 28642, - 14 - ], - [ - 28685, - 37 - ], - [ - 28859, - 48 - ], - [ - 28944, - 12 - ], - [ - 28986, - 36 - ], - [ - 29159, - 47 - ], - [ - 29245, - 11 - ], - [ - 29286, - 37 - ], - [ - 29459, - 46 - ], - [ - 29545, - 11 - ], - [ - 29580, - 4 - ], - [ - 29586, - 37 - ], - [ - 29759, - 46 - ], - [ - 29846, - 10 - ], - [ - 29880, - 4 - ], - [ - 29886, - 37 - ], - [ - 30058, - 47 - ], - [ - 30146, - 10 - ], - [ - 30180, - 3 - ], - [ - 30186, - 37 - ], - [ - 30358, - 47 - ], - [ - 30446, - 10 - ], - [ - 30480, - 3 - ], - [ - 30486, - 37 - ], - [ - 30658, - 46 - ], - [ - 30746, - 10 - ], - [ - 30780, - 2 - ], - [ - 30785, - 38 - ], - [ - 30958, - 46 - ], - [ - 31046, - 10 - ], - [ - 31079, - 2 - ], - [ - 31085, - 39 - ], - [ - 31257, - 47 - ], - [ - 31346, - 10 - ], - [ - 31384, - 40 - ], - [ - 31557, - 47 - ], - [ - 31646, - 10 - ], - [ - 31683, - 41 - ], - [ - 31857, - 47 - ], - [ - 31946, - 10 - ], - [ - 31983, - 41 - ], - [ - 32157, - 47 - ], - [ - 32246, - 10 - ], - [ - 32281, - 43 - ], - [ - 32456, - 48 - ], - [ - 32546, - 10 - ], - [ - 32579, - 46 - ], - [ - 32756, - 47 - ], - [ - 32846, - 10 - ], - [ - 32879, - 46 - ], - [ - 33056, - 47 - ], - [ - 33146, - 10 - ], - [ - 33178, - 47 - ], - [ - 33356, - 47 - ], - [ - 33446, - 10 - ], - [ - 33478, - 47 - ], - [ - 33656, - 47 - ], - [ - 33746, - 10 - ], - [ - 33778, - 47 - ], - [ - 33955, - 48 - ], - [ - 34046, - 11 - ], - [ - 34078, - 47 - ], - [ - 34255, - 48 - ], - [ - 34346, - 11 - ], - [ - 34377, - 49 - ], - [ - 34555, - 48 - ], - [ - 34646, - 12 - ], - [ - 34676, - 50 - ], - [ - 34855, - 47 - ], - [ - 34946, - 13 - ], - [ - 34976, - 50 - ], - [ - 35154, - 48 - ], - [ - 35246, - 15 - ], - [ - 35274, - 52 - ], - [ - 35454, - 48 - ], - [ - 35546, - 17 - ], - [ - 35572, - 54 - ], - [ - 35754, - 48 - ], - [ - 35846, - 81 - ], - [ - 36054, - 48 - ], - [ - 36146, - 81 - ], - [ - 36354, - 49 - ], - [ - 36446, - 81 - ], - [ - 36653, - 50 - ], - [ - 36746, - 81 - ], - [ - 36953, - 50 - ], - [ - 37046, - 81 - ], - [ - 37253, - 50 - ], - [ - 37346, - 81 - ], - [ - 37553, - 50 - ], - [ - 37646, - 82 - ], - [ - 37852, - 52 - ], - [ - 37946, - 82 - ], - [ - 38152, - 52 - ], - [ - 38246, - 82 - ], - [ - 38452, - 52 - ], - [ - 38546, - 82 - ], - [ - 38752, - 52 - ], - [ - 38846, - 82 - ], - [ - 39051, - 54 - ], - [ - 39146, - 82 - ], - [ - 39351, - 54 - ], - [ - 39446, - 81 - ], - [ - 39651, - 54 - ], - [ - 39746, - 81 - ], - [ - 39951, - 54 - ], - [ - 40046, - 81 - ], - [ - 40251, - 54 - ], - [ - 40346, - 81 - ], - [ - 40550, - 56 - ], - [ - 40646, - 82 - ], - [ - 40851, - 55 - ], - [ - 40946, - 82 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54382, - 4 - ], - [ - 54682, - 4 - ], - [ - 54983, - 4 - ], - [ - 55283, - 4 - ], - [ - 55584, - 1 - ] - ], - "point": [ - 146, - 108 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.0, - "y": 0.9017602, - "z": 3.0 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.603169, - "y": 0.6757, - "z": 2.17795253 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.90541613, - "y": 0.7326363, - "z": 0.2360227 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.66208363, - "y": 0.106268533, - "z": -0.501125 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.626557052, - "y": 0.9821927, - "z": -1.32223451 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.7618091, - "y": 0.6724966, - "z": 3.16248274 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -1.13750923, - "y": 1.49893832, - "z": -0.4963799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.5964906, - "y": 1.49893832, - "z": -0.719627142 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.692788, - "y": 0.678465664, - "z": 1.80485976 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.5135485, - "y": 0.678465664, - "z": 1.99140644 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.423926234, - "y": 0.678465664, - "z": 1.24522209 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.600201964, - "y": 0.06933537, - "z": 2.16383171 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.8078233, - "y": 0.7326363, - "z": 0.728532434 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": 1.8078233, - "y": 0.7277491, - "z": 0.482277572 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.8297901, - "y": 1.549, - "z": -1.5335114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": 1.71539545, - "y": 0.107959606, - "z": -0.778 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.5597806, - "y": 0.417221546, - "z": -1.56944549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.9616498, - "y": 0.677696, - "z": 2.36449742 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 1.41762149, - "y": 0.4326067, - "z": 1.605091 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.66208375, - "y": 0.317813724, - "z": -0.31640023 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": 1.79976654, - "y": 0.719983459, - "z": -0.6269823 - }, - "rotation": { - "x": 0.0, - "y": 336.963165, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.480186343, - "y": 0.666999638, - "z": 3.07569051 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1139808252, - "scene_num": 318 - }, - "task_id": "trial_T20190919_024636_931517", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2BLQ1GVEHJR8T_3AMYWKA6YE350V6ASFOFIT3YPFK6OH", - "high_descs": [ - "Turn left and go to the desk that has three clocks on it, to the right of the desk chair.", - "Pick up the clock that is closest to the white mug immediately to the right of the clocks.", - "Carry the clock to the far right end of the desk.", - "Place the clock at the front edge of the desk, just to the left of the white mug that is near the book.", - "Move back to the remaining clocks on your left.", - "Pick up the clock that is between the lamp and the white mug.", - "Carry this clock to the far right end of the desk.", - "Place this clock at the front edge of the desk, to the left of the other clock." - ], - "task_desc": "Reposition two clocks on a desk.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3FQ5JJ512O5UHPRNT4I3DN8B00EKN0", - "high_descs": [ - "Turn around and walk to the desk on the right. ", - "Pick up the alarm clock to the left of the white mug. ", - "Move to the right side of the desk. ", - "Place the alarm clock to the left of the white mug. ", - "Move to the left side of the desk. ", - "Pick up the alarm clock to the left of the white mug. ", - "Move to the right side of the desk. ", - "Put the alarm clock down on the desk to the left of the first alarm clock. " - ], - "task_desc": "Move two alarm clocks to the right side of the desk. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3SFPSMFRSRTB3_3VHHR074H6YGYAHIYXDFWQZ0PL27L3", - "high_descs": [ - "Turn around, proceed ahead. Turn right and go to desk.", - "Pick up alarm clock on your right, closest to the white mug.", - "Turn right, proceed to wall. Turn left to face last set of drawers.", - "Place alarm clock on edge of surface, to the left of the white mug.", - "Turn left, proceed forward. Turn right, proceed to desk.", - "Pick up alarm clock near the black lamp.", - "Turn right, proceed to wall, turn left to face last set of drawers.", - "Place alarm clock on edge of surface, directly to the left of the other alarm clock." - ], - "task_desc": "Move two alarm clocks.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/traj_data.json deleted file mode 100644 index 8576f5cec..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/traj_data.json +++ /dev/null @@ -1,5191 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 8 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 26 - }, - { - "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": 26 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 26 - }, - { - "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": 28 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 31 - }, - { - "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": 31 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000210.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000211.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000257.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000258.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000259.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000260.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000261.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000262.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000263.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000264.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000265.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000266.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000267.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000268.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000269.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000270.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000271.png", - "low_idx": 46 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-1|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 8.4024086, - 8.4024086, - -1.025947808, - -1.025947808, - 2.909062624, - 2.909062624 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+02.10|+00.73|-00.26" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 8.4024086, - 8.4024086, - -1.025947808, - -1.025947808, - 2.909062624, - 2.909062624 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+02.10|+00.73|-00.26", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-1|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 6.84092092, - 6.84092092, - -1.025947808, - -1.025947808, - 2.909062624, - 2.909062624 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.71|+00.73|-00.26" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 6.84092092, - 6.84092092, - -1.025947808, - -1.025947808, - 2.909062624, - 2.909062624 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.71|+00.73|-00.26", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "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": "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": "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": "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": "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": "AlarmClock|+02.10|+00.73|-00.26" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 135, - 89, - 167, - 125 - ], - "mask": [ - [ - 26545, - 13 - ], - [ - 26841, - 21 - ], - [ - 27138, - 27 - ], - [ - 27437, - 29 - ], - [ - 27736, - 31 - ], - [ - 28036, - 31 - ], - [ - 28335, - 32 - ], - [ - 28635, - 32 - ], - [ - 28935, - 32 - ], - [ - 29235, - 32 - ], - [ - 29535, - 33 - ], - [ - 29835, - 33 - ], - [ - 30135, - 33 - ], - [ - 30435, - 33 - ], - [ - 30735, - 33 - ], - [ - 31035, - 33 - ], - [ - 31335, - 33 - ], - [ - 31635, - 33 - ], - [ - 31935, - 33 - ], - [ - 32235, - 33 - ], - [ - 32535, - 33 - ], - [ - 32835, - 33 - ], - [ - 33135, - 33 - ], - [ - 33435, - 33 - ], - [ - 33735, - 33 - ], - [ - 34035, - 33 - ], - [ - 34335, - 33 - ], - [ - 34635, - 33 - ], - [ - 34935, - 33 - ], - [ - 35235, - 32 - ], - [ - 35535, - 32 - ], - [ - 35835, - 32 - ], - [ - 36135, - 32 - ], - [ - 36435, - 32 - ], - [ - 36736, - 31 - ], - [ - 37036, - 31 - ], - [ - 37337, - 29 - ] - ], - "point": [ - 151, - 106 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|+02.10|+00.73|-00.26", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 192 - ], - [ - 3335, - 193 - ], - [ - 3634, - 194 - ], - [ - 3934, - 194 - ], - [ - 4234, - 194 - ], - [ - 4533, - 196 - ], - [ - 4833, - 196 - ], - [ - 5133, - 196 - ], - [ - 5432, - 197 - ], - [ - 5732, - 198 - ], - [ - 6031, - 199 - ], - [ - 6331, - 199 - ], - [ - 6631, - 199 - ], - [ - 6930, - 201 - ], - [ - 7230, - 201 - ], - [ - 7530, - 201 - ], - [ - 7829, - 202 - ], - [ - 8129, - 203 - ], - [ - 8428, - 204 - ], - [ - 8728, - 204 - ], - [ - 9028, - 204 - ], - [ - 9327, - 206 - ], - [ - 9627, - 206 - ], - [ - 9927, - 206 - ], - [ - 10226, - 207 - ], - [ - 10526, - 208 - ], - [ - 10825, - 209 - ], - [ - 11125, - 209 - ], - [ - 11425, - 209 - ], - [ - 11724, - 211 - ], - [ - 12024, - 211 - ], - [ - 12324, - 211 - ], - [ - 12623, - 212 - ], - [ - 12923, - 213 - ], - [ - 13223, - 213 - ], - [ - 13522, - 214 - ], - [ - 13822, - 214 - ], - [ - 14121, - 216 - ], - [ - 14421, - 216 - ], - [ - 14721, - 216 - ], - [ - 15020, - 217 - ], - [ - 15320, - 218 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49279, - 4 - ], - [ - 49580, - 3 - ], - [ - 49880, - 4 - ], - [ - 50181, - 3 - ], - [ - 50481, - 11 - ], - [ - 50782, - 8 - ], - [ - 51082, - 5 - ], - [ - 51383, - 4 - ], - [ - 51683, - 4 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "PickupObject", - "objectId": "AlarmClock|+01.71|+00.73|-00.26" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 130, - 142, - 172, - 187 - ], - "mask": [ - [ - 42443, - 18 - ], - [ - 42735, - 33 - ], - [ - 43034, - 36 - ], - [ - 43333, - 38 - ], - [ - 43632, - 39 - ], - [ - 43932, - 39 - ], - [ - 44232, - 40 - ], - [ - 44531, - 41 - ], - [ - 44831, - 41 - ], - [ - 45131, - 41 - ], - [ - 45431, - 41 - ], - [ - 45731, - 41 - ], - [ - 46031, - 41 - ], - [ - 46331, - 41 - ], - [ - 46631, - 41 - ], - [ - 46931, - 42 - ], - [ - 47231, - 42 - ], - [ - 47531, - 42 - ], - [ - 47831, - 42 - ], - [ - 48130, - 43 - ], - [ - 48430, - 43 - ], - [ - 48730, - 43 - ], - [ - 49030, - 43 - ], - [ - 49330, - 43 - ], - [ - 49630, - 43 - ], - [ - 49930, - 43 - ], - [ - 50230, - 43 - ], - [ - 50531, - 42 - ], - [ - 50831, - 42 - ], - [ - 51131, - 42 - ], - [ - 51431, - 42 - ], - [ - 51731, - 42 - ], - [ - 52031, - 41 - ], - [ - 52331, - 41 - ], - [ - 52631, - 41 - ], - [ - 52931, - 41 - ], - [ - 53231, - 41 - ], - [ - 53531, - 41 - ], - [ - 53831, - 41 - ], - [ - 54131, - 41 - ], - [ - 54431, - 41 - ], - [ - 54732, - 40 - ], - [ - 55032, - 39 - ], - [ - 55332, - 39 - ], - [ - 55633, - 37 - ], - [ - 55934, - 35 - ] - ], - "point": [ - 151, - 163 - ] - } - }, - "high_idx": 5 - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|+01.71|+00.73|-00.26", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 99 - ], - [ - 3181, - 46 - ], - [ - 3335, - 99 - ], - [ - 3481, - 47 - ], - [ - 3634, - 100 - ], - [ - 3781, - 47 - ], - [ - 3934, - 99 - ], - [ - 4081, - 47 - ], - [ - 4234, - 99 - ], - [ - 4381, - 47 - ], - [ - 4533, - 100 - ], - [ - 4681, - 48 - ], - [ - 4833, - 100 - ], - [ - 4981, - 48 - ], - [ - 5133, - 100 - ], - [ - 5281, - 48 - ], - [ - 5432, - 101 - ], - [ - 5581, - 48 - ], - [ - 5732, - 101 - ], - [ - 5881, - 49 - ], - [ - 6031, - 102 - ], - [ - 6181, - 49 - ], - [ - 6331, - 102 - ], - [ - 6481, - 49 - ], - [ - 6631, - 102 - ], - [ - 6781, - 49 - ], - [ - 6930, - 103 - ], - [ - 7081, - 50 - ], - [ - 7230, - 103 - ], - [ - 7381, - 50 - ], - [ - 7530, - 103 - ], - [ - 7681, - 50 - ], - [ - 7829, - 104 - ], - [ - 7981, - 50 - ], - [ - 8129, - 104 - ], - [ - 8281, - 51 - ], - [ - 8428, - 105 - ], - [ - 8581, - 51 - ], - [ - 8728, - 105 - ], - [ - 8881, - 51 - ], - [ - 9028, - 105 - ], - [ - 9180, - 52 - ], - [ - 9327, - 105 - ], - [ - 9480, - 53 - ], - [ - 9627, - 105 - ], - [ - 9780, - 53 - ], - [ - 9927, - 105 - ], - [ - 10080, - 53 - ], - [ - 10226, - 106 - ], - [ - 10380, - 53 - ], - [ - 10526, - 106 - ], - [ - 10680, - 54 - ], - [ - 10825, - 107 - ], - [ - 10980, - 54 - ], - [ - 11125, - 107 - ], - [ - 11280, - 54 - ], - [ - 11425, - 107 - ], - [ - 11580, - 54 - ], - [ - 11724, - 109 - ], - [ - 11879, - 56 - ], - [ - 12024, - 109 - ], - [ - 12179, - 56 - ], - [ - 12324, - 109 - ], - [ - 12479, - 56 - ], - [ - 12623, - 111 - ], - [ - 12778, - 57 - ], - [ - 12923, - 112 - ], - [ - 13077, - 59 - ], - [ - 13223, - 115 - ], - [ - 13365, - 1 - ], - [ - 13374, - 62 - ], - [ - 13522, - 214 - ], - [ - 13822, - 214 - ], - [ - 14121, - 216 - ], - [ - 14421, - 216 - ], - [ - 14721, - 216 - ], - [ - 15020, - 217 - ], - [ - 15320, - 218 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49279, - 4 - ], - [ - 49580, - 3 - ], - [ - 49880, - 4 - ], - [ - 50181, - 3 - ], - [ - 50481, - 11 - ], - [ - 50782, - 8 - ], - [ - 51082, - 5 - ], - [ - 51383, - 4 - ], - [ - 51683, - 4 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -0.25, - "y": 0.9017602, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.527741432, - "y": 0.06383839, - "z": 2.307938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.703405857, - "y": 1.8393681, - "z": 1.6313374 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.51504421, - "y": 0.7326363, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.603169, - "y": 0.677696, - "z": 2.17795253 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.949556231, - "y": 0.6689956, - "z": 2.728516 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 2.10060215, - "y": 0.727130532, - "z": 0.4822775 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.5135468, - "y": 0.681197, - "z": 1.431768 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.867, - "y": 1.5044353, - "z": -0.9428743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": 1.61263728, - "y": 0.724983454, - "z": 0.4822775 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": 1.71023023, - "y": 0.727265656, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": 2.10060215, - "y": 0.727265656, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.9616481, - "y": 0.678465664, - "z": 1.80485892 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.70391047, - "y": 0.420110375, - "z": -1.40332913 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.949557245, - "y": 0.674652457, - "z": 3.075689 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.4239279, - "y": 0.678465664, - "z": 1.80486059 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -1.00225461, - "y": 1.58593035, - "z": -0.4963799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.685997, - "y": 0.506356835, - "z": 2.960729 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.589910448, - "y": 0.06533692, - "z": 2.87767076 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.637953758, - "y": 0.06518582, - "z": 3.12684536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.637953758, - "y": 0.5038933, - "z": 2.71155429 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.480186582, - "y": 0.67284447, - "z": 3.16248369 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.867, - "y": 1.49893832, - "z": -1.38936877 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.761808157, - "y": 0.6671691, - "z": 2.81531 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3769755679, - "scene_num": 318 - }, - "task_id": "trial_T20190919_024708_968984", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1GVTH5YS3WOK0_3N2BF7Y2VTBXXH5FBI06NG3J3USHMN", - "high_descs": [ - "Turn around and walk towards the desk.", - "Pick up the alarm clock that is closest to the wall from the desk.", - "Turn right, walk to the vent, and then right to the wood dresser.", - "Place the alarm clock on the dresser.", - "Turn right, take a few steps forward, and then turn right towards the desk.", - "Pick up the other alarm clock on the desk.", - "Turn right, walk to the vent, and then right to the wood dresser.", - "Place the alarm clock to the left of the other one on the dresser." - ], - "task_desc": "Transfer the two alarm clocks from the desk to the dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A16184N1RO5OJV_3PJUZCGDJ9XPXMLSJ52V5H400B798B", - "high_descs": [ - "Turn around and walk to the brown desk. ", - "Pick up the alarm clock on top of the desk and that is the nearest to the wall. ", - "Turn right and make a right turn near the AC. Go to the brown shelf. ", - "Put the alarm clock on the shelf. ", - "Walk back to the brown desk again. ", - "Pick up another alarm clock from on top of the table. ", - "Go back to the brown shelf. ", - "Put the other alarm clock next to the other clock on the shelf. " - ], - "task_desc": "Put 2 alarm clock side by side on the brown shelf near the AC", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3SFPSMFRSRTB3_36W0OB37HZVXWO4YQ7Q0VIZSIXMHZE", - "high_descs": [ - "Turn around, proceed to desk.", - "Pick up alarm clock closest to wall, farthest from pen.", - "Turn around, proceed to dresser.", - "Place alarm clock on top of dresser.", - "Turn around, proceed to desk.", - "Pick up alarm clock from top of desk.", - "Turn around, proceed to dresser.", - "Place alarm clock on top of dresser, directly to the left of the other alarm clock." - ], - "task_desc": "Move two alarm clocks to a dresser.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/traj_data.json deleted file mode 100644 index 986a3d8c0..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/traj_data.json +++ /dev/null @@ -1,5273 +0,0 @@ -{ - "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": 5 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 1, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 34 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 44 - }, - { - "high_idx": 7, - "image_name": "000000309.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000310.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000311.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000312.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000313.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000314.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000315.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000316.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000317.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000318.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000319.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000320.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000321.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000322.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000323.png", - "low_idx": 45 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-1|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - 2.5998416, - 2.5998416, - -0.988390924, - -0.988390924, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.65|+00.42|-00.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - 2.5998416, - 2.5998416, - -0.988390924, - -0.988390924, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.65|+00.42|-00.25", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|0|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - 2.599841356, - 2.599841356, - 0.3440001012, - 0.3440001012, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.65|+00.42|+00.09" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - 2.599841356, - 2.599841356, - 0.3440001012, - 0.3440001012, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.65|+00.42|+00.09", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "Book|+00.65|+00.42|-00.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 117, - 131, - 181, - 173 - ], - "mask": [ - [ - 39119, - 61 - ], - [ - 39419, - 61 - ], - [ - 39719, - 61 - ], - [ - 40019, - 61 - ], - [ - 40319, - 61 - ], - [ - 40619, - 61 - ], - [ - 40919, - 61 - ], - [ - 41219, - 61 - ], - [ - 41519, - 61 - ], - [ - 41819, - 61 - ], - [ - 42119, - 61 - ], - [ - 42418, - 62 - ], - [ - 42718, - 62 - ], - [ - 43018, - 63 - ], - [ - 43318, - 63 - ], - [ - 43618, - 63 - ], - [ - 43918, - 63 - ], - [ - 44218, - 63 - ], - [ - 44518, - 63 - ], - [ - 44818, - 63 - ], - [ - 45118, - 63 - ], - [ - 45418, - 63 - ], - [ - 45718, - 63 - ], - [ - 46018, - 63 - ], - [ - 46318, - 63 - ], - [ - 46617, - 64 - ], - [ - 46917, - 64 - ], - [ - 47217, - 64 - ], - [ - 47517, - 65 - ], - [ - 47817, - 65 - ], - [ - 48117, - 65 - ], - [ - 48417, - 65 - ], - [ - 48717, - 65 - ], - [ - 49017, - 65 - ], - [ - 49317, - 65 - ], - [ - 49617, - 65 - ], - [ - 49917, - 65 - ], - [ - 50217, - 65 - ], - [ - 50517, - 65 - ], - [ - 50817, - 65 - ], - [ - 51117, - 65 - ], - [ - 51417, - 65 - ], - [ - 51717, - 65 - ] - ], - "point": [ - 149, - 151 - ] - } - }, - "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": "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": "Book|+00.65|+00.42|-00.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 73 - ], - [ - 2957, - 43 - ], - [ - 3009, - 43 - ], - [ - 3118, - 73 - ], - [ - 3257, - 43 - ], - [ - 3308, - 44 - ], - [ - 3418, - 73 - ], - [ - 3558, - 42 - ], - [ - 3608, - 44 - ], - [ - 3718, - 73 - ], - [ - 3858, - 42 - ], - [ - 3907, - 45 - ], - [ - 4017, - 74 - ], - [ - 4158, - 42 - ], - [ - 4207, - 45 - ], - [ - 4317, - 75 - ], - [ - 4457, - 43 - ], - [ - 4507, - 45 - ], - [ - 4617, - 75 - ], - [ - 4757, - 42 - ], - [ - 4806, - 46 - ], - [ - 4917, - 75 - ], - [ - 5057, - 42 - ], - [ - 5106, - 46 - ], - [ - 5216, - 76 - ], - [ - 5357, - 42 - ], - [ - 5405, - 48 - ], - [ - 5516, - 76 - ], - [ - 5656, - 43 - ], - [ - 5705, - 48 - ], - [ - 5816, - 77 - ], - [ - 5955, - 43 - ], - [ - 6004, - 50 - ], - [ - 6116, - 77 - ], - [ - 6255, - 43 - ], - [ - 6304, - 50 - ], - [ - 6415, - 78 - ], - [ - 6554, - 44 - ], - [ - 6603, - 52 - ], - [ - 6715, - 78 - ], - [ - 6853, - 45 - ], - [ - 6903, - 53 - ], - [ - 7015, - 79 - ], - [ - 7152, - 45 - ], - [ - 7202, - 55 - ], - [ - 7315, - 79 - ], - [ - 7451, - 46 - ], - [ - 7502, - 55 - ], - [ - 7614, - 80 - ], - [ - 7751, - 46 - ], - [ - 7802, - 56 - ], - [ - 7914, - 80 - ], - [ - 8050, - 47 - ], - [ - 8101, - 58 - ], - [ - 8214, - 80 - ], - [ - 8349, - 47 - ], - [ - 8401, - 59 - ], - [ - 8514, - 81 - ], - [ - 8648, - 48 - ], - [ - 8700, - 60 - ], - [ - 8813, - 82 - ], - [ - 8947, - 49 - ], - [ - 9000, - 61 - ], - [ - 9113, - 82 - ], - [ - 9246, - 50 - ], - [ - 9300, - 62 - ], - [ - 9413, - 82 - ], - [ - 9546, - 49 - ], - [ - 9600, - 63 - ], - [ - 9713, - 83 - ], - [ - 9845, - 50 - ], - [ - 9900, - 64 - ], - [ - 10012, - 84 - ], - [ - 10144, - 51 - ], - [ - 10200, - 64 - ], - [ - 10312, - 85 - ], - [ - 10443, - 51 - ], - [ - 10500, - 65 - ], - [ - 10611, - 30 - ], - [ - 10686, - 11 - ], - [ - 10742, - 52 - ], - [ - 10800, - 66 - ], - [ - 10911, - 30 - ], - [ - 10986, - 12 - ], - [ - 11042, - 52 - ], - [ - 11100, - 67 - ], - [ - 11210, - 31 - ], - [ - 11286, - 13 - ], - [ - 11341, - 53 - ], - [ - 11400, - 68 - ], - [ - 11509, - 32 - ], - [ - 11586, - 14 - ], - [ - 11640, - 53 - ], - [ - 11700, - 68 - ], - [ - 11808, - 33 - ], - [ - 11887, - 15 - ], - [ - 11939, - 54 - ], - [ - 12000, - 69 - ], - [ - 12107, - 34 - ], - [ - 12187, - 16 - ], - [ - 12238, - 55 - ], - [ - 12300, - 70 - ], - [ - 12406, - 35 - ], - [ - 12487, - 18 - ], - [ - 12536, - 57 - ], - [ - 12600, - 72 - ], - [ - 12704, - 37 - ], - [ - 12787, - 20 - ], - [ - 12835, - 57 - ], - [ - 12900, - 73 - ], - [ - 13002, - 39 - ], - [ - 13087, - 23 - ], - [ - 13133, - 59 - ], - [ - 13200, - 75 - ], - [ - 13300, - 41 - ], - [ - 13387, - 26 - ], - [ - 13429, - 63 - ], - [ - 13500, - 78 - ], - [ - 13597, - 44 - ], - [ - 13687, - 105 - ], - [ - 13800, - 82 - ], - [ - 13892, - 49 - ], - [ - 13987, - 104 - ], - [ - 14100, - 141 - ], - [ - 14287, - 104 - ], - [ - 14400, - 141 - ], - [ - 14587, - 104 - ], - [ - 14700, - 141 - ], - [ - 14887, - 103 - ], - [ - 15000, - 98 - ], - [ - 15113, - 177 - ], - [ - 15300, - 98 - ], - [ - 15413, - 177 - ], - [ - 15600, - 98 - ], - [ - 15713, - 177 - ], - [ - 15900, - 97 - ], - [ - 16013, - 176 - ], - [ - 16200, - 97 - ], - [ - 16313, - 176 - ], - [ - 16500, - 97 - ], - [ - 16613, - 176 - ], - [ - 16800, - 97 - ], - [ - 16913, - 176 - ], - [ - 17100, - 97 - ], - [ - 17213, - 175 - ], - [ - 17400, - 97 - ], - [ - 17512, - 176 - ], - [ - 17700, - 96 - ], - [ - 17812, - 176 - ], - [ - 18000, - 96 - ], - [ - 18112, - 176 - ], - [ - 18300, - 96 - ], - [ - 18412, - 175 - ], - [ - 18600, - 96 - ], - [ - 18712, - 175 - ], - [ - 18900, - 96 - ], - [ - 19012, - 175 - ], - [ - 19200, - 96 - ], - [ - 19312, - 175 - ], - [ - 19500, - 96 - ], - [ - 19612, - 174 - ], - [ - 19800, - 95 - ], - [ - 19912, - 174 - ], - [ - 20100, - 286 - ], - [ - 20400, - 286 - ], - [ - 20700, - 288 - ], - [ - 21000, - 225 - ], - [ - 21227, - 65 - ], - [ - 21300, - 225 - ], - [ - 21527, - 68 - ], - [ - 21600, - 225 - ], - [ - 21828, - 71 - ], - [ - 21900, - 225 - ], - [ - 22128, - 298 - ], - [ - 22428, - 298 - ], - [ - 22728, - 298 - ], - [ - 23029, - 297 - ], - [ - 23329, - 297 - ], - [ - 23629, - 298 - ], - [ - 23929, - 298 - ], - [ - 24229, - 298 - ], - [ - 24530, - 297 - ], - [ - 24830, - 297 - ], - [ - 25130, - 298 - ], - [ - 25430, - 298 - ], - [ - 25730, - 298 - ], - [ - 26031, - 297 - ], - [ - 26331, - 297 - ], - [ - 26631, - 298 - ], - [ - 26931, - 298 - ], - [ - 27231, - 298 - ], - [ - 27532, - 297 - ], - [ - 27832, - 297 - ], - [ - 28132, - 298 - ], - [ - 28432, - 298 - ], - [ - 28732, - 298 - ], - [ - 29033, - 297 - ], - [ - 29333, - 297 - ], - [ - 29633, - 298 - ], - [ - 29933, - 298 - ], - [ - 30234, - 297 - ], - [ - 30534, - 297 - ], - [ - 30834, - 297 - ], - [ - 31134, - 298 - ], - [ - 31434, - 298 - ], - [ - 31735, - 297 - ], - [ - 32035, - 297 - ], - [ - 32335, - 297 - ], - [ - 32635, - 298 - ], - [ - 32935, - 298 - ], - [ - 33236, - 297 - ], - [ - 33536, - 297 - ], - [ - 33836, - 298 - ], - [ - 34136, - 298 - ], - [ - 34436, - 298 - ], - [ - 34736, - 299 - ], - [ - 35036, - 299 - ], - [ - 35336, - 4864 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "Book|+00.65|+00.42|+00.09" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 99, - 131, - 164, - 173 - ], - "mask": [ - [ - 39103, - 61 - ], - [ - 39403, - 61 - ], - [ - 39703, - 61 - ], - [ - 40003, - 61 - ], - [ - 40303, - 61 - ], - [ - 40603, - 61 - ], - [ - 40903, - 61 - ], - [ - 41202, - 62 - ], - [ - 41502, - 62 - ], - [ - 41802, - 62 - ], - [ - 42102, - 62 - ], - [ - 42402, - 62 - ], - [ - 42702, - 62 - ], - [ - 43002, - 62 - ], - [ - 43302, - 62 - ], - [ - 43602, - 62 - ], - [ - 43901, - 63 - ], - [ - 44201, - 63 - ], - [ - 44501, - 63 - ], - [ - 44801, - 63 - ], - [ - 45101, - 63 - ], - [ - 45401, - 63 - ], - [ - 45701, - 63 - ], - [ - 46001, - 63 - ], - [ - 46301, - 63 - ], - [ - 46601, - 63 - ], - [ - 46900, - 64 - ], - [ - 47200, - 64 - ], - [ - 47500, - 65 - ], - [ - 47800, - 65 - ], - [ - 48100, - 65 - ], - [ - 48400, - 65 - ], - [ - 48700, - 65 - ], - [ - 49000, - 65 - ], - [ - 49300, - 65 - ], - [ - 49599, - 66 - ], - [ - 49899, - 66 - ], - [ - 50199, - 66 - ], - [ - 50499, - 66 - ], - [ - 50799, - 66 - ], - [ - 51099, - 66 - ], - [ - 51399, - 66 - ], - [ - 51700, - 65 - ] - ], - "point": [ - 131, - 151 - ] - } - }, - "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "Book|+00.65|+00.42|+00.09", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 73 - ], - [ - 2957, - 43 - ], - [ - 3009, - 43 - ], - [ - 3118, - 73 - ], - [ - 3257, - 43 - ], - [ - 3308, - 44 - ], - [ - 3418, - 73 - ], - [ - 3558, - 42 - ], - [ - 3608, - 44 - ], - [ - 3718, - 73 - ], - [ - 3858, - 42 - ], - [ - 3907, - 45 - ], - [ - 4017, - 74 - ], - [ - 4158, - 42 - ], - [ - 4207, - 45 - ], - [ - 4317, - 75 - ], - [ - 4457, - 43 - ], - [ - 4507, - 45 - ], - [ - 4617, - 75 - ], - [ - 4757, - 42 - ], - [ - 4806, - 46 - ], - [ - 4917, - 75 - ], - [ - 5057, - 42 - ], - [ - 5106, - 46 - ], - [ - 5216, - 76 - ], - [ - 5357, - 42 - ], - [ - 5405, - 48 - ], - [ - 5516, - 76 - ], - [ - 5656, - 43 - ], - [ - 5705, - 48 - ], - [ - 5816, - 77 - ], - [ - 5955, - 43 - ], - [ - 6004, - 50 - ], - [ - 6116, - 77 - ], - [ - 6255, - 43 - ], - [ - 6304, - 50 - ], - [ - 6415, - 78 - ], - [ - 6554, - 44 - ], - [ - 6603, - 52 - ], - [ - 6715, - 78 - ], - [ - 6853, - 45 - ], - [ - 6903, - 53 - ], - [ - 7015, - 79 - ], - [ - 7152, - 45 - ], - [ - 7202, - 55 - ], - [ - 7315, - 79 - ], - [ - 7451, - 46 - ], - [ - 7502, - 55 - ], - [ - 7614, - 80 - ], - [ - 7751, - 46 - ], - [ - 7802, - 56 - ], - [ - 7914, - 80 - ], - [ - 8050, - 47 - ], - [ - 8101, - 58 - ], - [ - 8214, - 80 - ], - [ - 8349, - 47 - ], - [ - 8401, - 59 - ], - [ - 8514, - 81 - ], - [ - 8648, - 48 - ], - [ - 8700, - 60 - ], - [ - 8813, - 82 - ], - [ - 8947, - 49 - ], - [ - 9000, - 61 - ], - [ - 9113, - 82 - ], - [ - 9246, - 50 - ], - [ - 9300, - 62 - ], - [ - 9413, - 82 - ], - [ - 9546, - 49 - ], - [ - 9600, - 63 - ], - [ - 9713, - 83 - ], - [ - 9845, - 50 - ], - [ - 9900, - 64 - ], - [ - 10012, - 84 - ], - [ - 10144, - 51 - ], - [ - 10200, - 64 - ], - [ - 10312, - 85 - ], - [ - 10443, - 51 - ], - [ - 10500, - 65 - ], - [ - 10611, - 30 - ], - [ - 10686, - 11 - ], - [ - 10742, - 52 - ], - [ - 10800, - 66 - ], - [ - 10911, - 30 - ], - [ - 10986, - 12 - ], - [ - 11042, - 52 - ], - [ - 11100, - 67 - ], - [ - 11210, - 31 - ], - [ - 11286, - 13 - ], - [ - 11341, - 53 - ], - [ - 11400, - 68 - ], - [ - 11509, - 32 - ], - [ - 11586, - 14 - ], - [ - 11640, - 53 - ], - [ - 11700, - 68 - ], - [ - 11808, - 33 - ], - [ - 11887, - 15 - ], - [ - 11939, - 54 - ], - [ - 12000, - 69 - ], - [ - 12107, - 34 - ], - [ - 12187, - 16 - ], - [ - 12238, - 55 - ], - [ - 12300, - 70 - ], - [ - 12406, - 35 - ], - [ - 12487, - 18 - ], - [ - 12536, - 57 - ], - [ - 12600, - 72 - ], - [ - 12704, - 37 - ], - [ - 12787, - 20 - ], - [ - 12835, - 57 - ], - [ - 12900, - 73 - ], - [ - 13002, - 39 - ], - [ - 13087, - 23 - ], - [ - 13133, - 59 - ], - [ - 13200, - 75 - ], - [ - 13300, - 41 - ], - [ - 13387, - 26 - ], - [ - 13429, - 63 - ], - [ - 13500, - 78 - ], - [ - 13597, - 44 - ], - [ - 13687, - 105 - ], - [ - 13800, - 82 - ], - [ - 13892, - 49 - ], - [ - 13987, - 104 - ], - [ - 14100, - 141 - ], - [ - 14287, - 104 - ], - [ - 14400, - 141 - ], - [ - 14587, - 104 - ], - [ - 14700, - 141 - ], - [ - 14887, - 103 - ], - [ - 15000, - 98 - ], - [ - 15113, - 177 - ], - [ - 15300, - 98 - ], - [ - 15413, - 177 - ], - [ - 15600, - 98 - ], - [ - 15713, - 177 - ], - [ - 15900, - 97 - ], - [ - 16013, - 176 - ], - [ - 16200, - 97 - ], - [ - 16313, - 176 - ], - [ - 16500, - 97 - ], - [ - 16613, - 176 - ], - [ - 16800, - 97 - ], - [ - 16913, - 3 - ], - [ - 17015, - 74 - ], - [ - 17100, - 97 - ], - [ - 17213, - 2 - ], - [ - 17315, - 73 - ], - [ - 17400, - 97 - ], - [ - 17512, - 3 - ], - [ - 17615, - 73 - ], - [ - 17700, - 96 - ], - [ - 17812, - 3 - ], - [ - 17916, - 72 - ], - [ - 18000, - 96 - ], - [ - 18112, - 3 - ], - [ - 18216, - 72 - ], - [ - 18300, - 96 - ], - [ - 18412, - 3 - ], - [ - 18516, - 71 - ], - [ - 18600, - 96 - ], - [ - 18712, - 3 - ], - [ - 18816, - 71 - ], - [ - 18900, - 96 - ], - [ - 19012, - 3 - ], - [ - 19116, - 71 - ], - [ - 19200, - 96 - ], - [ - 19312, - 3 - ], - [ - 19416, - 71 - ], - [ - 19500, - 96 - ], - [ - 19612, - 3 - ], - [ - 19717, - 69 - ], - [ - 19800, - 95 - ], - [ - 19912, - 3 - ], - [ - 20017, - 69 - ], - [ - 20100, - 114 - ], - [ - 20317, - 69 - ], - [ - 20400, - 114 - ], - [ - 20617, - 69 - ], - [ - 20700, - 114 - ], - [ - 20917, - 71 - ], - [ - 21000, - 114 - ], - [ - 21218, - 7 - ], - [ - 21227, - 65 - ], - [ - 21300, - 114 - ], - [ - 21518, - 7 - ], - [ - 21527, - 68 - ], - [ - 21600, - 114 - ], - [ - 21818, - 7 - ], - [ - 21828, - 71 - ], - [ - 21900, - 114 - ], - [ - 22118, - 7 - ], - [ - 22128, - 186 - ], - [ - 22418, - 8 - ], - [ - 22428, - 186 - ], - [ - 22718, - 8 - ], - [ - 22728, - 186 - ], - [ - 23019, - 7 - ], - [ - 23029, - 185 - ], - [ - 23319, - 7 - ], - [ - 23329, - 184 - ], - [ - 23619, - 7 - ], - [ - 23629, - 184 - ], - [ - 23919, - 8 - ], - [ - 23929, - 184 - ], - [ - 24219, - 8 - ], - [ - 24229, - 184 - ], - [ - 24520, - 7 - ], - [ - 24530, - 183 - ], - [ - 24820, - 7 - ], - [ - 24830, - 183 - ], - [ - 25120, - 7 - ], - [ - 25130, - 183 - ], - [ - 25420, - 8 - ], - [ - 25430, - 183 - ], - [ - 25720, - 8 - ], - [ - 25730, - 183 - ], - [ - 26020, - 8 - ], - [ - 26031, - 182 - ], - [ - 26321, - 7 - ], - [ - 26331, - 181 - ], - [ - 26621, - 7 - ], - [ - 26631, - 181 - ], - [ - 26921, - 8 - ], - [ - 26931, - 181 - ], - [ - 27221, - 8 - ], - [ - 27231, - 181 - ], - [ - 27521, - 8 - ], - [ - 27532, - 180 - ], - [ - 27822, - 7 - ], - [ - 27832, - 180 - ], - [ - 28122, - 7 - ], - [ - 28132, - 180 - ], - [ - 28422, - 8 - ], - [ - 28432, - 180 - ], - [ - 28722, - 8 - ], - [ - 28732, - 180 - ], - [ - 29022, - 8 - ], - [ - 29033, - 179 - ], - [ - 29322, - 8 - ], - [ - 29333, - 178 - ], - [ - 29623, - 7 - ], - [ - 29633, - 178 - ], - [ - 29923, - 8 - ], - [ - 29933, - 178 - ], - [ - 30223, - 8 - ], - [ - 30234, - 177 - ], - [ - 30523, - 8 - ], - [ - 30534, - 177 - ], - [ - 30823, - 8 - ], - [ - 30834, - 177 - ], - [ - 31124, - 7 - ], - [ - 31134, - 177 - ], - [ - 31424, - 8 - ], - [ - 31434, - 177 - ], - [ - 31724, - 8 - ], - [ - 31735, - 176 - ], - [ - 32024, - 8 - ], - [ - 32035, - 176 - ], - [ - 32324, - 8 - ], - [ - 32335, - 176 - ], - [ - 32624, - 8 - ], - [ - 32635, - 175 - ], - [ - 32925, - 8 - ], - [ - 32935, - 175 - ], - [ - 33225, - 8 - ], - [ - 33236, - 174 - ], - [ - 33525, - 8 - ], - [ - 33536, - 174 - ], - [ - 33825, - 8 - ], - [ - 33836, - 174 - ], - [ - 34125, - 9 - ], - [ - 34136, - 176 - ], - [ - 34423, - 11 - ], - [ - 34436, - 176 - ], - [ - 34723, - 11 - ], - [ - 34736, - 176 - ], - [ - 35022, - 13 - ], - [ - 35036, - 176 - ], - [ - 35322, - 13 - ], - [ - 35336, - 176 - ], - [ - 35622, - 190 - ], - [ - 35921, - 191 - ], - [ - 36222, - 190 - ], - [ - 36522, - 3678 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 55 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.5, - "y": 0.90192616, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.000876246952, - "y": 0.9737445, - "z": -1.85263669 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": -0.579695463, - "y": 0.216542318, - "z": -1.65632987 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 2.12535763, - "y": 0.4696389, - "z": 1.39426875 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 0.213454515, - "y": 0.608711, - "z": -1.65669918 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 0.201929271, - "y": 0.9756089, - "z": -1.77894 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.4919545, - "y": 0.042244833, - "z": -1.59889674 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 0.491954535, - "y": 0.04018877, - "z": -1.76846683 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 2.34454322, - "y": 0.570296, - "z": 1.29449368 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.402982, - "y": 0.970796, - "z": -1.70524311 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": -0.394140571, - "y": 0.0367776044, - "z": -1.48585021 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": -0.117291622, - "y": 0.411041856, - "z": -1.769156 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.649960339, - "y": 0.4174855, - "z": 0.0860000253 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.6499603, - "y": 0.4174855, - "z": 0.585646749 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.6499604, - "y": 0.4174855, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 1.14513469, - "y": 0.4174855, - "z": 0.2525489 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.64864373, - "y": 0.043796692, - "z": -2.13042259 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 0.0008761799, - "y": 0.9759007, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 2.153, - "y": 0.5656478, - "z": 1.23 - }, - "rotation": { - "x": 0.000271378027, - "y": 213.033234, - "z": -0.000150506865 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 2.06845665, - "y": 0.570296, - "z": 1.40334713 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 0.398420572, - "y": 0.0367776044, - "z": -1.4858501 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": -0.5, - "y": 0.965303957, - "z": -1.715 - }, - "rotation": { - "x": 0.0, - "y": 24.1564865, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 0.11781878, - "y": 0.0361987166, - "z": -1.82499051 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -2.17149734, - "y": 0.06450559, - "z": -1.780549 - }, - "rotation": { - "x": 0.0, - "y": 77.6645, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 331906564, - "scene_num": 317 - }, - "task_id": "trial_T20190908_144510_731798", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2KAGFQU28JY43_3MHW492WW34A07MXCF6R33EU5R7VMS", - "high_descs": [ - "Turn to your left and go to the foot of the bed.", - "Pick up the book on the right corner of the end of the bed. ", - "Turn to your right and go to the right side of the wooden dresser. ", - "Place the book on the dresser, between the credit card and the pencil. ", - "Turn to your left again, and go back to thee foot of the bed so that you are facing the front of the bed.", - "Pick up the book to the right of the one on the left corner of the foot of the bed. ", - "Turn to your right and go back to the wooden dresser. ", - "Place the book on the left, corner of the dresser. " - ], - "task_desc": "Put two books on the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3HL2LL0LEPZT8_3R9WASFE227L3HZQRPRHTJ7HWZOFZO", - "high_descs": [ - "Turn around, go forward a step, turn right, go forward to the bed.", - "Take the book on the right from the bed.", - "Turn right, go to dresser, step to the left, face the dresser.", - "Put the book on the dresser to the left of the pencil.", - "Turn right, go forward a step, turn right, go forward, turn right at the bed.", - "Take the book closest to you near the center of the bed.", - "Turn right, go to dresser, step to the left, face the dresser.", - "Put the book on the dresser to the left of the first book." - ], - "task_desc": "Put two books on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2YUCJ28XANFOX_38F71OA9GWNL4A07C01NLHB8HVKFML", - "high_descs": [ - "Turn around and cross the room to the bed", - "Pick up the last book on the end at the bottom of the bed", - "turn and cross to the dresser on your right", - "place the book on the dresser", - "Turn around and go back to the bed ", - "pick up the book on the end of the bed that is sitting beside another book", - "Turn right and cross over to the dresser ", - "Place the book beside the other book on the dresser" - ], - "task_desc": "Move the books to the dresser", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/traj_data.json deleted file mode 100644 index a396b95b6..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/traj_data.json +++ /dev/null @@ -1,3838 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 6 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000129.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 23 - }, - { - "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": 23 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 26 - }, - { - "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": 28 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 29 - }, - { - "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": 29 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000211.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000224.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 40 - }, - { - "high_idx": 7, - "image_name": "000000265.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000266.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000267.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000268.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000269.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000270.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000271.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000272.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000273.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000274.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000275.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000276.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000277.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000278.png", - "low_idx": 41 - }, - { - "high_idx": 7, - "image_name": "000000279.png", - "low_idx": 41 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|0|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - 3.5901896, - 3.5901896, - 0.3440001012, - 0.3440001012, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.90|+00.42|+00.09" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - 3.5901896, - 3.5901896, - 0.3440001012, - 0.3440001012, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.90|+00.42|+00.09", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|-4|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - 5.57088756, - 5.57088756, - -1.6545864, - -1.6545864, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Book|+01.39|+00.42|-00.41" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - 5.57088756, - 5.57088756, - -1.6545864, - -1.6545864, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|+01.39|+00.42|-00.41", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|+00.90|+00.42|+00.09" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 105, - 95, - 162, - 131 - ], - "mask": [ - [ - 28309, - 53 - ], - [ - 28608, - 55 - ], - [ - 28908, - 55 - ], - [ - 29208, - 55 - ], - [ - 29508, - 55 - ], - [ - 29808, - 55 - ], - [ - 30108, - 55 - ], - [ - 30408, - 55 - ], - [ - 30708, - 55 - ], - [ - 31008, - 55 - ], - [ - 31307, - 56 - ], - [ - 31607, - 56 - ], - [ - 31907, - 56 - ], - [ - 32207, - 56 - ], - [ - 32507, - 56 - ], - [ - 32807, - 56 - ], - [ - 33107, - 56 - ], - [ - 33407, - 56 - ], - [ - 33707, - 56 - ], - [ - 34007, - 56 - ], - [ - 34306, - 57 - ], - [ - 34606, - 57 - ], - [ - 34906, - 57 - ], - [ - 35206, - 57 - ], - [ - 35506, - 57 - ], - [ - 35806, - 57 - ], - [ - 36106, - 57 - ], - [ - 36406, - 57 - ], - [ - 36706, - 57 - ], - [ - 37005, - 58 - ], - [ - 37305, - 58 - ], - [ - 37605, - 58 - ], - [ - 37905, - 58 - ], - [ - 38205, - 58 - ], - [ - 38505, - 58 - ], - [ - 38805, - 58 - ], - [ - 39105, - 58 - ] - ], - "point": [ - 133, - 112 - ] - } - }, - "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": "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": "Book|+00.90|+00.42|+00.09", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 182 - ], - [ - 3608, - 44 - ], - [ - 3718, - 182 - ], - [ - 3907, - 45 - ], - [ - 4017, - 183 - ], - [ - 4207, - 45 - ], - [ - 4317, - 183 - ], - [ - 4507, - 45 - ], - [ - 4617, - 183 - ], - [ - 4806, - 46 - ], - [ - 4917, - 183 - ], - [ - 5106, - 46 - ], - [ - 5216, - 184 - ], - [ - 5405, - 48 - ], - [ - 5516, - 184 - ], - [ - 5705, - 48 - ], - [ - 5816, - 184 - ], - [ - 6004, - 50 - ], - [ - 6116, - 184 - ], - [ - 6304, - 50 - ], - [ - 6415, - 185 - ], - [ - 6603, - 52 - ], - [ - 6715, - 185 - ], - [ - 6903, - 53 - ], - [ - 7015, - 185 - ], - [ - 7202, - 55 - ], - [ - 7315, - 185 - ], - [ - 7502, - 55 - ], - [ - 7614, - 186 - ], - [ - 7802, - 56 - ], - [ - 7914, - 186 - ], - [ - 8101, - 58 - ], - [ - 8214, - 186 - ], - [ - 8401, - 59 - ], - [ - 8514, - 246 - ], - [ - 8813, - 248 - ], - [ - 9113, - 249 - ], - [ - 9413, - 250 - ], - [ - 9713, - 251 - ], - [ - 10012, - 252 - ], - [ - 10312, - 253 - ], - [ - 10611, - 255 - ], - [ - 10911, - 256 - ], - [ - 11210, - 258 - ], - [ - 11509, - 259 - ], - [ - 11808, - 261 - ], - [ - 12107, - 263 - ], - [ - 12406, - 266 - ], - [ - 12704, - 269 - ], - [ - 13002, - 273 - ], - [ - 13300, - 278 - ], - [ - 13597, - 285 - ], - [ - 13892, - 908 - ], - [ - 14812, - 286 - ], - [ - 15114, - 281 - ], - [ - 15416, - 278 - ], - [ - 15718, - 275 - ], - [ - 16019, - 272 - ], - [ - 16320, - 270 - ], - [ - 16620, - 270 - ], - [ - 16921, - 268 - ], - [ - 17221, - 268 - ], - [ - 17503, - 4 - ], - [ - 17521, - 267 - ], - [ - 17802, - 5 - ], - [ - 17821, - 267 - ], - [ - 18102, - 5 - ], - [ - 18121, - 268 - ], - [ - 18404, - 1 - ], - [ - 18421, - 268 - ], - [ - 18720, - 269 - ], - [ - 19020, - 269 - ], - [ - 19320, - 270 - ], - [ - 19619, - 272 - ], - [ - 19918, - 273 - ], - [ - 20216, - 277 - ], - [ - 20515, - 279 - ], - [ - 20813, - 283 - ], - [ - 21111, - 291 - ], - [ - 21405, - 18795 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|+01.39|+00.42|-00.41" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 101, - 135, - 151, - 194 - ], - "mask": [ - [ - 40307, - 45 - ], - [ - 40607, - 45 - ], - [ - 40907, - 45 - ], - [ - 41206, - 46 - ], - [ - 41506, - 46 - ], - [ - 41806, - 46 - ], - [ - 42106, - 46 - ], - [ - 42406, - 46 - ], - [ - 42706, - 46 - ], - [ - 43006, - 46 - ], - [ - 43306, - 46 - ], - [ - 43606, - 46 - ], - [ - 43906, - 46 - ], - [ - 44205, - 47 - ], - [ - 44505, - 47 - ], - [ - 44805, - 47 - ], - [ - 45105, - 47 - ], - [ - 45405, - 47 - ], - [ - 45705, - 47 - ], - [ - 46005, - 47 - ], - [ - 46305, - 47 - ], - [ - 46605, - 47 - ], - [ - 46905, - 47 - ], - [ - 47204, - 48 - ], - [ - 47504, - 48 - ], - [ - 47804, - 48 - ], - [ - 48104, - 48 - ], - [ - 48404, - 48 - ], - [ - 48704, - 48 - ], - [ - 49004, - 48 - ], - [ - 49304, - 48 - ], - [ - 49604, - 48 - ], - [ - 49904, - 48 - ], - [ - 50203, - 49 - ], - [ - 50503, - 49 - ], - [ - 50803, - 49 - ], - [ - 51103, - 49 - ], - [ - 51403, - 49 - ], - [ - 51703, - 49 - ], - [ - 52003, - 49 - ], - [ - 52303, - 49 - ], - [ - 52603, - 49 - ], - [ - 52903, - 49 - ], - [ - 53203, - 49 - ], - [ - 53502, - 50 - ], - [ - 53802, - 50 - ], - [ - 54102, - 50 - ], - [ - 54402, - 50 - ], - [ - 54702, - 50 - ], - [ - 55002, - 50 - ], - [ - 55302, - 50 - ], - [ - 55602, - 50 - ], - [ - 55902, - 50 - ], - [ - 56202, - 50 - ], - [ - 56501, - 51 - ], - [ - 56801, - 51 - ], - [ - 57101, - 51 - ], - [ - 57401, - 51 - ], - [ - 57701, - 51 - ], - [ - 58002, - 50 - ] - ], - "point": [ - 126, - 163 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|+01.39|+00.42|-00.41", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 182 - ], - [ - 3608, - 44 - ], - [ - 3718, - 182 - ], - [ - 3907, - 45 - ], - [ - 4017, - 183 - ], - [ - 4207, - 45 - ], - [ - 4317, - 183 - ], - [ - 4507, - 45 - ], - [ - 4617, - 183 - ], - [ - 4806, - 46 - ], - [ - 4917, - 183 - ], - [ - 5106, - 46 - ], - [ - 5216, - 184 - ], - [ - 5405, - 48 - ], - [ - 5516, - 184 - ], - [ - 5705, - 48 - ], - [ - 5816, - 184 - ], - [ - 6004, - 50 - ], - [ - 6116, - 184 - ], - [ - 6304, - 50 - ], - [ - 6415, - 185 - ], - [ - 6603, - 52 - ], - [ - 6715, - 185 - ], - [ - 6903, - 53 - ], - [ - 7015, - 185 - ], - [ - 7202, - 55 - ], - [ - 7315, - 185 - ], - [ - 7502, - 55 - ], - [ - 7614, - 186 - ], - [ - 7802, - 56 - ], - [ - 7914, - 186 - ], - [ - 8101, - 58 - ], - [ - 8214, - 186 - ], - [ - 8401, - 59 - ], - [ - 8514, - 246 - ], - [ - 8813, - 248 - ], - [ - 9113, - 249 - ], - [ - 9413, - 250 - ], - [ - 9713, - 251 - ], - [ - 10012, - 252 - ], - [ - 10312, - 253 - ], - [ - 10611, - 255 - ], - [ - 10911, - 256 - ], - [ - 11210, - 258 - ], - [ - 11509, - 259 - ], - [ - 11808, - 261 - ], - [ - 12107, - 263 - ], - [ - 12406, - 266 - ], - [ - 12704, - 269 - ], - [ - 13002, - 273 - ], - [ - 13300, - 278 - ], - [ - 13597, - 285 - ], - [ - 13892, - 908 - ], - [ - 14812, - 286 - ], - [ - 15114, - 281 - ], - [ - 15416, - 278 - ], - [ - 15718, - 275 - ], - [ - 16019, - 272 - ], - [ - 16320, - 270 - ], - [ - 16620, - 270 - ], - [ - 17015, - 174 - ], - [ - 17315, - 174 - ], - [ - 17503, - 4 - ], - [ - 17615, - 173 - ], - [ - 17802, - 5 - ], - [ - 17916, - 172 - ], - [ - 18102, - 5 - ], - [ - 18216, - 173 - ], - [ - 18404, - 1 - ], - [ - 18516, - 173 - ], - [ - 18816, - 173 - ], - [ - 19116, - 173 - ], - [ - 19416, - 174 - ], - [ - 19717, - 174 - ], - [ - 20017, - 174 - ], - [ - 20317, - 176 - ], - [ - 20617, - 177 - ], - [ - 20813, - 1 - ], - [ - 20917, - 179 - ], - [ - 21111, - 3 - ], - [ - 21218, - 184 - ], - [ - 21405, - 9 - ], - [ - 21518, - 196 - ], - [ - 21818, - 196 - ], - [ - 22118, - 196 - ], - [ - 22418, - 196 - ], - [ - 22718, - 196 - ], - [ - 23019, - 195 - ], - [ - 23319, - 194 - ], - [ - 23619, - 194 - ], - [ - 23919, - 194 - ], - [ - 24219, - 194 - ], - [ - 24520, - 193 - ], - [ - 24820, - 193 - ], - [ - 25120, - 193 - ], - [ - 25420, - 193 - ], - [ - 25720, - 193 - ], - [ - 26020, - 193 - ], - [ - 26321, - 191 - ], - [ - 26621, - 191 - ], - [ - 26921, - 191 - ], - [ - 27221, - 191 - ], - [ - 27521, - 191 - ], - [ - 27822, - 190 - ], - [ - 28122, - 190 - ], - [ - 28422, - 190 - ], - [ - 28722, - 190 - ], - [ - 29022, - 190 - ], - [ - 29322, - 189 - ], - [ - 29623, - 188 - ], - [ - 29923, - 188 - ], - [ - 30223, - 188 - ], - [ - 30523, - 188 - ], - [ - 30823, - 188 - ], - [ - 31124, - 187 - ], - [ - 31424, - 187 - ], - [ - 31724, - 187 - ], - [ - 32024, - 187 - ], - [ - 32324, - 187 - ], - [ - 32624, - 186 - ], - [ - 32925, - 185 - ], - [ - 33225, - 185 - ], - [ - 33525, - 185 - ], - [ - 33825, - 185 - ], - [ - 34125, - 187 - ], - [ - 34423, - 189 - ], - [ - 34723, - 189 - ], - [ - 35022, - 190 - ], - [ - 35322, - 190 - ], - [ - 35622, - 190 - ], - [ - 35921, - 191 - ], - [ - 36222, - 190 - ], - [ - 36522, - 3678 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 55 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.5, - "y": 0.90192616, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.54011464, - "y": 0.043796692, - "z": -2.08177876 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": -0.487674445, - "y": 0.0392467864, - "z": -1.71194386 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.207072735, - "y": 0.8056051, - "z": -1.71194351 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.209774613, - "y": 0.413802862, - "z": -1.769156 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 2.25251436, - "y": 0.5705785, - "z": 1.18564022 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": -0.0001769905 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.8975474, - "y": 0.4174855, - "z": 0.0860000253 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 0.897547364, - "y": 0.413577348, - "z": 0.419097781 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 1.39272189, - "y": 0.4174855, - "z": -0.4136466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": -0.6022825, - "y": 0.974104941, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 0.398420572, - "y": 0.413802773, - "z": -1.60047078 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 2.14945912, - "y": 0.5656254, - "z": 1.20591164 - }, - "rotation": { - "x": 359.77594, - "y": 215.268982, - "z": 0.00233092625 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": -0.488223642, - "y": 0.6058021, - "z": -1.71292782 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 1.7037859, - "y": 0.04132751, - "z": -2.18086076 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 0.8975475, - "y": 0.477432, - "z": -0.2470977 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.64030886, - "y": 0.413577348, - "z": 0.419097781 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 0.402982116, - "y": 0.971910655, - "z": -1.70524311 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.581208348, - "y": 0.8056051, - "z": -1.76846707 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 67163163, - "scene_num": 317 - }, - "task_id": "trial_T20190910_180514_095493", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3F7G1FSFWQPLE_3LYA37P8ITE015OOMM2BNESJDT2BK1", - "high_descs": [ - "Walk over to the end of the bed.", - "Pick up the closest blue book off of the bed.", - "Turn right and walk up to the left side of the wooden dresser.", - "Put the blue book o the wooden dresser to the right of the disc.", - "Turn left and walk towards the wall, then turn left to face the bed.", - "Pick up the blue book off of the bed.", - "Turn left and walk over to the left side of the wooden dresser.", - "Put the blue book on the wooden dresser to the left of the disc." - ], - "task_desc": "Move two books from the bed to the dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A17TKHT8FEVH0R_3X66WABAJZ9QWOOSH22Q732EIKXG31", - "high_descs": [ - "Turn left and turn to the bed", - "Grab the book off of the bed", - "Turn right and go to the drawer", - "Put the book on top of the drawer", - "Turn around and go to the bed", - "Grab the book off of the bed", - "Turn around and go to the drawer", - "Put the book to the left of the book on the drawer" - ], - "task_desc": "Put two books on the top of a drawer", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AISNLDPD2DFEG_30ZX6P7VFBMB28IAL89OL6P24YG2JI", - "high_descs": [ - "Go forward, turn left at the bed", - "Pick up the book on the bed", - "Turn right, go to the dresser", - "Put the book on the dresser", - "Turn left, go forward a bit, turn left at the bed", - "Pick up the book on the bed", - "Turn left, go forward a bit, turn left at the dresser", - "Put the book on the dresser" - ], - "task_desc": "Put two books on the dresser", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/traj_data.json deleted file mode 100644 index 945dd9373..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/traj_data.json +++ /dev/null @@ -1,5380 +0,0 @@ -{ - "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": 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": 8 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "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": 2, - "image_name": "000000116.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 37 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "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": 42 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 60 - }, - { - "high_idx": 7, - "image_name": "000000332.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000333.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000334.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000335.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000336.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000337.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000338.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000339.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000340.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000341.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000342.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000343.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000344.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000345.png", - "low_idx": 61 - }, - { - "high_idx": 7, - "image_name": "000000346.png", - "low_idx": 61 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-4|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - 8.54193304, - 8.54193304, - -0.988390924, - -0.988390924, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Book|+02.14|+00.42|-00.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - 8.54193304, - 8.54193304, - -0.988390924, - -0.988390924, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|+02.14|+00.42|-00.25", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|0|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - 2.599841356, - 2.599841356, - 0.3440001012, - 0.3440001012, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 5.5319996, - 5.5319996, - 0.2920000552, - 0.2920000552, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.65|+00.42|+00.09" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - 2.599841356, - 2.599841356, - 0.3440001012, - 0.3440001012, - 1.669942, - 1.669942 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Book|+00.65|+00.42|+00.09", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|+02.14|+00.42|-00.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 153, - 109, - 201, - 163 - ], - "mask": [ - [ - 32554, - 42 - ], - [ - 32853, - 43 - ], - [ - 33153, - 44 - ], - [ - 33453, - 44 - ], - [ - 33753, - 44 - ], - [ - 34053, - 44 - ], - [ - 34353, - 44 - ], - [ - 34653, - 44 - ], - [ - 34953, - 44 - ], - [ - 35253, - 44 - ], - [ - 35553, - 44 - ], - [ - 35853, - 45 - ], - [ - 36153, - 45 - ], - [ - 36453, - 45 - ], - [ - 36753, - 45 - ], - [ - 37053, - 45 - ], - [ - 37353, - 45 - ], - [ - 37653, - 45 - ], - [ - 37953, - 45 - ], - [ - 38253, - 45 - ], - [ - 38553, - 46 - ], - [ - 38853, - 46 - ], - [ - 39153, - 46 - ], - [ - 39453, - 46 - ], - [ - 39753, - 46 - ], - [ - 40053, - 46 - ], - [ - 40353, - 46 - ], - [ - 40653, - 46 - ], - [ - 40953, - 46 - ], - [ - 41253, - 47 - ], - [ - 41553, - 47 - ], - [ - 41853, - 47 - ], - [ - 42153, - 47 - ], - [ - 42453, - 47 - ], - [ - 42753, - 47 - ], - [ - 43053, - 47 - ], - [ - 43353, - 47 - ], - [ - 43653, - 47 - ], - [ - 43953, - 48 - ], - [ - 44253, - 48 - ], - [ - 44553, - 48 - ], - [ - 44853, - 48 - ], - [ - 45153, - 48 - ], - [ - 45453, - 48 - ], - [ - 45753, - 48 - ], - [ - 46053, - 48 - ], - [ - 46353, - 48 - ], - [ - 46653, - 49 - ], - [ - 46953, - 49 - ], - [ - 47253, - 49 - ], - [ - 47553, - 49 - ], - [ - 47853, - 48 - ], - [ - 48153, - 47 - ], - [ - 48454, - 47 - ], - [ - 48755, - 46 - ] - ], - "point": [ - 177, - 135 - ] - } - }, - "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|+02.14|+00.42|-00.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 13 - ], - [ - 2898, - 102 - ], - [ - 3009, - 43 - ], - [ - 3118, - 13 - ], - [ - 3197, - 103 - ], - [ - 3308, - 44 - ], - [ - 3418, - 13 - ], - [ - 3497, - 103 - ], - [ - 3608, - 44 - ], - [ - 3718, - 13 - ], - [ - 3797, - 103 - ], - [ - 3907, - 45 - ], - [ - 4017, - 15 - ], - [ - 4097, - 103 - ], - [ - 4207, - 45 - ], - [ - 4317, - 15 - ], - [ - 4397, - 103 - ], - [ - 4507, - 45 - ], - [ - 4617, - 16 - ], - [ - 4696, - 103 - ], - [ - 4806, - 46 - ], - [ - 4917, - 16 - ], - [ - 4996, - 103 - ], - [ - 5106, - 46 - ], - [ - 5216, - 17 - ], - [ - 5296, - 103 - ], - [ - 5405, - 48 - ], - [ - 5516, - 18 - ], - [ - 5595, - 104 - ], - [ - 5705, - 48 - ], - [ - 5816, - 18 - ], - [ - 5894, - 104 - ], - [ - 6004, - 50 - ], - [ - 6116, - 19 - ], - [ - 6194, - 104 - ], - [ - 6304, - 50 - ], - [ - 6415, - 20 - ], - [ - 6493, - 105 - ], - [ - 6603, - 52 - ], - [ - 6715, - 21 - ], - [ - 6793, - 105 - ], - [ - 6903, - 53 - ], - [ - 7015, - 21 - ], - [ - 7092, - 105 - ], - [ - 7202, - 55 - ], - [ - 7315, - 22 - ], - [ - 7392, - 105 - ], - [ - 7502, - 55 - ], - [ - 7614, - 23 - ], - [ - 7691, - 106 - ], - [ - 7802, - 56 - ], - [ - 7914, - 23 - ], - [ - 7991, - 106 - ], - [ - 8101, - 58 - ], - [ - 8214, - 24 - ], - [ - 8290, - 106 - ], - [ - 8401, - 59 - ], - [ - 8514, - 24 - ], - [ - 8589, - 107 - ], - [ - 8700, - 60 - ], - [ - 8813, - 26 - ], - [ - 8889, - 107 - ], - [ - 9000, - 61 - ], - [ - 9113, - 26 - ], - [ - 9188, - 108 - ], - [ - 9300, - 62 - ], - [ - 9413, - 27 - ], - [ - 9488, - 107 - ], - [ - 9600, - 63 - ], - [ - 9713, - 27 - ], - [ - 9787, - 108 - ], - [ - 9900, - 64 - ], - [ - 10012, - 29 - ], - [ - 10087, - 108 - ], - [ - 10200, - 64 - ], - [ - 10312, - 29 - ], - [ - 10386, - 108 - ], - [ - 10500, - 65 - ], - [ - 10611, - 30 - ], - [ - 10685, - 109 - ], - [ - 10800, - 66 - ], - [ - 10911, - 31 - ], - [ - 10985, - 109 - ], - [ - 11100, - 67 - ], - [ - 11210, - 33 - ], - [ - 11284, - 110 - ], - [ - 11400, - 68 - ], - [ - 11509, - 35 - ], - [ - 11583, - 110 - ], - [ - 11700, - 68 - ], - [ - 11808, - 37 - ], - [ - 11882, - 111 - ], - [ - 12000, - 69 - ], - [ - 12107, - 39 - ], - [ - 12181, - 112 - ], - [ - 12300, - 70 - ], - [ - 12406, - 42 - ], - [ - 12479, - 114 - ], - [ - 12600, - 72 - ], - [ - 12704, - 46 - ], - [ - 12778, - 114 - ], - [ - 12900, - 73 - ], - [ - 13002, - 50 - ], - [ - 13075, - 117 - ], - [ - 13200, - 75 - ], - [ - 13300, - 56 - ], - [ - 13372, - 120 - ], - [ - 13500, - 78 - ], - [ - 13597, - 195 - ], - [ - 13800, - 82 - ], - [ - 13892, - 199 - ], - [ - 14100, - 291 - ], - [ - 14400, - 291 - ], - [ - 14700, - 290 - ], - [ - 15000, - 290 - ], - [ - 15300, - 290 - ], - [ - 15600, - 290 - ], - [ - 15900, - 289 - ], - [ - 16200, - 289 - ], - [ - 16500, - 289 - ], - [ - 16800, - 163 - ], - [ - 16965, - 124 - ], - [ - 17100, - 163 - ], - [ - 17265, - 123 - ], - [ - 17400, - 163 - ], - [ - 17566, - 122 - ], - [ - 17700, - 163 - ], - [ - 17865, - 123 - ], - [ - 18000, - 163 - ], - [ - 18165, - 123 - ], - [ - 18300, - 163 - ], - [ - 18466, - 121 - ], - [ - 18600, - 163 - ], - [ - 18766, - 121 - ], - [ - 18900, - 44 - ], - [ - 18946, - 117 - ], - [ - 19066, - 121 - ], - [ - 19200, - 37 - ], - [ - 19251, - 112 - ], - [ - 19366, - 121 - ], - [ - 19500, - 35 - ], - [ - 19553, - 110 - ], - [ - 19666, - 120 - ], - [ - 19800, - 32 - ], - [ - 19855, - 108 - ], - [ - 19966, - 120 - ], - [ - 20100, - 31 - ], - [ - 20156, - 107 - ], - [ - 20266, - 120 - ], - [ - 20400, - 29 - ], - [ - 20457, - 106 - ], - [ - 20566, - 120 - ], - [ - 20700, - 28 - ], - [ - 20757, - 106 - ], - [ - 20866, - 122 - ], - [ - 21000, - 27 - ], - [ - 21058, - 105 - ], - [ - 21166, - 126 - ], - [ - 21300, - 26 - ], - [ - 21358, - 105 - ], - [ - 21466, - 129 - ], - [ - 21600, - 26 - ], - [ - 21658, - 105 - ], - [ - 21766, - 133 - ], - [ - 21900, - 25 - ], - [ - 21958, - 105 - ], - [ - 22066, - 158 - ], - [ - 22239, - 5 - ], - [ - 22258, - 105 - ], - [ - 22366, - 158 - ], - [ - 22538, - 6 - ], - [ - 22558, - 105 - ], - [ - 22666, - 158 - ], - [ - 22838, - 5 - ], - [ - 22858, - 105 - ], - [ - 22966, - 158 - ], - [ - 23157, - 106 - ], - [ - 23266, - 158 - ], - [ - 23457, - 106 - ], - [ - 23566, - 157 - ], - [ - 23756, - 107 - ], - [ - 23866, - 158 - ], - [ - 24056, - 108 - ], - [ - 24166, - 158 - ], - [ - 24355, - 109 - ], - [ - 24466, - 159 - ], - [ - 24653, - 111 - ], - [ - 24766, - 159 - ], - [ - 24952, - 112 - ], - [ - 25066, - 160 - ], - [ - 25251, - 113 - ], - [ - 25366, - 161 - ], - [ - 25549, - 115 - ], - [ - 25667, - 162 - ], - [ - 25847, - 117 - ], - [ - 25967, - 164 - ], - [ - 26144, - 120 - ], - [ - 26267, - 297 - ], - [ - 26567, - 297 - ], - [ - 26867, - 297 - ], - [ - 27167, - 297 - ], - [ - 27467, - 297 - ], - [ - 27767, - 297 - ], - [ - 28067, - 297 - ], - [ - 28367, - 297 - ], - [ - 28667, - 298 - ], - [ - 28966, - 299 - ], - [ - 29266, - 299 - ], - [ - 29566, - 10634 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "Book|+00.65|+00.42|+00.09" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 99, - 131, - 164, - 173 - ], - "mask": [ - [ - 39103, - 61 - ], - [ - 39403, - 61 - ], - [ - 39703, - 61 - ], - [ - 40003, - 61 - ], - [ - 40303, - 61 - ], - [ - 40603, - 61 - ], - [ - 40903, - 61 - ], - [ - 41202, - 62 - ], - [ - 41502, - 62 - ], - [ - 41802, - 62 - ], - [ - 42102, - 62 - ], - [ - 42402, - 62 - ], - [ - 42702, - 62 - ], - [ - 43002, - 62 - ], - [ - 43302, - 62 - ], - [ - 43602, - 62 - ], - [ - 43901, - 63 - ], - [ - 44201, - 63 - ], - [ - 44501, - 63 - ], - [ - 44801, - 63 - ], - [ - 45101, - 63 - ], - [ - 45401, - 63 - ], - [ - 45701, - 63 - ], - [ - 46001, - 63 - ], - [ - 46301, - 63 - ], - [ - 46601, - 63 - ], - [ - 46900, - 64 - ], - [ - 47200, - 64 - ], - [ - 47500, - 65 - ], - [ - 47800, - 65 - ], - [ - 48100, - 65 - ], - [ - 48400, - 65 - ], - [ - 48700, - 65 - ], - [ - 49000, - 65 - ], - [ - 49300, - 65 - ], - [ - 49599, - 66 - ], - [ - 49899, - 66 - ], - [ - 50199, - 66 - ], - [ - 50499, - 66 - ], - [ - 50799, - 66 - ], - [ - 51099, - 66 - ], - [ - 51399, - 66 - ], - [ - 51700, - 65 - ] - ], - "point": [ - 131, - 151 - ] - } - }, - "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "Book|+00.65|+00.42|+00.09", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 13 - ], - [ - 2898, - 102 - ], - [ - 3009, - 43 - ], - [ - 3118, - 13 - ], - [ - 3197, - 103 - ], - [ - 3308, - 44 - ], - [ - 3418, - 13 - ], - [ - 3497, - 103 - ], - [ - 3608, - 44 - ], - [ - 3718, - 13 - ], - [ - 3797, - 103 - ], - [ - 3907, - 45 - ], - [ - 4017, - 15 - ], - [ - 4097, - 103 - ], - [ - 4207, - 45 - ], - [ - 4317, - 15 - ], - [ - 4397, - 103 - ], - [ - 4507, - 45 - ], - [ - 4617, - 16 - ], - [ - 4696, - 103 - ], - [ - 4806, - 46 - ], - [ - 4917, - 16 - ], - [ - 4996, - 103 - ], - [ - 5106, - 46 - ], - [ - 5216, - 17 - ], - [ - 5296, - 103 - ], - [ - 5405, - 48 - ], - [ - 5516, - 18 - ], - [ - 5595, - 104 - ], - [ - 5705, - 48 - ], - [ - 5816, - 18 - ], - [ - 5894, - 104 - ], - [ - 6004, - 50 - ], - [ - 6116, - 19 - ], - [ - 6194, - 104 - ], - [ - 6304, - 50 - ], - [ - 6415, - 20 - ], - [ - 6493, - 105 - ], - [ - 6603, - 52 - ], - [ - 6715, - 21 - ], - [ - 6793, - 105 - ], - [ - 6903, - 53 - ], - [ - 7015, - 21 - ], - [ - 7092, - 105 - ], - [ - 7202, - 55 - ], - [ - 7315, - 22 - ], - [ - 7392, - 105 - ], - [ - 7502, - 55 - ], - [ - 7614, - 23 - ], - [ - 7691, - 106 - ], - [ - 7802, - 56 - ], - [ - 7914, - 23 - ], - [ - 7991, - 106 - ], - [ - 8101, - 58 - ], - [ - 8214, - 24 - ], - [ - 8290, - 106 - ], - [ - 8401, - 59 - ], - [ - 8514, - 24 - ], - [ - 8589, - 107 - ], - [ - 8700, - 60 - ], - [ - 8813, - 26 - ], - [ - 8889, - 107 - ], - [ - 9000, - 61 - ], - [ - 9113, - 26 - ], - [ - 9188, - 108 - ], - [ - 9300, - 62 - ], - [ - 9413, - 27 - ], - [ - 9488, - 107 - ], - [ - 9600, - 63 - ], - [ - 9713, - 27 - ], - [ - 9787, - 108 - ], - [ - 9900, - 64 - ], - [ - 10012, - 29 - ], - [ - 10087, - 108 - ], - [ - 10200, - 64 - ], - [ - 10312, - 29 - ], - [ - 10386, - 108 - ], - [ - 10500, - 65 - ], - [ - 10611, - 30 - ], - [ - 10685, - 109 - ], - [ - 10800, - 66 - ], - [ - 10911, - 31 - ], - [ - 10985, - 109 - ], - [ - 11100, - 67 - ], - [ - 11210, - 33 - ], - [ - 11284, - 110 - ], - [ - 11400, - 68 - ], - [ - 11509, - 35 - ], - [ - 11583, - 110 - ], - [ - 11700, - 68 - ], - [ - 11808, - 37 - ], - [ - 11882, - 111 - ], - [ - 12000, - 69 - ], - [ - 12107, - 39 - ], - [ - 12181, - 112 - ], - [ - 12300, - 70 - ], - [ - 12406, - 42 - ], - [ - 12479, - 114 - ], - [ - 12600, - 72 - ], - [ - 12704, - 46 - ], - [ - 12778, - 114 - ], - [ - 12900, - 73 - ], - [ - 13002, - 50 - ], - [ - 13075, - 117 - ], - [ - 13200, - 75 - ], - [ - 13300, - 56 - ], - [ - 13372, - 120 - ], - [ - 13500, - 78 - ], - [ - 13597, - 195 - ], - [ - 13800, - 82 - ], - [ - 13892, - 199 - ], - [ - 14100, - 291 - ], - [ - 14400, - 291 - ], - [ - 14700, - 290 - ], - [ - 15000, - 290 - ], - [ - 15300, - 290 - ], - [ - 15600, - 290 - ], - [ - 15900, - 289 - ], - [ - 16200, - 289 - ], - [ - 16500, - 289 - ], - [ - 16800, - 52 - ], - [ - 16951, - 12 - ], - [ - 16965, - 124 - ], - [ - 17100, - 51 - ], - [ - 17251, - 12 - ], - [ - 17265, - 123 - ], - [ - 17400, - 51 - ], - [ - 17551, - 12 - ], - [ - 17566, - 122 - ], - [ - 17700, - 51 - ], - [ - 17851, - 12 - ], - [ - 17865, - 123 - ], - [ - 18000, - 51 - ], - [ - 18151, - 12 - ], - [ - 18165, - 123 - ], - [ - 18300, - 50 - ], - [ - 18451, - 12 - ], - [ - 18466, - 121 - ], - [ - 18600, - 50 - ], - [ - 18751, - 12 - ], - [ - 18766, - 121 - ], - [ - 18900, - 44 - ], - [ - 18946, - 4 - ], - [ - 19051, - 12 - ], - [ - 19066, - 121 - ], - [ - 19200, - 37 - ], - [ - 19351, - 12 - ], - [ - 19366, - 121 - ], - [ - 19500, - 35 - ], - [ - 19651, - 12 - ], - [ - 19666, - 120 - ], - [ - 19800, - 32 - ], - [ - 19951, - 12 - ], - [ - 19966, - 120 - ], - [ - 20100, - 31 - ], - [ - 20251, - 12 - ], - [ - 20266, - 120 - ], - [ - 20400, - 29 - ], - [ - 20551, - 12 - ], - [ - 20566, - 120 - ], - [ - 20700, - 28 - ], - [ - 20851, - 12 - ], - [ - 20866, - 122 - ], - [ - 21000, - 27 - ], - [ - 21151, - 12 - ], - [ - 21166, - 126 - ], - [ - 21300, - 26 - ], - [ - 21451, - 12 - ], - [ - 21466, - 129 - ], - [ - 21600, - 26 - ], - [ - 21751, - 12 - ], - [ - 21766, - 133 - ], - [ - 21900, - 25 - ], - [ - 22051, - 12 - ], - [ - 22066, - 158 - ], - [ - 22239, - 5 - ], - [ - 22351, - 12 - ], - [ - 22366, - 158 - ], - [ - 22538, - 6 - ], - [ - 22651, - 12 - ], - [ - 22666, - 158 - ], - [ - 22838, - 5 - ], - [ - 22951, - 12 - ], - [ - 22966, - 158 - ], - [ - 23251, - 12 - ], - [ - 23266, - 158 - ], - [ - 23551, - 12 - ], - [ - 23566, - 157 - ], - [ - 23851, - 12 - ], - [ - 23866, - 158 - ], - [ - 24151, - 13 - ], - [ - 24166, - 158 - ], - [ - 24451, - 13 - ], - [ - 24466, - 159 - ], - [ - 24751, - 13 - ], - [ - 24766, - 159 - ], - [ - 25051, - 13 - ], - [ - 25066, - 160 - ], - [ - 25351, - 13 - ], - [ - 25366, - 161 - ], - [ - 25651, - 13 - ], - [ - 25667, - 162 - ], - [ - 25951, - 13 - ], - [ - 25967, - 164 - ], - [ - 26251, - 13 - ], - [ - 26267, - 176 - ], - [ - 26551, - 13 - ], - [ - 26567, - 176 - ], - [ - 26851, - 13 - ], - [ - 26867, - 175 - ], - [ - 27151, - 13 - ], - [ - 27167, - 175 - ], - [ - 27451, - 13 - ], - [ - 27467, - 175 - ], - [ - 27751, - 13 - ], - [ - 27767, - 175 - ], - [ - 28051, - 13 - ], - [ - 28067, - 174 - ], - [ - 28351, - 13 - ], - [ - 28367, - 174 - ], - [ - 28651, - 13 - ], - [ - 28667, - 174 - ], - [ - 28951, - 14 - ], - [ - 28966, - 174 - ], - [ - 29251, - 14 - ], - [ - 29266, - 174 - ], - [ - 29551, - 14 - ], - [ - 29566, - 174 - ], - [ - 29851, - 189 - ], - [ - 30151, - 188 - ], - [ - 30451, - 188 - ], - [ - 30751, - 188 - ], - [ - 31051, - 188 - ], - [ - 31351, - 187 - ], - [ - 31651, - 187 - ], - [ - 31951, - 187 - ], - [ - 32251, - 186 - ], - [ - 32551, - 186 - ], - [ - 32851, - 186 - ], - [ - 33151, - 186 - ], - [ - 33451, - 185 - ], - [ - 33751, - 185 - ], - [ - 34051, - 188 - ], - [ - 34351, - 188 - ], - [ - 34651, - 189 - ], - [ - 34951, - 190 - ], - [ - 35251, - 190 - ], - [ - 35551, - 191 - ], - [ - 35851, - 191 - ], - [ - 36151, - 190 - ], - [ - 36451, - 3749 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 151, - 71 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -2.0, - "y": 0.90192616, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.201929271, - "y": 0.9737445, - "z": -1.85263681 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 0.6040349, - "y": 0.9704067, - "z": -1.63154614 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.201929152, - "y": 0.9764528, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 2.332276, - "y": 0.470867962, - "z": 1.39426875 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.649960339, - "y": 0.4174855, - "z": 0.0860000253 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 1.64030886, - "y": 0.4174855, - "z": 0.419097781 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 0.8975475, - "y": 0.477432, - "z": -0.2470977 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.64030886, - "y": 0.413577348, - "z": -0.08054888 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 2.13548326, - "y": 0.4174855, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.5383594, - "y": 0.043796692, - "z": -2.0295465 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 2.16048551, - "y": 0.5705785, - "z": 1.51220059 - }, - "rotation": { - "x": -0.000212812723, - "y": 180.0, - "z": -0.000167422841 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 2.153, - "y": 0.5656478, - "z": 1.23 - }, - "rotation": { - "x": 0.000289420423, - "y": 213.033279, - "z": -0.000146409 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": -0.602282643, - "y": 0.972299933, - "z": -1.92633379 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 0.4919545, - "y": 0.800788045, - "z": -1.76846683 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 0.6499603, - "y": 0.477432, - "z": 0.419097781 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": -0.5, - "y": 0.965303957, - "z": -1.715 - }, - "rotation": { - "x": 0.0, - "y": 24.1564865, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 1.70203054, - "y": 0.0400984623, - "z": -2.12862849 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.394140571, - "y": 0.042244833, - "z": -1.5988971 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2191426653, - "scene_num": 317 - }, - "task_id": "trial_T20190910_180738_291661", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3HL2LL0LEPZT8_30IQTZXKANX51IKLNPKBTR42IY3X09", - "high_descs": [ - "Turn right, go forward to the trash bin, turn left, go forward to the wall, turn left to the bed.", - "Take the closest book from the bed.", - "Turn left, go forward, turn left at the dresser.", - "Put the book to the left of the pen on the dresser.", - "Turn around, go forward, turn right to face the bed.", - "Take the closest book from the bed.", - "Turn right, go forward to the dresser, go left a step, face the dresser.", - "Put the book to the right of the pen on the dresser." - ], - "task_desc": "Put two books on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3D8YOU6S9HB8YPC5K9P5ILFP1JM6U5", - "high_descs": [ - "Turn right, turn left at the waste baskets, turn left and face the head of the bed. ", - "Pick up the book to the right of the laptop. ", - "Turn left, turn left again to face the wooden dresser. ", - "Place the book on the dresser to the left of the pen. ", - "Turn around and face the foot of the bed. ", - "Pick up the book between the two cushions on the bed. ", - "Turn right and walk back to the wooden dresser. ", - "Put the book down on the wooden dresser to the right of the pen. " - ], - "task_desc": "To move two books from the bed to the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3KGTPGBS60CKGOT4X7D2S8YDLEGU28", - "high_descs": [ - "Turn right and walk across the room, then hang a left and walk up to the side of the bed.", - "Pick up the closest book off of the bed.", - "Turn left and walk over to the dresser, the turn left to face it.", - "Put the book on the left side of the dresser to the right of the disc.", - "Walk over to the end of the bed.", - "Pick up the closest blue book off of the bed.", - "Turn right and walk over to the left side of the dresser.", - "Put the blue book on the dresser to the right of the pencil." - ], - "task_desc": "Move two books from the bed to the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085245_031882/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085245_031882/traj_data.json deleted file mode 100644 index e83e07174..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085245_031882/traj_data.json +++ /dev/null @@ -1,4510 +0,0 @@ -{ - "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": 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": 1, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "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": 3, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 26 - }, - { - "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": 26 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 50 - }, - { - "high_idx": 7, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000296.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000297.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000298.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000299.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000300.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000301.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000302.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000303.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000304.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000305.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000306.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000307.png", - "low_idx": 51 - }, - { - "high_idx": 7, - "image_name": "000000308.png", - "low_idx": 51 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-6|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - -3.2722756, - -3.2722756, - -4.00604152, - -4.00604152, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -3.396, - -3.396, - -1.44, - -1.44, - -0.08, - -0.08 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.82|+00.69|-01.00" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - -3.2722756, - -3.2722756, - -4.00604152, - -4.00604152, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.82|+00.69|-01.00", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-1|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - -0.35243512, - -0.35243512, - -1.44, - -1.44, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -3.396, - -3.396, - -1.44, - -1.44, - -0.08, - -0.08 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.09|+00.69|-00.36" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - -0.35243512, - -0.35243512, - -1.44, - -1.44, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.09|+00.69|-00.36", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|-00.82|+00.69|-01.00" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 91, - 105, - 168, - 204 - ], - "mask": [ - [ - 31304, - 62 - ], - [ - 31602, - 64 - ], - [ - 31902, - 64 - ], - [ - 32202, - 64 - ], - [ - 32502, - 64 - ], - [ - 32802, - 64 - ], - [ - 33102, - 64 - ], - [ - 33402, - 64 - ], - [ - 33701, - 65 - ], - [ - 34001, - 65 - ], - [ - 34301, - 65 - ], - [ - 34601, - 65 - ], - [ - 34901, - 65 - ], - [ - 35201, - 65 - ], - [ - 35501, - 65 - ], - [ - 35801, - 65 - ], - [ - 36101, - 65 - ], - [ - 36400, - 66 - ], - [ - 36700, - 66 - ], - [ - 37000, - 66 - ], - [ - 37300, - 66 - ], - [ - 37600, - 66 - ], - [ - 37900, - 66 - ], - [ - 38200, - 67 - ], - [ - 38500, - 67 - ], - [ - 38799, - 68 - ], - [ - 39099, - 68 - ], - [ - 39399, - 68 - ], - [ - 39699, - 68 - ], - [ - 39999, - 68 - ], - [ - 40299, - 68 - ], - [ - 40599, - 68 - ], - [ - 40899, - 68 - ], - [ - 41199, - 68 - ], - [ - 41498, - 69 - ], - [ - 41798, - 69 - ], - [ - 42098, - 69 - ], - [ - 42398, - 69 - ], - [ - 42698, - 69 - ], - [ - 42998, - 69 - ], - [ - 43298, - 69 - ], - [ - 43598, - 69 - ], - [ - 43897, - 70 - ], - [ - 44197, - 70 - ], - [ - 44497, - 70 - ], - [ - 44797, - 70 - ], - [ - 45097, - 70 - ], - [ - 45397, - 70 - ], - [ - 45697, - 71 - ], - [ - 45997, - 71 - ], - [ - 46297, - 71 - ], - [ - 46596, - 72 - ], - [ - 46896, - 72 - ], - [ - 47196, - 72 - ], - [ - 47496, - 72 - ], - [ - 47796, - 72 - ], - [ - 48096, - 72 - ], - [ - 48396, - 72 - ], - [ - 48696, - 72 - ], - [ - 48995, - 73 - ], - [ - 49295, - 73 - ], - [ - 49595, - 73 - ], - [ - 49895, - 73 - ], - [ - 50195, - 73 - ], - [ - 50495, - 73 - ], - [ - 50795, - 73 - ], - [ - 51095, - 73 - ], - [ - 51395, - 73 - ], - [ - 51694, - 74 - ], - [ - 51994, - 74 - ], - [ - 52294, - 74 - ], - [ - 52594, - 74 - ], - [ - 52894, - 74 - ], - [ - 53194, - 74 - ], - [ - 53494, - 75 - ], - [ - 53794, - 75 - ], - [ - 54093, - 76 - ], - [ - 54393, - 76 - ], - [ - 54693, - 76 - ], - [ - 54993, - 76 - ], - [ - 55293, - 76 - ], - [ - 55593, - 76 - ], - [ - 55893, - 76 - ], - [ - 56193, - 76 - ], - [ - 56493, - 76 - ], - [ - 56792, - 77 - ], - [ - 57092, - 77 - ], - [ - 57392, - 77 - ], - [ - 57692, - 77 - ], - [ - 57992, - 77 - ], - [ - 58292, - 77 - ], - [ - 58592, - 77 - ], - [ - 58892, - 77 - ], - [ - 59191, - 78 - ], - [ - 59491, - 78 - ], - [ - 59791, - 78 - ], - [ - 60091, - 78 - ], - [ - 60391, - 78 - ], - [ - 60692, - 77 - ], - [ - 60994, - 75 - ] - ], - "point": [ - 129, - 153 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|-00.82|+00.69|-01.00", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 240 - ], - [ - 18381, - 240 - ], - [ - 18682, - 240 - ], - [ - 18983, - 240 - ], - [ - 19283, - 242 - ], - [ - 19584, - 243 - ], - [ - 19884, - 247 - ], - [ - 20185, - 250 - ], - [ - 20486, - 252 - ], - [ - 20786, - 253 - ], - [ - 21087, - 252 - ], - [ - 21387, - 252 - ], - [ - 21688, - 251 - ], - [ - 21988, - 251 - ], - [ - 22289, - 250 - ], - [ - 22589, - 250 - ], - [ - 22889, - 250 - ], - [ - 23190, - 249 - ], - [ - 23490, - 250 - ], - [ - 23790, - 250 - ], - [ - 24090, - 250 - ], - [ - 24390, - 250 - ], - [ - 24690, - 251 - ], - [ - 24990, - 251 - ], - [ - 25290, - 251 - ], - [ - 25590, - 251 - ], - [ - 25889, - 252 - ], - [ - 26189, - 253 - ], - [ - 26488, - 254 - ], - [ - 26788, - 255 - ], - [ - 27087, - 256 - ], - [ - 27386, - 258 - ], - [ - 27685, - 260 - ], - [ - 27984, - 261 - ], - [ - 28283, - 263 - ], - [ - 28582, - 265 - ], - [ - 28881, - 267 - ], - [ - 29179, - 271 - ], - [ - 29477, - 275 - ], - [ - 29775, - 278 - ], - [ - 30073, - 287 - ], - [ - 30366, - 7810 - ], - [ - 38327, - 148 - ], - [ - 38628, - 147 - ], - [ - 38928, - 147 - ], - [ - 39228, - 147 - ], - [ - 39528, - 146 - ], - [ - 39828, - 146 - ], - [ - 40128, - 146 - ], - [ - 40429, - 145 - ], - [ - 40729, - 145 - ], - [ - 41029, - 145 - ], - [ - 41329, - 144 - ], - [ - 41629, - 144 - ], - [ - 41929, - 144 - ], - [ - 42230, - 143 - ], - [ - 42530, - 143 - ], - [ - 42830, - 142 - ], - [ - 43130, - 142 - ], - [ - 43430, - 142 - ], - [ - 43731, - 141 - ], - [ - 44031, - 141 - ], - [ - 44331, - 141 - ], - [ - 44631, - 140 - ], - [ - 44931, - 140 - ], - [ - 45231, - 140 - ], - [ - 45532, - 139 - ], - [ - 45832, - 139 - ], - [ - 46132, - 139 - ], - [ - 46432, - 138 - ], - [ - 46732, - 138 - ], - [ - 47033, - 137 - ], - [ - 47333, - 137 - ], - [ - 47633, - 137 - ], - [ - 47933, - 137 - ], - [ - 48233, - 67 - ], - [ - 57000, - 2 - ], - [ - 57300, - 3 - ], - [ - 57600, - 6 - ], - [ - 57902, - 4 - ], - [ - 58203, - 4 - ], - [ - 58505, - 3 - ], - [ - 58806, - 4 - ], - [ - 59107, - 4 - ], - [ - 59409, - 3 - ], - [ - 59710, - 4 - ], - [ - 60012, - 3 - ], - [ - 60313, - 3 - ], - [ - 60614, - 4 - ], - [ - 60916, - 3 - ], - [ - 61217, - 4 - ], - [ - 61519, - 3 - ], - [ - 61820, - 3 - ], - [ - 62121, - 4 - ], - [ - 62423, - 3 - ], - [ - 62724, - 3 - ], - [ - 63025, - 4 - ], - [ - 63327, - 3 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 149, - 126 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|-00.09|+00.69|-00.36" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 64, - 104, - 175, - 162 - ], - "mask": [ - [ - 30974, - 99 - ], - [ - 31274, - 99 - ], - [ - 31574, - 99 - ], - [ - 31873, - 100 - ], - [ - 32173, - 100 - ], - [ - 32473, - 101 - ], - [ - 32773, - 101 - ], - [ - 33073, - 101 - ], - [ - 33372, - 102 - ], - [ - 33672, - 102 - ], - [ - 33972, - 102 - ], - [ - 34272, - 102 - ], - [ - 34572, - 102 - ], - [ - 34872, - 102 - ], - [ - 35171, - 103 - ], - [ - 35471, - 103 - ], - [ - 35771, - 103 - ], - [ - 36071, - 103 - ], - [ - 36371, - 103 - ], - [ - 36670, - 104 - ], - [ - 36970, - 104 - ], - [ - 37270, - 104 - ], - [ - 37570, - 104 - ], - [ - 37870, - 105 - ], - [ - 38169, - 106 - ], - [ - 38469, - 106 - ], - [ - 38769, - 106 - ], - [ - 39069, - 106 - ], - [ - 39369, - 106 - ], - [ - 39669, - 106 - ], - [ - 39968, - 107 - ], - [ - 40268, - 107 - ], - [ - 40568, - 107 - ], - [ - 40868, - 107 - ], - [ - 41168, - 107 - ], - [ - 41467, - 108 - ], - [ - 41767, - 108 - ], - [ - 42067, - 108 - ], - [ - 42367, - 108 - ], - [ - 42667, - 108 - ], - [ - 42966, - 110 - ], - [ - 43266, - 110 - ], - [ - 43566, - 110 - ], - [ - 43866, - 110 - ], - [ - 44166, - 110 - ], - [ - 44466, - 110 - ], - [ - 44765, - 111 - ], - [ - 45065, - 111 - ], - [ - 45365, - 111 - ], - [ - 45665, - 111 - ], - [ - 45965, - 111 - ], - [ - 46264, - 112 - ], - [ - 46564, - 112 - ], - [ - 46864, - 112 - ], - [ - 47164, - 112 - ], - [ - 47466, - 109 - ], - [ - 47767, - 108 - ], - [ - 48067, - 108 - ], - [ - 48367, - 108 - ] - ], - "point": [ - 119, - 132 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|-00.09|+00.69|-00.36", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 240 - ], - [ - 18381, - 240 - ], - [ - 18682, - 240 - ], - [ - 18983, - 240 - ], - [ - 19283, - 242 - ], - [ - 19584, - 243 - ], - [ - 19884, - 247 - ], - [ - 20185, - 250 - ], - [ - 20486, - 252 - ], - [ - 20786, - 253 - ], - [ - 21087, - 252 - ], - [ - 21387, - 252 - ], - [ - 21688, - 251 - ], - [ - 21988, - 251 - ], - [ - 22289, - 250 - ], - [ - 22589, - 250 - ], - [ - 22889, - 250 - ], - [ - 23190, - 249 - ], - [ - 23490, - 250 - ], - [ - 23790, - 250 - ], - [ - 24090, - 250 - ], - [ - 24390, - 31 - ], - [ - 24528, - 112 - ], - [ - 24690, - 30 - ], - [ - 24828, - 113 - ], - [ - 24990, - 30 - ], - [ - 25128, - 113 - ], - [ - 25290, - 30 - ], - [ - 25429, - 112 - ], - [ - 25590, - 30 - ], - [ - 25729, - 112 - ], - [ - 25889, - 31 - ], - [ - 26029, - 112 - ], - [ - 26189, - 31 - ], - [ - 26329, - 113 - ], - [ - 26488, - 32 - ], - [ - 26629, - 113 - ], - [ - 26788, - 32 - ], - [ - 26930, - 113 - ], - [ - 27087, - 33 - ], - [ - 27230, - 113 - ], - [ - 27386, - 34 - ], - [ - 27530, - 114 - ], - [ - 27685, - 35 - ], - [ - 27830, - 115 - ], - [ - 27984, - 36 - ], - [ - 28130, - 115 - ], - [ - 28283, - 37 - ], - [ - 28431, - 115 - ], - [ - 28582, - 37 - ], - [ - 28731, - 116 - ], - [ - 28881, - 38 - ], - [ - 29031, - 117 - ], - [ - 29179, - 40 - ], - [ - 29331, - 119 - ], - [ - 29477, - 42 - ], - [ - 29631, - 121 - ], - [ - 29775, - 44 - ], - [ - 29932, - 121 - ], - [ - 30073, - 46 - ], - [ - 30232, - 128 - ], - [ - 30366, - 53 - ], - [ - 30532, - 187 - ], - [ - 30832, - 187 - ], - [ - 31132, - 187 - ], - [ - 31433, - 186 - ], - [ - 31733, - 186 - ], - [ - 32033, - 186 - ], - [ - 32333, - 185 - ], - [ - 32633, - 185 - ], - [ - 32934, - 184 - ], - [ - 33234, - 184 - ], - [ - 33534, - 184 - ], - [ - 33834, - 184 - ], - [ - 34134, - 184 - ], - [ - 34435, - 183 - ], - [ - 34735, - 183 - ], - [ - 35035, - 183 - ], - [ - 35335, - 183 - ], - [ - 35635, - 183 - ], - [ - 35936, - 182 - ], - [ - 36236, - 181 - ], - [ - 36536, - 181 - ], - [ - 36836, - 181 - ], - [ - 37137, - 180 - ], - [ - 37437, - 180 - ], - [ - 37737, - 180 - ], - [ - 38037, - 139 - ], - [ - 38337, - 138 - ], - [ - 38638, - 137 - ], - [ - 38938, - 137 - ], - [ - 39238, - 137 - ], - [ - 39538, - 136 - ], - [ - 39838, - 136 - ], - [ - 40139, - 135 - ], - [ - 40439, - 135 - ], - [ - 40739, - 135 - ], - [ - 41039, - 135 - ], - [ - 41339, - 134 - ], - [ - 41639, - 134 - ], - [ - 41939, - 134 - ], - [ - 42239, - 134 - ], - [ - 42539, - 134 - ], - [ - 42838, - 134 - ], - [ - 43138, - 134 - ], - [ - 43430, - 142 - ], - [ - 43731, - 141 - ], - [ - 44031, - 141 - ], - [ - 44331, - 141 - ], - [ - 44631, - 140 - ], - [ - 44931, - 140 - ], - [ - 45231, - 140 - ], - [ - 45532, - 139 - ], - [ - 45832, - 139 - ], - [ - 46132, - 139 - ], - [ - 46432, - 138 - ], - [ - 46732, - 138 - ], - [ - 47033, - 137 - ], - [ - 47333, - 137 - ], - [ - 47633, - 137 - ], - [ - 47933, - 137 - ], - [ - 48233, - 67 - ], - [ - 57000, - 2 - ], - [ - 57300, - 3 - ], - [ - 57600, - 6 - ], - [ - 57902, - 4 - ], - [ - 58203, - 4 - ], - [ - 58505, - 3 - ], - [ - 58806, - 4 - ], - [ - 59107, - 4 - ], - [ - 59409, - 3 - ], - [ - 59710, - 4 - ], - [ - 60012, - 3 - ], - [ - 60313, - 3 - ], - [ - 60614, - 4 - ], - [ - 60916, - 3 - ], - [ - 61217, - 4 - ], - [ - 61519, - 3 - ], - [ - 61820, - 3 - ], - [ - 62121, - 4 - ], - [ - 62423, - 3 - ], - [ - 62724, - 3 - ], - [ - 63025, - 4 - ], - [ - 63327, - 3 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 116, - 126 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.25, - "y": 0.9020053, - "z": -2.25 - }, - "object_poses": [ - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.633471, - "y": 0.339171976, - "z": -2.38615656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.680097, - "y": 0.6618355, - "z": -2.38615656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 0.513281167, - "y": 0.6733728, - "z": -2.60899949 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.08810878, - "y": 0.694788158, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.8180689, - "y": 0.694788158, - "z": -1.00151038 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.8180689, - "y": 0.694788158, - "z": 0.06767362 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.633471, - "y": 0.5016058, - "z": -2.21154881 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900017, - "y": 0.665941238, - "z": -2.57899928 - }, - "rotation": { - "x": 0.02053208, - "y": -0.000228451157, - "z": -0.000104976 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.633471, - "y": 0.656178653, - "z": -1.376796 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.3314289, - "y": 0.6930849, - "z": 0.06767362 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.58684492, - "y": 0.6609717, - "z": -1.55140376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.680097, - "y": 0.338636845, - "z": -1.28949213 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -1.548029, - "y": 0.7552619, - "z": 0.06767362 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -1.508, - "y": 0.685, - "z": -0.378 - }, - "rotation": { - "x": 0.0, - "y": 288.596283, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -1.061389, - "y": 0.6954822, - "z": 0.06767365 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.58684492, - "y": 0.5004893, - "z": -1.94963694 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.3181601, - "y": 0.186121568, - "z": -2.59877539 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2172344511, - "scene_num": 324 - }, - "task_id": "trial_T20190908_085245_031882", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A20FCMWP43CVIU_3GS6S824STOTXE72EQQN2KM8HPYNW7", - "high_descs": [ - "walk to face the left side of the bed", - "pick up the book closest to the edge of the bed", - "turn right to walk to the dresser", - "place the book on the dresser", - "turn left to face the bottom of the bed", - "pick up the book on the edge of the bed", - "turn left, walk to face the dresser", - "put the book on the dresser directly to the right of the other book" - ], - "task_desc": "put two books on a dresser", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3IQ1VMJRYWBB1Z05CBBQ2UUXKG8A9C", - "high_descs": [ - "Walk to the bed in front of you. ", - "Pick up the book from the bed that's closest to you. ", - "Turn right and walk to the wooden dresser. ", - "Put the book on the dresser to the right of the lamp. ", - "Turn left and face the foot of the bed. ", - "Pick up the book to the left of the laptop. ", - "Turn left and walk back over to the dresser. ", - "Put the book down to the right of the first book. " - ], - "task_desc": "Move two books from the bed to the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "ARB8SJAWXUWTD_37UQDCYH60MRF4FA8942KLH4A03V74", - "high_descs": [ - "Go to the bed", - "Pick up a book from the bed", - "Go to the dresser", - "Place the book on top of the dresser", - "Go to the bed", - "Pick up another book from the bed", - "Go to the dresser", - "Place the second book next to the first book on top of the dresser" - ], - "task_desc": "Move two books from a bed to a dresser top", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085337_381415/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085337_381415/traj_data.json deleted file mode 100644 index 970b469e1..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085337_381415/traj_data.json +++ /dev/null @@ -1,5076 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 8 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 11 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 13 - }, - { - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "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": 3, - "image_name": "000000146.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 20 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 20 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000338.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000339.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000340.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000341.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000342.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000343.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000344.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000345.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000346.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000347.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000348.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000349.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000350.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000351.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000352.png", - "low_idx": 64 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|-6|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - -1.3257156, - -1.3257156, - -3.150694608, - -3.150694608, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -3.396, - -3.396, - -1.44, - -1.44, - -0.08, - -0.08 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.33|+00.69|-00.79" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - -1.3257156, - -1.3257156, - -3.150694608, - -3.150694608, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.33|+00.69|-00.79", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|3|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - -2.2989956, - -2.2989956, - 1.126041412, - 1.126041412, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -3.396, - -3.396, - -1.44, - -1.44, - -0.08, - -0.08 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.57|+00.69|+00.28" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - -2.2989956, - -2.2989956, - 1.126041412, - 1.126041412, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.57|+00.69|+00.28", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "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": "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": "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": "Book|-00.33|+00.69|-00.79" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 94, - 69, - 163, - 151 - ], - "mask": [ - [ - 20504, - 57 - ], - [ - 20804, - 57 - ], - [ - 21104, - 57 - ], - [ - 21403, - 58 - ], - [ - 21703, - 58 - ], - [ - 22003, - 58 - ], - [ - 22303, - 59 - ], - [ - 22603, - 59 - ], - [ - 22903, - 59 - ], - [ - 23203, - 59 - ], - [ - 23502, - 60 - ], - [ - 23802, - 60 - ], - [ - 24102, - 60 - ], - [ - 24402, - 60 - ], - [ - 24702, - 60 - ], - [ - 25002, - 60 - ], - [ - 25302, - 60 - ], - [ - 25602, - 60 - ], - [ - 25901, - 61 - ], - [ - 26201, - 61 - ], - [ - 26501, - 61 - ], - [ - 26801, - 61 - ], - [ - 27101, - 61 - ], - [ - 27401, - 61 - ], - [ - 27701, - 61 - ], - [ - 28001, - 61 - ], - [ - 28300, - 62 - ], - [ - 28600, - 62 - ], - [ - 28900, - 62 - ], - [ - 29200, - 62 - ], - [ - 29500, - 62 - ], - [ - 29800, - 62 - ], - [ - 30100, - 62 - ], - [ - 30400, - 62 - ], - [ - 30699, - 63 - ], - [ - 30999, - 63 - ], - [ - 31299, - 63 - ], - [ - 31599, - 63 - ], - [ - 31899, - 63 - ], - [ - 32199, - 64 - ], - [ - 32499, - 64 - ], - [ - 32799, - 64 - ], - [ - 33098, - 65 - ], - [ - 33398, - 65 - ], - [ - 33698, - 65 - ], - [ - 33998, - 65 - ], - [ - 34298, - 65 - ], - [ - 34598, - 65 - ], - [ - 34898, - 65 - ], - [ - 35198, - 65 - ], - [ - 35497, - 66 - ], - [ - 35797, - 66 - ], - [ - 36097, - 66 - ], - [ - 36397, - 66 - ], - [ - 36697, - 66 - ], - [ - 36997, - 66 - ], - [ - 37297, - 66 - ], - [ - 37597, - 66 - ], - [ - 37896, - 67 - ], - [ - 38196, - 67 - ], - [ - 38496, - 67 - ], - [ - 38796, - 67 - ], - [ - 39096, - 67 - ], - [ - 39396, - 67 - ], - [ - 39696, - 67 - ], - [ - 39996, - 67 - ], - [ - 40295, - 68 - ], - [ - 40595, - 68 - ], - [ - 40895, - 68 - ], - [ - 41195, - 68 - ], - [ - 41495, - 68 - ], - [ - 41795, - 69 - ], - [ - 42095, - 69 - ], - [ - 42395, - 69 - ], - [ - 42694, - 70 - ], - [ - 42994, - 70 - ], - [ - 43294, - 70 - ], - [ - 43594, - 70 - ], - [ - 43894, - 69 - ], - [ - 44194, - 69 - ], - [ - 44494, - 69 - ], - [ - 44795, - 68 - ], - [ - 45096, - 67 - ] - ], - "point": [ - 128, - 109 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|-00.33|+00.69|-00.79", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 240 - ], - [ - 18381, - 240 - ], - [ - 18682, - 240 - ], - [ - 18983, - 240 - ], - [ - 19283, - 242 - ], - [ - 19584, - 243 - ], - [ - 19884, - 247 - ], - [ - 20185, - 250 - ], - [ - 20486, - 252 - ], - [ - 20786, - 253 - ], - [ - 21087, - 252 - ], - [ - 21387, - 252 - ], - [ - 21688, - 251 - ], - [ - 21988, - 251 - ], - [ - 22289, - 250 - ], - [ - 22589, - 250 - ], - [ - 22889, - 250 - ], - [ - 23190, - 249 - ], - [ - 23490, - 250 - ], - [ - 23790, - 250 - ], - [ - 24090, - 250 - ], - [ - 24390, - 250 - ], - [ - 24690, - 251 - ], - [ - 24990, - 251 - ], - [ - 25290, - 251 - ], - [ - 25590, - 251 - ], - [ - 25889, - 252 - ], - [ - 26189, - 253 - ], - [ - 26488, - 254 - ], - [ - 26788, - 255 - ], - [ - 27087, - 256 - ], - [ - 27386, - 258 - ], - [ - 27685, - 260 - ], - [ - 27984, - 261 - ], - [ - 28283, - 263 - ], - [ - 28582, - 265 - ], - [ - 28881, - 267 - ], - [ - 29179, - 271 - ], - [ - 29477, - 275 - ], - [ - 29775, - 278 - ], - [ - 30073, - 287 - ], - [ - 30366, - 7810 - ], - [ - 38327, - 148 - ], - [ - 38628, - 147 - ], - [ - 38928, - 147 - ], - [ - 39228, - 147 - ], - [ - 39528, - 146 - ], - [ - 39828, - 146 - ], - [ - 40128, - 146 - ], - [ - 40429, - 145 - ], - [ - 40729, - 145 - ], - [ - 41029, - 145 - ], - [ - 41329, - 144 - ], - [ - 41629, - 144 - ], - [ - 41929, - 144 - ], - [ - 42230, - 143 - ], - [ - 42530, - 143 - ], - [ - 42830, - 142 - ], - [ - 43130, - 142 - ], - [ - 43430, - 142 - ], - [ - 43731, - 141 - ], - [ - 44031, - 141 - ], - [ - 44331, - 141 - ], - [ - 44631, - 140 - ], - [ - 44931, - 140 - ], - [ - 45231, - 140 - ], - [ - 45532, - 139 - ], - [ - 45832, - 139 - ], - [ - 46132, - 139 - ], - [ - 46432, - 138 - ], - [ - 46732, - 138 - ], - [ - 47033, - 137 - ], - [ - 47333, - 137 - ], - [ - 47633, - 137 - ], - [ - 47933, - 137 - ], - [ - 48233, - 67 - ], - [ - 57000, - 2 - ], - [ - 57300, - 3 - ], - [ - 57600, - 6 - ], - [ - 57902, - 4 - ], - [ - 58203, - 4 - ], - [ - 58505, - 3 - ], - [ - 58806, - 4 - ], - [ - 59107, - 4 - ], - [ - 59409, - 3 - ], - [ - 59710, - 4 - ], - [ - 60012, - 3 - ], - [ - 60313, - 3 - ], - [ - 60614, - 4 - ], - [ - 60916, - 3 - ], - [ - 61217, - 4 - ], - [ - 61519, - 3 - ], - [ - 61820, - 3 - ], - [ - 62121, - 4 - ], - [ - 62423, - 3 - ], - [ - 62724, - 3 - ], - [ - 63025, - 4 - ], - [ - 63327, - 3 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 149, - 126 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|-00.57|+00.69|+00.28" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 132, - 111, - 211, - 212 - ], - "mask": [ - [ - 33136, - 63 - ], - [ - 33436, - 64 - ], - [ - 33736, - 64 - ], - [ - 34036, - 64 - ], - [ - 34336, - 64 - ], - [ - 34636, - 65 - ], - [ - 34936, - 65 - ], - [ - 35236, - 65 - ], - [ - 35535, - 66 - ], - [ - 35835, - 66 - ], - [ - 36135, - 66 - ], - [ - 36435, - 66 - ], - [ - 36735, - 66 - ], - [ - 37035, - 66 - ], - [ - 37335, - 67 - ], - [ - 37635, - 67 - ], - [ - 37935, - 67 - ], - [ - 38235, - 67 - ], - [ - 38535, - 67 - ], - [ - 38835, - 67 - ], - [ - 39135, - 67 - ], - [ - 39435, - 67 - ], - [ - 39735, - 68 - ], - [ - 40035, - 68 - ], - [ - 40335, - 68 - ], - [ - 40635, - 68 - ], - [ - 40935, - 68 - ], - [ - 41235, - 68 - ], - [ - 41535, - 68 - ], - [ - 41835, - 68 - ], - [ - 42135, - 69 - ], - [ - 42435, - 69 - ], - [ - 42735, - 69 - ], - [ - 43035, - 69 - ], - [ - 43335, - 69 - ], - [ - 43635, - 69 - ], - [ - 43935, - 69 - ], - [ - 44234, - 70 - ], - [ - 44534, - 71 - ], - [ - 44834, - 71 - ], - [ - 45134, - 71 - ], - [ - 45434, - 71 - ], - [ - 45734, - 71 - ], - [ - 46034, - 71 - ], - [ - 46334, - 71 - ], - [ - 46634, - 71 - ], - [ - 46934, - 72 - ], - [ - 47234, - 72 - ], - [ - 47534, - 72 - ], - [ - 47834, - 72 - ], - [ - 48134, - 72 - ], - [ - 48434, - 72 - ], - [ - 48734, - 72 - ], - [ - 49034, - 72 - ], - [ - 49334, - 72 - ], - [ - 49634, - 73 - ], - [ - 49934, - 73 - ], - [ - 50234, - 73 - ], - [ - 50534, - 73 - ], - [ - 50834, - 73 - ], - [ - 51134, - 73 - ], - [ - 51434, - 73 - ], - [ - 51734, - 73 - ], - [ - 52034, - 74 - ], - [ - 52334, - 74 - ], - [ - 52633, - 75 - ], - [ - 52933, - 75 - ], - [ - 53233, - 75 - ], - [ - 53533, - 75 - ], - [ - 53833, - 75 - ], - [ - 54133, - 75 - ], - [ - 54433, - 76 - ], - [ - 54733, - 76 - ], - [ - 55033, - 76 - ], - [ - 55333, - 76 - ], - [ - 55633, - 76 - ], - [ - 55933, - 76 - ], - [ - 56233, - 76 - ], - [ - 56533, - 76 - ], - [ - 56833, - 77 - ], - [ - 57133, - 77 - ], - [ - 57433, - 77 - ], - [ - 57733, - 77 - ], - [ - 58033, - 77 - ], - [ - 58333, - 77 - ], - [ - 58633, - 77 - ], - [ - 58933, - 77 - ], - [ - 59233, - 77 - ], - [ - 59533, - 78 - ], - [ - 59833, - 78 - ], - [ - 60133, - 78 - ], - [ - 60433, - 78 - ], - [ - 60733, - 78 - ], - [ - 61033, - 78 - ], - [ - 61332, - 79 - ], - [ - 61632, - 79 - ], - [ - 61932, - 80 - ], - [ - 62232, - 80 - ], - [ - 62532, - 80 - ], - [ - 62833, - 79 - ], - [ - 63133, - 79 - ], - [ - 63433, - 77 - ] - ], - "point": [ - 171, - 160 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|-00.57|+00.69|+00.28", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 240 - ], - [ - 18381, - 240 - ], - [ - 18682, - 240 - ], - [ - 18983, - 240 - ], - [ - 19283, - 242 - ], - [ - 19584, - 243 - ], - [ - 19884, - 247 - ], - [ - 20185, - 250 - ], - [ - 20486, - 252 - ], - [ - 20786, - 253 - ], - [ - 21087, - 252 - ], - [ - 21387, - 252 - ], - [ - 21688, - 251 - ], - [ - 21988, - 251 - ], - [ - 22289, - 250 - ], - [ - 22589, - 250 - ], - [ - 22889, - 250 - ], - [ - 23190, - 249 - ], - [ - 23490, - 250 - ], - [ - 23790, - 250 - ], - [ - 24090, - 250 - ], - [ - 24390, - 31 - ], - [ - 24528, - 112 - ], - [ - 24690, - 30 - ], - [ - 24828, - 113 - ], - [ - 24990, - 30 - ], - [ - 25128, - 113 - ], - [ - 25290, - 30 - ], - [ - 25429, - 112 - ], - [ - 25590, - 30 - ], - [ - 25729, - 112 - ], - [ - 25889, - 31 - ], - [ - 26029, - 112 - ], - [ - 26189, - 31 - ], - [ - 26329, - 113 - ], - [ - 26488, - 32 - ], - [ - 26629, - 113 - ], - [ - 26788, - 32 - ], - [ - 26930, - 113 - ], - [ - 27087, - 33 - ], - [ - 27230, - 113 - ], - [ - 27386, - 34 - ], - [ - 27530, - 114 - ], - [ - 27685, - 35 - ], - [ - 27830, - 115 - ], - [ - 27984, - 36 - ], - [ - 28130, - 115 - ], - [ - 28283, - 37 - ], - [ - 28431, - 115 - ], - [ - 28582, - 37 - ], - [ - 28731, - 116 - ], - [ - 28881, - 38 - ], - [ - 29031, - 117 - ], - [ - 29179, - 40 - ], - [ - 29331, - 119 - ], - [ - 29477, - 42 - ], - [ - 29631, - 121 - ], - [ - 29775, - 44 - ], - [ - 29932, - 121 - ], - [ - 30073, - 46 - ], - [ - 30232, - 128 - ], - [ - 30366, - 53 - ], - [ - 30532, - 187 - ], - [ - 30832, - 187 - ], - [ - 31132, - 187 - ], - [ - 31433, - 186 - ], - [ - 31733, - 186 - ], - [ - 32033, - 186 - ], - [ - 32333, - 185 - ], - [ - 32633, - 185 - ], - [ - 32934, - 184 - ], - [ - 33234, - 184 - ], - [ - 33534, - 184 - ], - [ - 33834, - 184 - ], - [ - 34134, - 184 - ], - [ - 34435, - 183 - ], - [ - 34735, - 183 - ], - [ - 35035, - 183 - ], - [ - 35335, - 183 - ], - [ - 35635, - 183 - ], - [ - 35936, - 182 - ], - [ - 36236, - 181 - ], - [ - 36536, - 181 - ], - [ - 36836, - 181 - ], - [ - 37137, - 180 - ], - [ - 37437, - 180 - ], - [ - 37737, - 180 - ], - [ - 38037, - 139 - ], - [ - 38337, - 138 - ], - [ - 38638, - 137 - ], - [ - 38938, - 137 - ], - [ - 39238, - 137 - ], - [ - 39538, - 136 - ], - [ - 39838, - 136 - ], - [ - 40139, - 135 - ], - [ - 40439, - 135 - ], - [ - 40739, - 135 - ], - [ - 41039, - 135 - ], - [ - 41339, - 134 - ], - [ - 41639, - 134 - ], - [ - 41939, - 134 - ], - [ - 42239, - 134 - ], - [ - 42539, - 134 - ], - [ - 42838, - 134 - ], - [ - 43138, - 134 - ], - [ - 43430, - 142 - ], - [ - 43731, - 141 - ], - [ - 44031, - 141 - ], - [ - 44331, - 141 - ], - [ - 44631, - 140 - ], - [ - 44931, - 140 - ], - [ - 45231, - 140 - ], - [ - 45532, - 139 - ], - [ - 45832, - 139 - ], - [ - 46132, - 139 - ], - [ - 46432, - 138 - ], - [ - 46732, - 138 - ], - [ - 47033, - 137 - ], - [ - 47333, - 137 - ], - [ - 47633, - 137 - ], - [ - 47933, - 137 - ], - [ - 48233, - 67 - ], - [ - 57000, - 2 - ], - [ - 57300, - 3 - ], - [ - 57600, - 6 - ], - [ - 57902, - 4 - ], - [ - 58203, - 4 - ], - [ - 58505, - 3 - ], - [ - 58806, - 4 - ], - [ - 59107, - 4 - ], - [ - 59409, - 3 - ], - [ - 59710, - 4 - ], - [ - 60012, - 3 - ], - [ - 60313, - 3 - ], - [ - 60614, - 4 - ], - [ - 60916, - 3 - ], - [ - 61217, - 4 - ], - [ - 61519, - 3 - ], - [ - 61820, - 3 - ], - [ - 62121, - 4 - ], - [ - 62423, - 3 - ], - [ - 62724, - 3 - ], - [ - 63025, - 4 - ], - [ - 63327, - 3 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 116, - 126 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.75, - "y": 0.9020053, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.255474627, - "y": 0.6713768, - "z": -2.57097316 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.726723, - "y": 0.1709254, - "z": -2.38615656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.633471, - "y": 0.499625474, - "z": -1.46409988 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": 1.726723, - "y": 0.0141422953, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.58684492, - "y": 0.337773055, - "z": -1.551404 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.58684492, - "y": 0.5042727, - "z": -2.38615656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.680097, - "y": 0.656178653, - "z": -2.124245 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.633471, - "y": 0.335106164, - "z": -2.124245 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.633471, - "y": 0.1729057, - "z": -1.376796 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.3314289, - "y": 0.694788158, - "z": -0.787673652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.5747489, - "y": 0.694788158, - "z": 0.281510353 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.5747489, - "y": 0.6930849, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.08810878, - "y": 0.694788158, - "z": 0.281510353 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.633471, - "y": 0.335106164, - "z": -1.94963694 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900017, - "y": 0.665941238, - "z": -2.57899928 - }, - "rotation": { - "x": 0.02053208, - "y": -0.000228451157, - "z": -0.000104976 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.49359286, - "y": 0.172178477, - "z": -1.202188 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -0.8180689, - "y": 0.6930849, - "z": -0.787673652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.680097, - "y": 0.177835315, - "z": -1.55140376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.680097, - "y": 0.338636845, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -1.061389, - "y": 0.7552619, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -1.508, - "y": 0.685, - "z": -0.378 - }, - "rotation": { - "x": 0.0, - "y": 288.596283, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -1.548029, - "y": 0.6954822, - "z": 0.281510353 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.58684492, - "y": 0.1717892, - "z": -1.289492 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.513281167, - "y": 0.6713768, - "z": -2.57097316 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 147660775, - "scene_num": 324 - }, - "task_id": "trial_T20190908_085337_381415", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3ZWMVK6GNTJ8_3CFVK00FWOC5FZPBBVX4RYJ6ORX6LD", - "high_descs": [ - "Turn around to your left and walk to the side of the bed and turn and face the book laying on the bed.", - "Pick up the book laying on the bed.", - "Turn around to your right and walk to the front of the dresser.", - "Lay the book down on top of the dresser.", - "Turn around to left and walk to the door the turn left and walk to side of the bed and turn and face the two books.", - "Pick up the book on the right side.", - "Turn to your left and go back to the door and turn right and walk to the dresser and turn and face it.", - "Lay the book on the dresser to the right side of the other book." - ], - "task_desc": "Take two books from bed and place them on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1O3TWBUDONVLO_3IAS3U3I0I75KPKYXGW7NI6PWSGB2D", - "high_descs": [ - "Walk around to face the left side of the bed.", - "Pick up the book on the bed.", - "Turn right and walk across the room to face the dresser.", - "Place the book on top of the dresser.", - "Turn left and walk around to face the right side of the bed.", - "Pick up the book on the bed on the right.", - "Walk around the bed and turn left to face the dresser.", - "Place the book on the dresser next to the other dresser." - ], - "task_desc": "TO move two books to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "ARB8SJAWXUWTD_3XXU1SWE8PMT55CSCFSX9JT4HDUA0I", - "high_descs": [ - "Go to the bed", - "Pick up the book", - "Go to the dresser", - "Put the book on the dresser", - "Go to the bed", - "Take the book on the right side", - "Go to the dresser", - "Put the book on the dresser" - ], - "task_desc": "Move two books from the bed to a dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085544_633388/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085544_633388/traj_data.json deleted file mode 100644 index bc02cd881..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Book-None-Dresser-324/trial_T20190908_085544_633388/traj_data.json +++ /dev/null @@ -1,5048 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 13 - }, - { - "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": 1, - "image_name": "000000066.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "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": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 3, - "image_name": "000000139.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "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": 42 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000343.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000344.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000345.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000346.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000347.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000348.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000349.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000350.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000351.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000352.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000353.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000354.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000355.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000356.png", - "low_idx": 71 - }, - { - "high_idx": 7, - "image_name": "000000357.png", - "low_idx": 71 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Book", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - -0.35243512, - -0.35243512, - -2.295347452, - -2.295347452, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -3.396, - -3.396, - -1.44, - -1.44, - -0.08, - -0.08 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.09|+00.69|-00.57" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - -0.35243512, - -0.35243512, - -2.295347452, - -2.295347452, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.09|+00.69|-00.57", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|3|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "book" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Book", - [ - -2.2989956, - -2.2989956, - 0.27069448, - 0.27069448, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -3.396, - -3.396, - -1.44, - -1.44, - -0.08, - -0.08 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.57|+00.69|+00.07" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "book", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Book", - [ - -2.2989956, - -2.2989956, - 0.27069448, - 0.27069448, - 2.779152632, - 2.779152632 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 6.536, - 6.536, - -7.324, - -7.324, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Book|-00.57|+00.69|+00.07", - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - } - }, - { - "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": "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": "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": "Book|-00.09|+00.69|-00.57" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 74, - 104, - 185, - 162 - ], - "mask": [ - [ - 30983, - 99 - ], - [ - 31283, - 99 - ], - [ - 31582, - 100 - ], - [ - 31882, - 100 - ], - [ - 32182, - 100 - ], - [ - 32482, - 100 - ], - [ - 32782, - 100 - ], - [ - 33082, - 100 - ], - [ - 33381, - 102 - ], - [ - 33681, - 102 - ], - [ - 33981, - 102 - ], - [ - 34281, - 102 - ], - [ - 34581, - 102 - ], - [ - 34881, - 102 - ], - [ - 35180, - 103 - ], - [ - 35480, - 103 - ], - [ - 35780, - 103 - ], - [ - 36080, - 103 - ], - [ - 36380, - 103 - ], - [ - 36680, - 103 - ], - [ - 36979, - 104 - ], - [ - 37279, - 105 - ], - [ - 37579, - 105 - ], - [ - 37879, - 105 - ], - [ - 38179, - 105 - ], - [ - 38479, - 105 - ], - [ - 38778, - 106 - ], - [ - 39078, - 106 - ], - [ - 39378, - 106 - ], - [ - 39678, - 106 - ], - [ - 39978, - 106 - ], - [ - 40278, - 106 - ], - [ - 40577, - 107 - ], - [ - 40877, - 108 - ], - [ - 41177, - 108 - ], - [ - 41477, - 108 - ], - [ - 41777, - 108 - ], - [ - 42077, - 108 - ], - [ - 42376, - 109 - ], - [ - 42676, - 109 - ], - [ - 42976, - 109 - ], - [ - 43276, - 109 - ], - [ - 43576, - 109 - ], - [ - 43876, - 109 - ], - [ - 44175, - 110 - ], - [ - 44475, - 110 - ], - [ - 44775, - 111 - ], - [ - 45075, - 111 - ], - [ - 45375, - 111 - ], - [ - 45674, - 112 - ], - [ - 45974, - 112 - ], - [ - 46274, - 112 - ], - [ - 46574, - 112 - ], - [ - 46874, - 112 - ], - [ - 47174, - 112 - ], - [ - 47476, - 109 - ], - [ - 47776, - 109 - ], - [ - 48076, - 109 - ], - [ - 48376, - 109 - ] - ], - "point": [ - 129, - 132 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|-00.09|+00.69|-00.57", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 240 - ], - [ - 18381, - 240 - ], - [ - 18682, - 240 - ], - [ - 18983, - 240 - ], - [ - 19283, - 242 - ], - [ - 19584, - 243 - ], - [ - 19884, - 247 - ], - [ - 20185, - 250 - ], - [ - 20486, - 252 - ], - [ - 20786, - 253 - ], - [ - 21087, - 252 - ], - [ - 21387, - 252 - ], - [ - 21688, - 251 - ], - [ - 21988, - 251 - ], - [ - 22289, - 250 - ], - [ - 22589, - 250 - ], - [ - 22889, - 250 - ], - [ - 23190, - 249 - ], - [ - 23490, - 250 - ], - [ - 23790, - 250 - ], - [ - 24090, - 250 - ], - [ - 24390, - 250 - ], - [ - 24690, - 251 - ], - [ - 24990, - 251 - ], - [ - 25290, - 251 - ], - [ - 25590, - 251 - ], - [ - 25889, - 252 - ], - [ - 26189, - 253 - ], - [ - 26488, - 254 - ], - [ - 26788, - 255 - ], - [ - 27087, - 256 - ], - [ - 27386, - 258 - ], - [ - 27685, - 260 - ], - [ - 27984, - 261 - ], - [ - 28283, - 263 - ], - [ - 28582, - 265 - ], - [ - 28881, - 267 - ], - [ - 29179, - 271 - ], - [ - 29477, - 275 - ], - [ - 29775, - 278 - ], - [ - 30073, - 287 - ], - [ - 30366, - 7810 - ], - [ - 38327, - 148 - ], - [ - 38628, - 147 - ], - [ - 38928, - 147 - ], - [ - 39228, - 147 - ], - [ - 39528, - 146 - ], - [ - 39828, - 146 - ], - [ - 40128, - 146 - ], - [ - 40429, - 145 - ], - [ - 40729, - 145 - ], - [ - 41029, - 145 - ], - [ - 41329, - 144 - ], - [ - 41629, - 144 - ], - [ - 41929, - 144 - ], - [ - 42230, - 143 - ], - [ - 42530, - 143 - ], - [ - 42830, - 142 - ], - [ - 43130, - 142 - ], - [ - 43430, - 142 - ], - [ - 43731, - 141 - ], - [ - 44031, - 141 - ], - [ - 44331, - 141 - ], - [ - 44631, - 140 - ], - [ - 44931, - 140 - ], - [ - 45231, - 140 - ], - [ - 45532, - 139 - ], - [ - 45832, - 139 - ], - [ - 46132, - 139 - ], - [ - 46432, - 138 - ], - [ - 46732, - 138 - ], - [ - 47033, - 137 - ], - [ - 47333, - 137 - ], - [ - 47633, - 137 - ], - [ - 47933, - 137 - ], - [ - 48233, - 67 - ], - [ - 57000, - 2 - ], - [ - 57300, - 3 - ], - [ - 57600, - 6 - ], - [ - 57902, - 4 - ], - [ - 58203, - 4 - ], - [ - 58505, - 3 - ], - [ - 58806, - 4 - ], - [ - 59107, - 4 - ], - [ - 59409, - 3 - ], - [ - 59710, - 4 - ], - [ - 60012, - 3 - ], - [ - 60313, - 3 - ], - [ - 60614, - 4 - ], - [ - 60916, - 3 - ], - [ - 61217, - 4 - ], - [ - 61519, - 3 - ], - [ - 61820, - 3 - ], - [ - 62121, - 4 - ], - [ - 62423, - 3 - ], - [ - 62724, - 3 - ], - [ - 63025, - 4 - ], - [ - 63327, - 3 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 149, - 126 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Book|-00.57|+00.69|+00.07" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 134, - 74, - 204, - 158 - ], - "mask": [ - [ - 22037, - 58 - ], - [ - 22337, - 59 - ], - [ - 22637, - 59 - ], - [ - 22937, - 59 - ], - [ - 23237, - 59 - ], - [ - 23537, - 59 - ], - [ - 23837, - 59 - ], - [ - 24137, - 59 - ], - [ - 24437, - 59 - ], - [ - 24737, - 60 - ], - [ - 25037, - 60 - ], - [ - 25337, - 60 - ], - [ - 25637, - 60 - ], - [ - 25937, - 60 - ], - [ - 26237, - 60 - ], - [ - 26537, - 60 - ], - [ - 26836, - 61 - ], - [ - 27136, - 61 - ], - [ - 27436, - 62 - ], - [ - 27736, - 62 - ], - [ - 28036, - 62 - ], - [ - 28336, - 62 - ], - [ - 28636, - 62 - ], - [ - 28936, - 62 - ], - [ - 29236, - 62 - ], - [ - 29536, - 62 - ], - [ - 29836, - 63 - ], - [ - 30136, - 63 - ], - [ - 30436, - 63 - ], - [ - 30736, - 63 - ], - [ - 31036, - 63 - ], - [ - 31336, - 63 - ], - [ - 31636, - 63 - ], - [ - 31936, - 63 - ], - [ - 32236, - 64 - ], - [ - 32536, - 64 - ], - [ - 32836, - 64 - ], - [ - 33136, - 64 - ], - [ - 33436, - 64 - ], - [ - 33736, - 64 - ], - [ - 34036, - 64 - ], - [ - 34336, - 64 - ], - [ - 34636, - 65 - ], - [ - 34936, - 65 - ], - [ - 35236, - 65 - ], - [ - 35535, - 66 - ], - [ - 35835, - 66 - ], - [ - 36135, - 66 - ], - [ - 36435, - 66 - ], - [ - 36735, - 66 - ], - [ - 37035, - 66 - ], - [ - 37335, - 67 - ], - [ - 37635, - 67 - ], - [ - 37935, - 67 - ], - [ - 38235, - 67 - ], - [ - 38535, - 67 - ], - [ - 38835, - 67 - ], - [ - 39135, - 67 - ], - [ - 39435, - 67 - ], - [ - 39735, - 68 - ], - [ - 40035, - 68 - ], - [ - 40335, - 68 - ], - [ - 40635, - 68 - ], - [ - 40935, - 68 - ], - [ - 41235, - 68 - ], - [ - 41535, - 68 - ], - [ - 41835, - 68 - ], - [ - 42135, - 69 - ], - [ - 42435, - 69 - ], - [ - 42735, - 69 - ], - [ - 43035, - 69 - ], - [ - 43335, - 69 - ], - [ - 43635, - 69 - ], - [ - 43935, - 69 - ], - [ - 44234, - 70 - ], - [ - 44534, - 71 - ], - [ - 44834, - 71 - ], - [ - 45134, - 71 - ], - [ - 45434, - 71 - ], - [ - 45734, - 71 - ], - [ - 46035, - 70 - ], - [ - 46335, - 70 - ], - [ - 46635, - 70 - ], - [ - 46935, - 69 - ], - [ - 47235, - 67 - ] - ], - "point": [ - 169, - 115 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Book|-00.57|+00.69|+00.07", - "placeStationary": true, - "receptacleObjectId": "Dresser|+01.63|-00.02|-01.83" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 61, - 299, - 221 - ], - "mask": [ - [ - 18000, - 18 - ], - [ - 18080, - 240 - ], - [ - 18381, - 240 - ], - [ - 18682, - 240 - ], - [ - 18983, - 240 - ], - [ - 19283, - 242 - ], - [ - 19584, - 243 - ], - [ - 19884, - 247 - ], - [ - 20185, - 250 - ], - [ - 20486, - 252 - ], - [ - 20786, - 253 - ], - [ - 21087, - 252 - ], - [ - 21387, - 252 - ], - [ - 21688, - 251 - ], - [ - 21988, - 251 - ], - [ - 22289, - 250 - ], - [ - 22589, - 250 - ], - [ - 22889, - 250 - ], - [ - 23190, - 249 - ], - [ - 23490, - 250 - ], - [ - 23790, - 250 - ], - [ - 24090, - 250 - ], - [ - 24390, - 31 - ], - [ - 24528, - 112 - ], - [ - 24690, - 30 - ], - [ - 24828, - 113 - ], - [ - 24990, - 30 - ], - [ - 25128, - 113 - ], - [ - 25290, - 30 - ], - [ - 25429, - 112 - ], - [ - 25590, - 30 - ], - [ - 25729, - 112 - ], - [ - 25889, - 31 - ], - [ - 26029, - 112 - ], - [ - 26189, - 31 - ], - [ - 26329, - 113 - ], - [ - 26488, - 32 - ], - [ - 26629, - 113 - ], - [ - 26788, - 32 - ], - [ - 26930, - 113 - ], - [ - 27087, - 33 - ], - [ - 27230, - 113 - ], - [ - 27386, - 34 - ], - [ - 27530, - 114 - ], - [ - 27685, - 35 - ], - [ - 27830, - 115 - ], - [ - 27984, - 36 - ], - [ - 28130, - 115 - ], - [ - 28283, - 37 - ], - [ - 28431, - 115 - ], - [ - 28582, - 37 - ], - [ - 28731, - 116 - ], - [ - 28881, - 38 - ], - [ - 29031, - 117 - ], - [ - 29179, - 40 - ], - [ - 29331, - 119 - ], - [ - 29477, - 42 - ], - [ - 29631, - 121 - ], - [ - 29775, - 44 - ], - [ - 29932, - 121 - ], - [ - 30073, - 46 - ], - [ - 30232, - 128 - ], - [ - 30366, - 53 - ], - [ - 30532, - 187 - ], - [ - 30832, - 187 - ], - [ - 31132, - 187 - ], - [ - 31433, - 186 - ], - [ - 31733, - 186 - ], - [ - 32033, - 186 - ], - [ - 32333, - 185 - ], - [ - 32633, - 185 - ], - [ - 32934, - 184 - ], - [ - 33234, - 184 - ], - [ - 33534, - 184 - ], - [ - 33834, - 184 - ], - [ - 34134, - 184 - ], - [ - 34435, - 183 - ], - [ - 34735, - 183 - ], - [ - 35035, - 183 - ], - [ - 35335, - 183 - ], - [ - 35635, - 183 - ], - [ - 35936, - 182 - ], - [ - 36236, - 181 - ], - [ - 36536, - 181 - ], - [ - 36836, - 181 - ], - [ - 37137, - 180 - ], - [ - 37437, - 180 - ], - [ - 37737, - 180 - ], - [ - 38037, - 139 - ], - [ - 38337, - 138 - ], - [ - 38638, - 137 - ], - [ - 38938, - 137 - ], - [ - 39238, - 137 - ], - [ - 39538, - 136 - ], - [ - 39838, - 136 - ], - [ - 40139, - 135 - ], - [ - 40439, - 135 - ], - [ - 40739, - 135 - ], - [ - 41039, - 135 - ], - [ - 41339, - 134 - ], - [ - 41639, - 134 - ], - [ - 41939, - 134 - ], - [ - 42239, - 134 - ], - [ - 42539, - 134 - ], - [ - 42838, - 134 - ], - [ - 43138, - 134 - ], - [ - 43430, - 142 - ], - [ - 43731, - 141 - ], - [ - 44031, - 141 - ], - [ - 44331, - 141 - ], - [ - 44631, - 140 - ], - [ - 44931, - 140 - ], - [ - 45231, - 140 - ], - [ - 45532, - 139 - ], - [ - 45832, - 139 - ], - [ - 46132, - 139 - ], - [ - 46432, - 138 - ], - [ - 46732, - 138 - ], - [ - 47033, - 137 - ], - [ - 47333, - 137 - ], - [ - 47633, - 137 - ], - [ - 47933, - 137 - ], - [ - 48233, - 67 - ], - [ - 57000, - 2 - ], - [ - 57300, - 3 - ], - [ - 57600, - 6 - ], - [ - 57902, - 4 - ], - [ - 58203, - 4 - ], - [ - 58505, - 3 - ], - [ - 58806, - 4 - ], - [ - 59107, - 4 - ], - [ - 59409, - 3 - ], - [ - 59710, - 4 - ], - [ - 60012, - 3 - ], - [ - 60313, - 3 - ], - [ - 60614, - 4 - ], - [ - 60916, - 3 - ], - [ - 61217, - 4 - ], - [ - 61519, - 3 - ], - [ - 61820, - 3 - ], - [ - 62121, - 4 - ], - [ - 62423, - 3 - ], - [ - 62724, - 3 - ], - [ - 63025, - 4 - ], - [ - 63327, - 3 - ], - [ - 63628, - 3 - ], - [ - 63930, - 3 - ], - [ - 64198, - 2 - ], - [ - 64231, - 3 - ], - [ - 64497, - 3 - ], - [ - 64532, - 3 - ], - [ - 64795, - 4 - ], - [ - 64834, - 3 - ], - [ - 65094, - 4 - ], - [ - 65135, - 3 - ], - [ - 65392, - 4 - ], - [ - 65437, - 2 - ], - [ - 65690, - 4 - ], - [ - 65738, - 3 - ], - [ - 65989, - 3 - ], - [ - 66039, - 3 - ], - [ - 66288, - 3 - ] - ], - "point": [ - 116, - 126 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan324", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -1.0, - "y": 0.9020053, - "z": 0.75 - }, - "object_poses": [ - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.3181601, - "y": 0.186121568, - "z": -2.59877539 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.280293047, - "y": 0.352921665, - "z": -2.5817 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.540219, - "y": 0.33398965, - "z": -1.63870788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.633471, - "y": 0.1717892, - "z": -1.63870776 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -1.061389, - "y": 0.6954822, - "z": -0.36 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": -0.8180689, - "y": 0.6954822, - "z": 0.281510353 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.58684492, - "y": 0.5056716, - "z": -1.55140376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.633471, - "y": 0.337773055, - "z": -1.376796 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.680097, - "y": 0.0179988947, - "z": -1.63870776 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.58684492, - "y": 0.171314672, - "z": -2.21154881 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 1.633471, - "y": 0.0137409773, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.08810878, - "y": 0.694788158, - "z": -0.573836863 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -0.5747489, - "y": 0.694788158, - "z": 0.06767362 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -1.061389, - "y": 0.6930849, - "z": -1.00151038 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_cabf0185", - "position": { - "x": -1.436, - "y": 0.6716, - "z": 0.115 - }, - "rotation": { - "x": 0.0, - "y": 300.000122, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_fad316e6", - "position": { - "x": 1.49359286, - "y": 0.5016058, - "z": -1.202188 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_4a3811c5", - "position": { - "x": 0.06900017, - "y": 0.665941238, - "z": -2.57899928 - }, - "rotation": { - "x": 0.02053208, - "y": -0.000228451157, - "z": -0.000104976 - } - }, - { - "objectName": "CreditCard_91d3b0fa", - "position": { - "x": 0.427345663, - "y": 0.6733728, - "z": -2.57097316 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_9408f0f9", - "position": { - "x": -1.061389, - "y": 0.6930849, - "z": -0.573836863 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_e69ec9e5", - "position": { - "x": 1.680097, - "y": 0.6609717, - "z": -1.46409988 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_21540f10", - "position": { - "x": 1.58684492, - "y": 0.6604366, - "z": -2.29885268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_1f0855a3", - "position": { - "x": -1.844, - "y": 0.678, - "z": -2.203 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 8.760847 - } - }, - { - "objectName": "Pillow_b87f0fc5", - "position": { - "x": -1.489, - "y": 0.685, - "z": -0.854 - }, - "rotation": { - "x": 0.0, - "y": 345.000031, - "z": 0.0 - } - }, - { - "objectName": "Pillow_c61fa688", - "position": { - "x": -1.508, - "y": 0.685, - "z": -0.378 - }, - "rotation": { - "x": 0.0, - "y": 288.596283, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_12fc6383", - "position": { - "x": -1.597, - "y": 0.00100616366, - "z": -1.367 - }, - "rotation": { - "x": 90.0, - "y": 37.7924156, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_f01bc236", - "position": { - "x": 1.540219, - "y": 0.1725798, - "z": -2.38615656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_3bd63042", - "position": { - "x": 1.540219, - "y": 0.33398965, - "z": -2.47346067 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_55fbfa26", - "position": { - "x": 0.513281167, - "y": 0.6713768, - "z": -2.58998632 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1296752447, - "scene_num": 324 - }, - "task_id": "trial_T20190908_085544_633388", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1MKCTVKE7J0ZP_3FIUS151DYTRQ00GCH9AQXRNMO1GG6", - "high_descs": [ - "Go forward to the end of the bed, then turn right, then move forward and turn right to face the bed.", - "Pick up the book nearest to you on the bed.", - "Turn left and go forward, then turn left to face the dresser.", - "Put the book on the dresser, next to the lamp.", - "Turn left, go to the door, then turn left again to return to the bed.", - "Pick up the book on the bed, next to the cell phone.", - "Turn left, move forward and turn right at the end of the bed, then go forward and turn left to face the dresser.", - "Put the book on top of the dresser, next to the other book." - ], - "task_desc": "Move two books to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3L70J4KAZJDN4PDMORGSOQDNB14DAD", - "high_descs": [ - "Walk over to the end of the bed.", - "Pick up the closest book off of the bed.", - "Turn left and walk towards the wall, then hang a left and walk up to the wooden dresser.", - "Put the book on top of the dresser to the right of the lamp.", - "Turn left and walk to the door, then hang a left and walk over to the side of the bed.", - "Pick up the book that is closest to the end of the bed.", - "Walk back over to the wooden dresser.", - "Put the book on the wooden dresser to the right of the book that is already there." - ], - "task_desc": "Move two books to a wooden dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A23HZ18KTCK2DA_3NPFYT4IZFV2CMV61R9EEJRIPF6XGQ", - "high_descs": [ - "Turn and go to the end of the bed.", - "Pick up the book that is on the end of the bed.", - "Turn and go to the dresser with the book in hand.", - "Place the book on the dresser to the right of the lamp.", - "Turn and go to the opposite side of the bed.", - "Pick up the book that is to the left of the cell phone on the bed.", - "With the book in hand turn and go to the dresser where the lamp is.", - "Place the book to the right of the other book on the dresser." - ], - "task_desc": "Place two books on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_195833_033721/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_195833_033721/traj_data.json deleted file mode 100644 index 9acd3e0c7..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_195833_033721/traj_data.json +++ /dev/null @@ -1,6562 +0,0 @@ -{ - "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": 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": 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": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 9 - }, - { - "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": 3, - "image_name": "000000109.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000110.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 12 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 12 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 13 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 14 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 15 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 16 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 17 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 17 - }, - { - "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": 19 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 19 - }, - { - "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": 19 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 19 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 21 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 22 - }, - { - "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": 24 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 29 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 30 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 32 - }, - { - "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": 32 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 32 - }, - { - "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": 34 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 34 - }, - { - "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": 34 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 34 - }, - { - "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": 36 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000329.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000330.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000331.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000332.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000333.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000334.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000335.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000336.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000337.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000338.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000339.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000340.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000341.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000342.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000343.png", - "low_idx": 46 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Bowl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|-9|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 0.611853004, - 0.611853004, - -9.49311924, - -9.49311924, - 2.3059788, - 2.3059788 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 1.784, - 1.784, - -10.104, - -10.104, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+00.15|+00.58|-02.37" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 0.611853004, - 0.611853004, - -9.49311924, - -9.49311924, - 2.3059788, - 2.3059788 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+00.15|+00.58|-02.37", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.07737444, - 5.07737444, - -7.9358964, - -7.9358964, - 2.0191392, - 2.0191392 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 4.88, - 4.88, - -7.208, - -7.208, - 3.436, - 3.436 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.27|+00.50|-01.98" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.07737444, - 5.07737444, - -7.9358964, - -7.9358964, - 2.0191392, - 2.0191392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.27|+00.50|-01.98", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "Bowl|+00.15|+00.58|-02.37" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 160, - 111, - 196, - 144 - ], - "mask": [ - [ - 33176, - 3 - ], - [ - 33471, - 14 - ], - [ - 33768, - 19 - ], - [ - 34067, - 22 - ], - [ - 34365, - 26 - ], - [ - 34664, - 28 - ], - [ - 34963, - 30 - ], - [ - 35263, - 31 - ], - [ - 35562, - 32 - ], - [ - 35861, - 34 - ], - [ - 36161, - 35 - ], - [ - 36461, - 35 - ], - [ - 36760, - 36 - ], - [ - 37060, - 37 - ], - [ - 37360, - 37 - ], - [ - 37660, - 37 - ], - [ - 37960, - 37 - ], - [ - 38260, - 37 - ], - [ - 38561, - 36 - ], - [ - 38861, - 36 - ], - [ - 39161, - 35 - ], - [ - 39462, - 34 - ], - [ - 39763, - 33 - ], - [ - 40063, - 32 - ], - [ - 40364, - 30 - ], - [ - 40665, - 28 - ], - [ - 40965, - 27 - ], - [ - 41266, - 25 - ], - [ - 41567, - 22 - ], - [ - 41868, - 20 - ], - [ - 42169, - 18 - ], - [ - 42471, - 14 - ], - [ - 42772, - 11 - ], - [ - 43075, - 5 - ] - ], - "point": [ - 178, - 126 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+00.15|+00.58|-02.37", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 131 - ], - [ - 25107, - 59 - ], - [ - 25275, - 131 - ], - [ - 25407, - 59 - ], - [ - 25575, - 131 - ], - [ - 25707, - 59 - ], - [ - 25814, - 12 - ], - [ - 25875, - 131 - ], - [ - 26007, - 59 - ], - [ - 26113, - 14 - ], - [ - 26174, - 131 - ], - [ - 26307, - 60 - ], - [ - 26413, - 14 - ], - [ - 26474, - 121 - ], - [ - 26599, - 6 - ], - [ - 26607, - 60 - ], - [ - 26713, - 15 - ], - [ - 26774, - 120 - ], - [ - 26900, - 3 - ], - [ - 26907, - 60 - ], - [ - 27012, - 16 - ], - [ - 27074, - 121 - ], - [ - 27201, - 2 - ], - [ - 27208, - 60 - ], - [ - 27312, - 17 - ], - [ - 27374, - 123 - ], - [ - 27508, - 60 - ], - [ - 27612, - 17 - ], - [ - 27673, - 118 - ], - [ - 27794, - 4 - ], - [ - 27803, - 3 - ], - [ - 27807, - 61 - ], - [ - 27911, - 19 - ], - [ - 27973, - 119 - ], - [ - 28097, - 2 - ], - [ - 28101, - 68 - ], - [ - 28211, - 20 - ], - [ - 28273, - 122 - ], - [ - 28400, - 2 - ], - [ - 28404, - 2 - ], - [ - 28407, - 62 - ], - [ - 28511, - 20 - ], - [ - 28573, - 123 - ], - [ - 28702, - 2 - ], - [ - 28706, - 63 - ], - [ - 28810, - 22 - ], - [ - 28873, - 124 - ], - [ - 29002, - 3 - ], - [ - 29006, - 63 - ], - [ - 29110, - 22 - ], - [ - 29172, - 129 - ], - [ - 29305, - 65 - ], - [ - 29410, - 23 - ], - [ - 29472, - 131 - ], - [ - 29605, - 65 - ], - [ - 29709, - 23 - ], - [ - 29772, - 131 - ], - [ - 29906, - 64 - ], - [ - 30009, - 23 - ], - [ - 30072, - 64 - ], - [ - 30142, - 61 - ], - [ - 30207, - 64 - ], - [ - 30309, - 23 - ], - [ - 30372, - 61 - ], - [ - 30446, - 21 - ], - [ - 30479, - 23 - ], - [ - 30509, - 62 - ], - [ - 30608, - 23 - ], - [ - 30671, - 60 - ], - [ - 30748, - 19 - ], - [ - 30779, - 22 - ], - [ - 30810, - 61 - ], - [ - 30908, - 23 - ], - [ - 30971, - 59 - ], - [ - 31049, - 18 - ], - [ - 31079, - 22 - ], - [ - 31110, - 62 - ], - [ - 31207, - 24 - ], - [ - 31271, - 58 - ], - [ - 31350, - 17 - ], - [ - 31379, - 23 - ], - [ - 31409, - 63 - ], - [ - 31507, - 23 - ], - [ - 31571, - 57 - ], - [ - 31651, - 16 - ], - [ - 31679, - 24 - ], - [ - 31708, - 31 - ], - [ - 31741, - 31 - ], - [ - 31807, - 23 - ], - [ - 31871, - 56 - ], - [ - 31951, - 16 - ], - [ - 31979, - 26 - ], - [ - 32007, - 32 - ], - [ - 32041, - 31 - ], - [ - 32106, - 24 - ], - [ - 32170, - 57 - ], - [ - 32252, - 15 - ], - [ - 32279, - 60 - ], - [ - 32341, - 32 - ], - [ - 32406, - 24 - ], - [ - 32470, - 57 - ], - [ - 32552, - 15 - ], - [ - 32579, - 61 - ], - [ - 32641, - 32 - ], - [ - 32706, - 23 - ], - [ - 32770, - 56 - ], - [ - 32837, - 4 - ], - [ - 32852, - 15 - ], - [ - 32879, - 61 - ], - [ - 32942, - 31 - ], - [ - 33005, - 24 - ], - [ - 33070, - 56 - ], - [ - 33137, - 4 - ], - [ - 33152, - 15 - ], - [ - 33180, - 60 - ], - [ - 33242, - 32 - ], - [ - 33305, - 24 - ], - [ - 33370, - 57 - ], - [ - 33438, - 2 - ], - [ - 33452, - 15 - ], - [ - 33480, - 60 - ], - [ - 33542, - 32 - ], - [ - 33605, - 23 - ], - [ - 33669, - 58 - ], - [ - 33752, - 15 - ], - [ - 33780, - 60 - ], - [ - 33842, - 32 - ], - [ - 33904, - 24 - ], - [ - 33969, - 58 - ], - [ - 34051, - 16 - ], - [ - 34080, - 61 - ], - [ - 34143, - 32 - ], - [ - 34204, - 24 - ], - [ - 34269, - 58 - ], - [ - 34351, - 16 - ], - [ - 34380, - 61 - ], - [ - 34443, - 32 - ], - [ - 34504, - 24 - ], - [ - 34569, - 59 - ], - [ - 34650, - 17 - ], - [ - 34680, - 61 - ], - [ - 34743, - 32 - ], - [ - 34803, - 24 - ], - [ - 34869, - 60 - ], - [ - 34949, - 18 - ], - [ - 34980, - 61 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 62 - ], - [ - 35248, - 94 - ], - [ - 35343, - 33 - ], - [ - 35403, - 24 - ], - [ - 35468, - 63 - ], - [ - 35547, - 95 - ], - [ - 35644, - 32 - ], - [ - 35702, - 31 - ], - [ - 35767, - 66 - ], - [ - 35845, - 97 - ], - [ - 35944, - 32 - ], - [ - 36002, - 51 - ], - [ - 36056, - 82 - ], - [ - 36140, - 102 - ], - [ - 36244, - 33 - ], - [ - 36301, - 52 - ], - [ - 36356, - 186 - ], - [ - 36544, - 33 - ], - [ - 36601, - 53 - ], - [ - 36656, - 187 - ], - [ - 36845, - 32 - ], - [ - 36901, - 52 - ], - [ - 36956, - 81 - ], - [ - 37041, - 102 - ], - [ - 37145, - 33 - ], - [ - 37200, - 53 - ], - [ - 37256, - 77 - ], - [ - 37345, - 98 - ], - [ - 37445, - 33 - ], - [ - 37500, - 53 - ], - [ - 37556, - 75 - ], - [ - 37647, - 96 - ], - [ - 37745, - 33 - ], - [ - 37800, - 53 - ], - [ - 37856, - 73 - ], - [ - 37949, - 94 - ], - [ - 38045, - 34 - ], - [ - 38100, - 53 - ], - [ - 38156, - 72 - ], - [ - 38249, - 95 - ], - [ - 38346, - 33 - ], - [ - 38400, - 53 - ], - [ - 38455, - 72 - ], - [ - 38550, - 94 - ], - [ - 38646, - 33 - ], - [ - 38700, - 53 - ], - [ - 38755, - 72 - ], - [ - 38851, - 93 - ], - [ - 38946, - 33 - ], - [ - 39000, - 53 - ], - [ - 39055, - 71 - ], - [ - 39152, - 92 - ], - [ - 39246, - 34 - ], - [ - 39300, - 53 - ], - [ - 39355, - 71 - ], - [ - 39452, - 93 - ], - [ - 39547, - 33 - ], - [ - 39600, - 53 - ], - [ - 39655, - 70 - ], - [ - 39752, - 93 - ], - [ - 39847, - 33 - ], - [ - 39900, - 53 - ], - [ - 39955, - 70 - ], - [ - 40037, - 4 - ], - [ - 40052, - 93 - ], - [ - 40147, - 34 - ], - [ - 40200, - 53 - ], - [ - 40255, - 70 - ], - [ - 40336, - 5 - ], - [ - 40352, - 93 - ], - [ - 40447, - 34 - ], - [ - 40500, - 53 - ], - [ - 40555, - 70 - ], - [ - 40637, - 3 - ], - [ - 40652, - 93 - ], - [ - 40747, - 34 - ], - [ - 40800, - 53 - ], - [ - 40855, - 70 - ], - [ - 40952, - 94 - ], - [ - 41048, - 34 - ], - [ - 41100, - 53 - ], - [ - 41155, - 70 - ], - [ - 41252, - 94 - ], - [ - 41348, - 34 - ], - [ - 41400, - 52 - ], - [ - 41455, - 71 - ], - [ - 41552, - 95 - ], - [ - 41648, - 34 - ], - [ - 41700, - 52 - ], - [ - 41755, - 71 - ], - [ - 41851, - 96 - ], - [ - 41948, - 34 - ], - [ - 42000, - 52 - ], - [ - 42055, - 72 - ], - [ - 42150, - 133 - ], - [ - 42300, - 52 - ], - [ - 42355, - 73 - ], - [ - 42449, - 134 - ], - [ - 42600, - 52 - ], - [ - 42655, - 73 - ], - [ - 42749, - 134 - ], - [ - 42900, - 52 - ], - [ - 42955, - 75 - ], - [ - 43047, - 137 - ], - [ - 43200, - 52 - ], - [ - 43254, - 77 - ], - [ - 43345, - 139 - ], - [ - 43500, - 52 - ], - [ - 43554, - 80 - ], - [ - 43644, - 140 - ], - [ - 43800, - 52 - ], - [ - 43854, - 231 - ], - [ - 44100, - 52 - ], - [ - 44154, - 231 - ], - [ - 44400, - 52 - ], - [ - 44454, - 231 - ], - [ - 44700, - 52 - ], - [ - 44754, - 231 - ], - [ - 45000, - 52 - ], - [ - 45054, - 232 - ], - [ - 45300, - 52 - ], - [ - 45354, - 232 - ], - [ - 45600, - 52 - ], - [ - 45654, - 232 - ], - [ - 45900, - 52 - ], - [ - 45954, - 233 - ], - [ - 46200, - 52 - ], - [ - 46253, - 234 - ], - [ - 46500, - 52 - ], - [ - 46553, - 234 - ], - [ - 46800, - 52 - ], - [ - 46853, - 235 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 145, - 144 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.27|+00.50|-01.98" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 186, - 145, - 222, - 178 - ], - "mask": [ - [ - 43401, - 3 - ], - [ - 43696, - 14 - ], - [ - 43994, - 18 - ], - [ - 44292, - 22 - ], - [ - 44591, - 24 - ], - [ - 44890, - 27 - ], - [ - 45189, - 29 - ], - [ - 45488, - 31 - ], - [ - 45788, - 32 - ], - [ - 46087, - 33 - ], - [ - 46387, - 34 - ], - [ - 46686, - 35 - ], - [ - 46986, - 36 - ], - [ - 47286, - 36 - ], - [ - 47586, - 37 - ], - [ - 47886, - 37 - ], - [ - 48186, - 37 - ], - [ - 48486, - 37 - ], - [ - 48786, - 37 - ], - [ - 49087, - 36 - ], - [ - 49387, - 36 - ], - [ - 49687, - 36 - ], - [ - 49988, - 35 - ], - [ - 50288, - 34 - ], - [ - 50589, - 33 - ], - [ - 50890, - 31 - ], - [ - 51190, - 31 - ], - [ - 51491, - 29 - ], - [ - 51792, - 27 - ], - [ - 52093, - 25 - ], - [ - 52394, - 23 - ], - [ - 52695, - 20 - ], - [ - 52997, - 15 - ], - [ - 53300, - 9 - ] - ], - "point": [ - 204, - 160 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.27|+00.50|-01.98", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 131 - ], - [ - 25107, - 59 - ], - [ - 25275, - 131 - ], - [ - 25407, - 59 - ], - [ - 25575, - 131 - ], - [ - 25707, - 59 - ], - [ - 25814, - 12 - ], - [ - 25875, - 131 - ], - [ - 26007, - 59 - ], - [ - 26113, - 14 - ], - [ - 26174, - 131 - ], - [ - 26307, - 60 - ], - [ - 26413, - 14 - ], - [ - 26474, - 121 - ], - [ - 26599, - 6 - ], - [ - 26607, - 60 - ], - [ - 26713, - 15 - ], - [ - 26774, - 120 - ], - [ - 26900, - 3 - ], - [ - 26907, - 60 - ], - [ - 27012, - 16 - ], - [ - 27074, - 121 - ], - [ - 27201, - 2 - ], - [ - 27208, - 60 - ], - [ - 27312, - 17 - ], - [ - 27374, - 123 - ], - [ - 27508, - 60 - ], - [ - 27612, - 17 - ], - [ - 27673, - 118 - ], - [ - 27794, - 4 - ], - [ - 27803, - 3 - ], - [ - 27807, - 61 - ], - [ - 27911, - 19 - ], - [ - 27973, - 119 - ], - [ - 28097, - 2 - ], - [ - 28101, - 68 - ], - [ - 28211, - 20 - ], - [ - 28273, - 122 - ], - [ - 28400, - 2 - ], - [ - 28404, - 2 - ], - [ - 28407, - 62 - ], - [ - 28511, - 20 - ], - [ - 28573, - 123 - ], - [ - 28702, - 2 - ], - [ - 28706, - 63 - ], - [ - 28810, - 22 - ], - [ - 28873, - 124 - ], - [ - 29002, - 3 - ], - [ - 29006, - 63 - ], - [ - 29110, - 22 - ], - [ - 29172, - 129 - ], - [ - 29305, - 65 - ], - [ - 29410, - 23 - ], - [ - 29472, - 131 - ], - [ - 29605, - 65 - ], - [ - 29709, - 23 - ], - [ - 29772, - 131 - ], - [ - 29906, - 64 - ], - [ - 30009, - 23 - ], - [ - 30072, - 64 - ], - [ - 30142, - 61 - ], - [ - 30207, - 64 - ], - [ - 30309, - 23 - ], - [ - 30372, - 61 - ], - [ - 30446, - 21 - ], - [ - 30479, - 23 - ], - [ - 30509, - 62 - ], - [ - 30608, - 23 - ], - [ - 30671, - 60 - ], - [ - 30748, - 19 - ], - [ - 30779, - 22 - ], - [ - 30810, - 61 - ], - [ - 30908, - 23 - ], - [ - 30971, - 59 - ], - [ - 31049, - 18 - ], - [ - 31079, - 22 - ], - [ - 31110, - 62 - ], - [ - 31207, - 24 - ], - [ - 31271, - 58 - ], - [ - 31350, - 17 - ], - [ - 31379, - 23 - ], - [ - 31409, - 63 - ], - [ - 31507, - 23 - ], - [ - 31571, - 25 - ], - [ - 31606, - 22 - ], - [ - 31651, - 16 - ], - [ - 31679, - 24 - ], - [ - 31708, - 31 - ], - [ - 31741, - 31 - ], - [ - 31807, - 23 - ], - [ - 31871, - 21 - ], - [ - 31910, - 17 - ], - [ - 31951, - 16 - ], - [ - 31979, - 26 - ], - [ - 32007, - 32 - ], - [ - 32041, - 31 - ], - [ - 32106, - 24 - ], - [ - 32170, - 20 - ], - [ - 32212, - 15 - ], - [ - 32252, - 15 - ], - [ - 32279, - 60 - ], - [ - 32341, - 32 - ], - [ - 32406, - 24 - ], - [ - 32470, - 18 - ], - [ - 32514, - 13 - ], - [ - 32552, - 15 - ], - [ - 32579, - 61 - ], - [ - 32641, - 32 - ], - [ - 32706, - 23 - ], - [ - 32770, - 16 - ], - [ - 32815, - 11 - ], - [ - 32837, - 4 - ], - [ - 32852, - 15 - ], - [ - 32879, - 61 - ], - [ - 32942, - 31 - ], - [ - 33005, - 24 - ], - [ - 33070, - 15 - ], - [ - 33116, - 10 - ], - [ - 33137, - 4 - ], - [ - 33152, - 15 - ], - [ - 33180, - 60 - ], - [ - 33242, - 32 - ], - [ - 33305, - 24 - ], - [ - 33370, - 14 - ], - [ - 33417, - 10 - ], - [ - 33438, - 2 - ], - [ - 33452, - 15 - ], - [ - 33480, - 60 - ], - [ - 33542, - 32 - ], - [ - 33605, - 23 - ], - [ - 33669, - 14 - ], - [ - 33718, - 9 - ], - [ - 33752, - 15 - ], - [ - 33780, - 60 - ], - [ - 33842, - 32 - ], - [ - 33904, - 24 - ], - [ - 33969, - 13 - ], - [ - 34018, - 9 - ], - [ - 34051, - 16 - ], - [ - 34080, - 61 - ], - [ - 34143, - 32 - ], - [ - 34204, - 24 - ], - [ - 34269, - 12 - ], - [ - 34319, - 8 - ], - [ - 34351, - 16 - ], - [ - 34380, - 61 - ], - [ - 34443, - 32 - ], - [ - 34504, - 24 - ], - [ - 34569, - 11 - ], - [ - 34619, - 9 - ], - [ - 34650, - 17 - ], - [ - 34680, - 61 - ], - [ - 34743, - 32 - ], - [ - 34803, - 24 - ], - [ - 34869, - 11 - ], - [ - 34920, - 9 - ], - [ - 34949, - 18 - ], - [ - 34980, - 61 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 11 - ], - [ - 35220, - 10 - ], - [ - 35248, - 94 - ], - [ - 35343, - 33 - ], - [ - 35403, - 24 - ], - [ - 35468, - 11 - ], - [ - 35520, - 11 - ], - [ - 35547, - 95 - ], - [ - 35644, - 32 - ], - [ - 35702, - 31 - ], - [ - 35767, - 12 - ], - [ - 35820, - 13 - ], - [ - 35845, - 97 - ], - [ - 35944, - 32 - ], - [ - 36002, - 51 - ], - [ - 36056, - 22 - ], - [ - 36120, - 18 - ], - [ - 36140, - 102 - ], - [ - 36244, - 33 - ], - [ - 36301, - 52 - ], - [ - 36356, - 22 - ], - [ - 36420, - 122 - ], - [ - 36544, - 33 - ], - [ - 36601, - 53 - ], - [ - 36656, - 22 - ], - [ - 36720, - 123 - ], - [ - 36845, - 32 - ], - [ - 36901, - 52 - ], - [ - 36956, - 22 - ], - [ - 37020, - 17 - ], - [ - 37041, - 102 - ], - [ - 37145, - 33 - ], - [ - 37200, - 53 - ], - [ - 37256, - 22 - ], - [ - 37320, - 13 - ], - [ - 37345, - 98 - ], - [ - 37445, - 33 - ], - [ - 37500, - 53 - ], - [ - 37556, - 22 - ], - [ - 37620, - 11 - ], - [ - 37647, - 96 - ], - [ - 37745, - 33 - ], - [ - 37800, - 53 - ], - [ - 37856, - 22 - ], - [ - 37919, - 10 - ], - [ - 37949, - 94 - ], - [ - 38045, - 34 - ], - [ - 38100, - 53 - ], - [ - 38156, - 22 - ], - [ - 38219, - 9 - ], - [ - 38249, - 95 - ], - [ - 38346, - 33 - ], - [ - 38400, - 53 - ], - [ - 38455, - 24 - ], - [ - 38518, - 9 - ], - [ - 38550, - 94 - ], - [ - 38646, - 33 - ], - [ - 38700, - 53 - ], - [ - 38755, - 24 - ], - [ - 38817, - 10 - ], - [ - 38851, - 93 - ], - [ - 38946, - 33 - ], - [ - 39000, - 53 - ], - [ - 39055, - 25 - ], - [ - 39117, - 9 - ], - [ - 39152, - 92 - ], - [ - 39246, - 34 - ], - [ - 39300, - 53 - ], - [ - 39355, - 25 - ], - [ - 39417, - 9 - ], - [ - 39452, - 93 - ], - [ - 39547, - 33 - ], - [ - 39600, - 53 - ], - [ - 39655, - 26 - ], - [ - 39716, - 9 - ], - [ - 39752, - 93 - ], - [ - 39847, - 33 - ], - [ - 39900, - 53 - ], - [ - 39955, - 27 - ], - [ - 40016, - 9 - ], - [ - 40037, - 4 - ], - [ - 40052, - 93 - ], - [ - 40147, - 34 - ], - [ - 40200, - 53 - ], - [ - 40255, - 28 - ], - [ - 40315, - 10 - ], - [ - 40336, - 5 - ], - [ - 40352, - 93 - ], - [ - 40447, - 34 - ], - [ - 40500, - 53 - ], - [ - 40555, - 29 - ], - [ - 40614, - 11 - ], - [ - 40637, - 3 - ], - [ - 40652, - 93 - ], - [ - 40747, - 34 - ], - [ - 40800, - 53 - ], - [ - 40855, - 31 - ], - [ - 40913, - 12 - ], - [ - 40952, - 94 - ], - [ - 41048, - 34 - ], - [ - 41100, - 53 - ], - [ - 41155, - 33 - ], - [ - 41212, - 13 - ], - [ - 41252, - 94 - ], - [ - 41348, - 34 - ], - [ - 41400, - 52 - ], - [ - 41455, - 34 - ], - [ - 41511, - 15 - ], - [ - 41552, - 95 - ], - [ - 41648, - 34 - ], - [ - 41700, - 52 - ], - [ - 41755, - 35 - ], - [ - 41810, - 16 - ], - [ - 41851, - 96 - ], - [ - 41948, - 34 - ], - [ - 42000, - 52 - ], - [ - 42055, - 37 - ], - [ - 42109, - 18 - ], - [ - 42150, - 133 - ], - [ - 42300, - 52 - ], - [ - 42355, - 40 - ], - [ - 42408, - 20 - ], - [ - 42449, - 134 - ], - [ - 42600, - 52 - ], - [ - 42655, - 44 - ], - [ - 42705, - 23 - ], - [ - 42749, - 134 - ], - [ - 42900, - 52 - ], - [ - 42955, - 75 - ], - [ - 43047, - 137 - ], - [ - 43200, - 52 - ], - [ - 43254, - 77 - ], - [ - 43345, - 139 - ], - [ - 43500, - 52 - ], - [ - 43554, - 80 - ], - [ - 43644, - 140 - ], - [ - 43800, - 52 - ], - [ - 43854, - 231 - ], - [ - 44100, - 52 - ], - [ - 44154, - 231 - ], - [ - 44400, - 52 - ], - [ - 44454, - 231 - ], - [ - 44700, - 52 - ], - [ - 44754, - 231 - ], - [ - 45000, - 52 - ], - [ - 45054, - 232 - ], - [ - 45300, - 52 - ], - [ - 45354, - 232 - ], - [ - 45600, - 52 - ], - [ - 45654, - 232 - ], - [ - 45900, - 52 - ], - [ - 45954, - 233 - ], - [ - 46200, - 52 - ], - [ - 46253, - 234 - ], - [ - 46500, - 52 - ], - [ - 46553, - 234 - ], - [ - 46800, - 52 - ], - [ - 46853, - 235 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 145, - 144 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -0.5, - "y": 0.9009992, - "z": -2.5 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.293553, - "y": 1.41068065, - "z": -0.09377204 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.26934361, - "y": 0.5047848, - "z": -1.9839741 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.2264483, - "y": 0.9110809, - "z": 0.0397583246 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 0.3098346, - "y": 0.5763166, - "z": -2.53734946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.45727193, - "y": 0.6990013, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": -1.33205307, - "y": 0.6980394, - "z": -2.33622932 - }, - "rotation": { - "x": -0.000148227147, - "y": 7.790836e-08, - "z": -0.000150378619 - } - }, - { - "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": "CellPhone_7274698b", - "position": { - "x": -0.00390809774, - "y": 0.577421546, - "z": -2.53734946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": -1.3946625, - "y": 0.7048791, - "z": -1.610656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": 1.17267275, - "y": 0.3765342, - "z": -1.60532045 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.327105, - "y": 1.41089189, - "z": -0.238202333 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.15934241, - "y": 1.41089189, - "z": -0.238201886 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 1.2599988, - "y": 0.9113732, - "z": -0.6823928 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 1.26000047, - "y": 0.383373171, - "z": -0.09777196 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -1.443465, - "y": 0.610413, - "z": -0.2235784 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.51988137, - "y": 0.7009816, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "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": 1.32964253, - "y": 0.3765342, - "z": -1.99862838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.12034822, - "y": 0.371416569, - "z": -1.9293704 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.45727193, - "y": 0.6993906, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -1.203076, - "y": 0.6091408, - "z": -0.78479743 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "Pillow_6257ee32", - "position": { - "x": -1.323271, - "y": 0.7137597, - "z": 0.3376409 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "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": -1.47704518, - "y": 1.52744889, - "z": -1.715441 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 1.25999951, - "y": 0.9113732, - "z": -0.3935324 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.33205307, - "y": 0.6961093, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 0.152963251, - "y": 0.5764947, - "z": -2.37327981 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3935858109, - "scene_num": 327 - }, - "task_id": "trial_T20190907_195833_033721", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A36DK84J5YJ942_354P56DE9NK32NC8I6AG8CDVH76S7I", - "high_descs": [ - "Move to the desk behind you", - "Pick up a bowl from the desk", - "Turn around to the dresser", - "Place the bowl on the dresser", - "Move to the shelf to the left of the desk", - "Pick up bowl from the shelf", - "Move to the dresser behind you", - "Place the bowl on the dresser" - ], - "task_desc": "Put two bowls on the dresser at the foot of the bed.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2871R3LEPWMMK_384PI804XVIPKCCOX7P7TX389VT0SN", - "high_descs": [ - "Turn around to face the white table near the window.", - "Pick up the silver bowl near the edge of the table.", - "Turn back around and face the wooden dresser.", - "Place the bowl on top of the dresser to the right of the lamp next to two discs.", - "Turn around, walk around the black chair to reach the tall open wooden shelf ahead.", - "Pick up the silver bowl from the open wooden shelf.", - "Turn around, walk around the black chair to return to the wooden dresser near the window.", - "Place the bowl on top of the dresser in between the blue credit card and a pencil." - ], - "task_desc": "Place two bowls on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1AKL5YH9NLD2V_3YMTUJH0DVX7Y07458HZF5P7SQOT4M", - "high_descs": [ - "Turn around to face the desk next to the window.", - "Pick up the bowl next to the CD on the table.", - "Turn around and walk to the wooden dresser with a lamp on it.", - "Place the bowl to the left of the CD's on the dresser.", - "Turn around and walk to the bowl on the wooden dresser on the opposite side of the room.", - "Pick up the bowl from the wooden dresser.", - "Turn around and walk to the wooden dresser with a lamp on it.", - "Place the bowl in front of the keys on the dresser." - ], - "task_desc": "Place two bowls on the wooden dresser with a lamp on it.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_195918_167799/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_195918_167799/traj_data.json deleted file mode 100644 index fc4dc2e6e..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_195918_167799/traj_data.json +++ /dev/null @@ -1,6962 +0,0 @@ -{ - "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": 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": 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": 12 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 30 - }, - { - "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": 30 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000368.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000369.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000370.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000371.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000372.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000373.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000374.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000375.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000376.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000377.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000378.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000379.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000380.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000381.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000382.png", - "low_idx": 70 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Bowl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-3|1|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.90578508, - 4.90578508, - -2.6859708, - -2.6859708, - 5.6427226, - 5.6427226 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.036, - -1.036, - 5.61199952, - 5.61199952 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.23|+01.41|-00.67" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.90578508, - 4.90578508, - -2.6859708, - -2.6859708, - 5.6427226, - 5.6427226 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.23|+01.41|-00.67", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|0|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.174212, - 5.174212, - -0.3910882, - -0.3910882, - 1.53232348, - 1.53232348 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.052, - -1.052, - 1.5016, - 1.5016 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.29|+00.38|-00.10" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 5.174212, - 5.174212, - -0.3910882, - -0.3910882, - 1.53232348, - 1.53232348 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.29|+00.38|-00.10", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.23|+01.41|-00.67" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 58, - 47, - 150, - 108 - ], - "mask": [ - [ - 13896, - 29 - ], - [ - 14184, - 51 - ], - [ - 14477, - 64 - ], - [ - 14771, - 74 - ], - [ - 15067, - 80 - ], - [ - 15364, - 85 - ], - [ - 15661, - 89 - ], - [ - 15959, - 91 - ], - [ - 16258, - 93 - ], - [ - 16558, - 92 - ], - [ - 16858, - 92 - ], - [ - 17158, - 90 - ], - [ - 17458, - 89 - ], - [ - 17759, - 87 - ], - [ - 18061, - 84 - ], - [ - 18363, - 82 - ], - [ - 18664, - 81 - ], - [ - 18964, - 81 - ], - [ - 19265, - 80 - ], - [ - 19565, - 80 - ], - [ - 19866, - 79 - ], - [ - 20166, - 79 - ], - [ - 20466, - 79 - ], - [ - 20766, - 79 - ], - [ - 21066, - 78 - ], - [ - 21367, - 77 - ], - [ - 21667, - 77 - ], - [ - 21967, - 77 - ], - [ - 22268, - 75 - ], - [ - 22568, - 75 - ], - [ - 22868, - 75 - ], - [ - 23169, - 74 - ], - [ - 23469, - 73 - ], - [ - 23770, - 72 - ], - [ - 24070, - 71 - ], - [ - 24370, - 71 - ], - [ - 24671, - 70 - ], - [ - 24972, - 68 - ], - [ - 25272, - 68 - ], - [ - 25573, - 66 - ], - [ - 25874, - 65 - ], - [ - 26174, - 64 - ], - [ - 26475, - 63 - ], - [ - 26776, - 61 - ], - [ - 27077, - 59 - ], - [ - 27378, - 58 - ], - [ - 27679, - 56 - ], - [ - 27979, - 55 - ], - [ - 28280, - 53 - ], - [ - 28581, - 52 - ], - [ - 28882, - 50 - ], - [ - 29183, - 49 - ], - [ - 29484, - 48 - ], - [ - 29785, - 47 - ], - [ - 30085, - 46 - ], - [ - 30385, - 46 - ], - [ - 30686, - 44 - ], - [ - 30986, - 43 - ], - [ - 31287, - 40 - ], - [ - 31589, - 35 - ], - [ - 31891, - 30 - ], - [ - 32195, - 21 - ] - ], - "point": [ - 104, - 76 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "Bowl|+01.23|+01.41|-00.67", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 36 - ], - [ - 25012, - 154 - ], - [ - 25275, - 35 - ], - [ - 25312, - 154 - ], - [ - 25575, - 35 - ], - [ - 25611, - 155 - ], - [ - 25814, - 12 - ], - [ - 25875, - 35 - ], - [ - 25911, - 155 - ], - [ - 26113, - 14 - ], - [ - 26174, - 35 - ], - [ - 26211, - 156 - ], - [ - 26413, - 14 - ], - [ - 26474, - 26 - ], - [ - 26503, - 6 - ], - [ - 26510, - 157 - ], - [ - 26713, - 15 - ], - [ - 26774, - 24 - ], - [ - 26804, - 2 - ], - [ - 26810, - 57 - ], - [ - 26882, - 21 - ], - [ - 26905, - 62 - ], - [ - 27012, - 16 - ], - [ - 27074, - 25 - ], - [ - 27105, - 1 - ], - [ - 27111, - 15 - ], - [ - 27153, - 14 - ], - [ - 27183, - 16 - ], - [ - 27210, - 58 - ], - [ - 27312, - 17 - ], - [ - 27374, - 26 - ], - [ - 27411, - 12 - ], - [ - 27456, - 11 - ], - [ - 27483, - 14 - ], - [ - 27512, - 56 - ], - [ - 27612, - 17 - ], - [ - 27673, - 20 - ], - [ - 27697, - 4 - ], - [ - 27706, - 17 - ], - [ - 27756, - 11 - ], - [ - 27783, - 12 - ], - [ - 27814, - 54 - ], - [ - 27911, - 19 - ], - [ - 27973, - 22 - ], - [ - 27999, - 1 - ], - [ - 28001, - 1 - ], - [ - 28004, - 19 - ], - [ - 28056, - 11 - ], - [ - 28083, - 11 - ], - [ - 28115, - 54 - ], - [ - 28211, - 20 - ], - [ - 28273, - 24 - ], - [ - 28302, - 2 - ], - [ - 28306, - 17 - ], - [ - 28356, - 10 - ], - [ - 28384, - 10 - ], - [ - 28416, - 53 - ], - [ - 28511, - 20 - ], - [ - 28573, - 25 - ], - [ - 28604, - 3 - ], - [ - 28608, - 15 - ], - [ - 28656, - 10 - ], - [ - 28684, - 9 - ], - [ - 28717, - 52 - ], - [ - 28810, - 22 - ], - [ - 28873, - 25 - ], - [ - 28903, - 4 - ], - [ - 28908, - 15 - ], - [ - 28956, - 10 - ], - [ - 28984, - 9 - ], - [ - 29017, - 52 - ], - [ - 29110, - 22 - ], - [ - 29172, - 31 - ], - [ - 29207, - 16 - ], - [ - 29256, - 10 - ], - [ - 29284, - 9 - ], - [ - 29317, - 53 - ], - [ - 29410, - 23 - ], - [ - 29472, - 32 - ], - [ - 29507, - 16 - ], - [ - 29556, - 10 - ], - [ - 29584, - 9 - ], - [ - 29603, - 4 - ], - [ - 29618, - 52 - ], - [ - 29709, - 23 - ], - [ - 29772, - 32 - ], - [ - 29807, - 16 - ], - [ - 29856, - 10 - ], - [ - 29884, - 9 - ], - [ - 29903, - 4 - ], - [ - 29918, - 52 - ], - [ - 30009, - 23 - ], - [ - 30072, - 32 - ], - [ - 30108, - 15 - ], - [ - 30156, - 10 - ], - [ - 30184, - 9 - ], - [ - 30218, - 53 - ], - [ - 30309, - 23 - ], - [ - 30372, - 31 - ], - [ - 30410, - 12 - ], - [ - 30456, - 10 - ], - [ - 30484, - 9 - ], - [ - 30518, - 53 - ], - [ - 30608, - 23 - ], - [ - 30671, - 31 - ], - [ - 30711, - 11 - ], - [ - 30756, - 10 - ], - [ - 30784, - 10 - ], - [ - 30818, - 53 - ], - [ - 30908, - 23 - ], - [ - 30971, - 30 - ], - [ - 31010, - 13 - ], - [ - 31056, - 10 - ], - [ - 31085, - 10 - ], - [ - 31117, - 55 - ], - [ - 31207, - 24 - ], - [ - 31271, - 31 - ], - [ - 31309, - 14 - ], - [ - 31356, - 10 - ], - [ - 31385, - 11 - ], - [ - 31416, - 56 - ], - [ - 31507, - 23 - ], - [ - 31571, - 32 - ], - [ - 31608, - 58 - ], - [ - 31685, - 12 - ], - [ - 31716, - 56 - ], - [ - 31807, - 23 - ], - [ - 31871, - 34 - ], - [ - 31907, - 59 - ], - [ - 31985, - 13 - ], - [ - 32015, - 57 - ], - [ - 32106, - 24 - ], - [ - 32170, - 96 - ], - [ - 32285, - 15 - ], - [ - 32313, - 60 - ], - [ - 32406, - 24 - ], - [ - 32470, - 96 - ], - [ - 32585, - 19 - ], - [ - 32610, - 63 - ], - [ - 32706, - 23 - ], - [ - 32770, - 96 - ], - [ - 32885, - 88 - ], - [ - 33005, - 24 - ], - [ - 33070, - 97 - ], - [ - 33185, - 89 - ], - [ - 33305, - 24 - ], - [ - 33370, - 97 - ], - [ - 33485, - 89 - ], - [ - 33605, - 23 - ], - [ - 33669, - 98 - ], - [ - 33785, - 89 - ], - [ - 33904, - 24 - ], - [ - 33969, - 98 - ], - [ - 34085, - 90 - ], - [ - 34204, - 24 - ], - [ - 34269, - 98 - ], - [ - 34385, - 90 - ], - [ - 34504, - 24 - ], - [ - 34569, - 98 - ], - [ - 34685, - 90 - ], - [ - 34803, - 24 - ], - [ - 34869, - 70 - ], - [ - 34940, - 27 - ], - [ - 34985, - 91 - ], - [ - 35103, - 24 - ], - [ - 35168, - 71 - ], - [ - 35240, - 27 - ], - [ - 35285, - 91 - ], - [ - 35403, - 24 - ], - [ - 35468, - 70 - ], - [ - 35540, - 27 - ], - [ - 35585, - 91 - ], - [ - 35702, - 31 - ], - [ - 35767, - 71 - ], - [ - 35840, - 27 - ], - [ - 35885, - 91 - ], - [ - 36002, - 136 - ], - [ - 36140, - 27 - ], - [ - 36186, - 91 - ], - [ - 36301, - 137 - ], - [ - 36440, - 27 - ], - [ - 36486, - 91 - ], - [ - 36601, - 137 - ], - [ - 36740, - 27 - ], - [ - 36786, - 91 - ], - [ - 36901, - 137 - ], - [ - 37040, - 27 - ], - [ - 37086, - 92 - ], - [ - 37200, - 138 - ], - [ - 37340, - 27 - ], - [ - 37386, - 92 - ], - [ - 37500, - 138 - ], - [ - 37640, - 27 - ], - [ - 37686, - 92 - ], - [ - 37800, - 138 - ], - [ - 37940, - 27 - ], - [ - 37986, - 93 - ], - [ - 38100, - 138 - ], - [ - 38240, - 27 - ], - [ - 38286, - 93 - ], - [ - 38400, - 138 - ], - [ - 38540, - 27 - ], - [ - 38586, - 93 - ], - [ - 38700, - 138 - ], - [ - 38840, - 27 - ], - [ - 38886, - 93 - ], - [ - 39000, - 138 - ], - [ - 39140, - 27 - ], - [ - 39186, - 94 - ], - [ - 39300, - 138 - ], - [ - 39440, - 27 - ], - [ - 39485, - 95 - ], - [ - 39600, - 138 - ], - [ - 39740, - 27 - ], - [ - 39785, - 95 - ], - [ - 39900, - 138 - ], - [ - 40040, - 28 - ], - [ - 40085, - 96 - ], - [ - 40200, - 138 - ], - [ - 40340, - 28 - ], - [ - 40385, - 96 - ], - [ - 40500, - 137 - ], - [ - 40640, - 28 - ], - [ - 40685, - 96 - ], - [ - 40800, - 137 - ], - [ - 40940, - 28 - ], - [ - 40985, - 97 - ], - [ - 41100, - 137 - ], - [ - 41240, - 28 - ], - [ - 41285, - 97 - ], - [ - 41400, - 137 - ], - [ - 41540, - 29 - ], - [ - 41581, - 101 - ], - [ - 41700, - 137 - ], - [ - 41840, - 142 - ], - [ - 42000, - 137 - ], - [ - 42140, - 143 - ], - [ - 42300, - 137 - ], - [ - 42440, - 143 - ], - [ - 42600, - 137 - ], - [ - 42740, - 143 - ], - [ - 42900, - 137 - ], - [ - 43040, - 144 - ], - [ - 43200, - 137 - ], - [ - 43339, - 145 - ], - [ - 43500, - 137 - ], - [ - 43639, - 145 - ], - [ - 43800, - 137 - ], - [ - 43939, - 146 - ], - [ - 44100, - 137 - ], - [ - 44239, - 146 - ], - [ - 44400, - 137 - ], - [ - 44539, - 146 - ], - [ - 44700, - 137 - ], - [ - 44839, - 146 - ], - [ - 45000, - 137 - ], - [ - 45139, - 147 - ], - [ - 45300, - 137 - ], - [ - 45439, - 147 - ], - [ - 45600, - 137 - ], - [ - 45739, - 147 - ], - [ - 45900, - 137 - ], - [ - 46039, - 148 - ], - [ - 46200, - 138 - ], - [ - 46339, - 148 - ], - [ - 46500, - 287 - ], - [ - 46800, - 288 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.29|+00.38|-00.10" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 154, - 159, - 186, - 184 - ], - "mask": [ - [ - 47557, - 26 - ], - [ - 47857, - 27 - ], - [ - 48156, - 29 - ], - [ - 48455, - 30 - ], - [ - 48755, - 31 - ], - [ - 49055, - 31 - ], - [ - 49354, - 33 - ], - [ - 49654, - 33 - ], - [ - 49954, - 33 - ], - [ - 50254, - 33 - ], - [ - 50554, - 33 - ], - [ - 50854, - 33 - ], - [ - 51154, - 33 - ], - [ - 51454, - 33 - ], - [ - 51755, - 32 - ], - [ - 52055, - 32 - ], - [ - 52356, - 30 - ], - [ - 52656, - 30 - ], - [ - 52957, - 28 - ], - [ - 53258, - 26 - ], - [ - 53559, - 24 - ], - [ - 53860, - 22 - ], - [ - 54161, - 20 - ], - [ - 54463, - 16 - ], - [ - 54764, - 13 - ], - [ - 55067, - 7 - ] - ], - "point": [ - 170, - 170 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.29|+00.38|-00.10", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 36 - ], - [ - 25012, - 154 - ], - [ - 25275, - 35 - ], - [ - 25312, - 154 - ], - [ - 25575, - 35 - ], - [ - 25611, - 155 - ], - [ - 25814, - 12 - ], - [ - 25875, - 35 - ], - [ - 25911, - 155 - ], - [ - 26113, - 14 - ], - [ - 26174, - 35 - ], - [ - 26211, - 156 - ], - [ - 26413, - 14 - ], - [ - 26474, - 26 - ], - [ - 26503, - 6 - ], - [ - 26510, - 157 - ], - [ - 26713, - 15 - ], - [ - 26774, - 24 - ], - [ - 26804, - 2 - ], - [ - 26810, - 57 - ], - [ - 26882, - 21 - ], - [ - 26905, - 62 - ], - [ - 27012, - 16 - ], - [ - 27074, - 25 - ], - [ - 27105, - 1 - ], - [ - 27111, - 15 - ], - [ - 27153, - 14 - ], - [ - 27183, - 16 - ], - [ - 27210, - 58 - ], - [ - 27312, - 17 - ], - [ - 27374, - 26 - ], - [ - 27411, - 12 - ], - [ - 27456, - 11 - ], - [ - 27483, - 14 - ], - [ - 27512, - 56 - ], - [ - 27612, - 17 - ], - [ - 27673, - 20 - ], - [ - 27697, - 4 - ], - [ - 27706, - 17 - ], - [ - 27756, - 11 - ], - [ - 27783, - 12 - ], - [ - 27814, - 54 - ], - [ - 27911, - 19 - ], - [ - 27973, - 22 - ], - [ - 27999, - 1 - ], - [ - 28001, - 1 - ], - [ - 28004, - 19 - ], - [ - 28056, - 11 - ], - [ - 28083, - 11 - ], - [ - 28115, - 54 - ], - [ - 28211, - 20 - ], - [ - 28273, - 24 - ], - [ - 28302, - 2 - ], - [ - 28306, - 17 - ], - [ - 28356, - 10 - ], - [ - 28384, - 10 - ], - [ - 28416, - 53 - ], - [ - 28511, - 20 - ], - [ - 28573, - 25 - ], - [ - 28604, - 3 - ], - [ - 28608, - 15 - ], - [ - 28656, - 10 - ], - [ - 28684, - 9 - ], - [ - 28717, - 52 - ], - [ - 28810, - 22 - ], - [ - 28873, - 25 - ], - [ - 28903, - 4 - ], - [ - 28908, - 15 - ], - [ - 28956, - 10 - ], - [ - 28984, - 9 - ], - [ - 29017, - 52 - ], - [ - 29110, - 22 - ], - [ - 29172, - 31 - ], - [ - 29207, - 16 - ], - [ - 29256, - 10 - ], - [ - 29284, - 9 - ], - [ - 29317, - 53 - ], - [ - 29410, - 23 - ], - [ - 29472, - 32 - ], - [ - 29507, - 16 - ], - [ - 29556, - 10 - ], - [ - 29584, - 9 - ], - [ - 29603, - 4 - ], - [ - 29618, - 52 - ], - [ - 29709, - 23 - ], - [ - 29772, - 32 - ], - [ - 29807, - 16 - ], - [ - 29856, - 10 - ], - [ - 29884, - 9 - ], - [ - 29903, - 4 - ], - [ - 29918, - 52 - ], - [ - 30009, - 23 - ], - [ - 30072, - 32 - ], - [ - 30108, - 15 - ], - [ - 30156, - 10 - ], - [ - 30184, - 9 - ], - [ - 30218, - 53 - ], - [ - 30309, - 23 - ], - [ - 30372, - 31 - ], - [ - 30410, - 12 - ], - [ - 30456, - 10 - ], - [ - 30484, - 9 - ], - [ - 30518, - 53 - ], - [ - 30608, - 23 - ], - [ - 30671, - 31 - ], - [ - 30711, - 11 - ], - [ - 30756, - 10 - ], - [ - 30784, - 10 - ], - [ - 30818, - 53 - ], - [ - 30908, - 23 - ], - [ - 30971, - 30 - ], - [ - 31010, - 13 - ], - [ - 31056, - 10 - ], - [ - 31085, - 10 - ], - [ - 31117, - 55 - ], - [ - 31207, - 24 - ], - [ - 31271, - 31 - ], - [ - 31309, - 14 - ], - [ - 31356, - 10 - ], - [ - 31385, - 11 - ], - [ - 31416, - 56 - ], - [ - 31507, - 23 - ], - [ - 31571, - 25 - ], - [ - 31608, - 58 - ], - [ - 31685, - 12 - ], - [ - 31716, - 56 - ], - [ - 31807, - 23 - ], - [ - 31871, - 21 - ], - [ - 31910, - 56 - ], - [ - 31985, - 13 - ], - [ - 32015, - 57 - ], - [ - 32106, - 24 - ], - [ - 32170, - 20 - ], - [ - 32212, - 54 - ], - [ - 32285, - 15 - ], - [ - 32313, - 60 - ], - [ - 32406, - 24 - ], - [ - 32470, - 18 - ], - [ - 32514, - 52 - ], - [ - 32585, - 19 - ], - [ - 32610, - 63 - ], - [ - 32706, - 23 - ], - [ - 32770, - 16 - ], - [ - 32815, - 51 - ], - [ - 32885, - 88 - ], - [ - 33005, - 24 - ], - [ - 33070, - 15 - ], - [ - 33116, - 51 - ], - [ - 33185, - 89 - ], - [ - 33305, - 24 - ], - [ - 33370, - 14 - ], - [ - 33417, - 50 - ], - [ - 33485, - 89 - ], - [ - 33605, - 23 - ], - [ - 33669, - 14 - ], - [ - 33718, - 49 - ], - [ - 33785, - 89 - ], - [ - 33904, - 24 - ], - [ - 33969, - 13 - ], - [ - 34018, - 49 - ], - [ - 34085, - 90 - ], - [ - 34204, - 24 - ], - [ - 34269, - 12 - ], - [ - 34319, - 48 - ], - [ - 34385, - 90 - ], - [ - 34504, - 24 - ], - [ - 34569, - 11 - ], - [ - 34619, - 48 - ], - [ - 34685, - 90 - ], - [ - 34803, - 24 - ], - [ - 34869, - 11 - ], - [ - 34920, - 19 - ], - [ - 34940, - 27 - ], - [ - 34985, - 91 - ], - [ - 35103, - 24 - ], - [ - 35168, - 11 - ], - [ - 35220, - 19 - ], - [ - 35240, - 27 - ], - [ - 35285, - 91 - ], - [ - 35403, - 24 - ], - [ - 35468, - 11 - ], - [ - 35520, - 18 - ], - [ - 35540, - 27 - ], - [ - 35585, - 91 - ], - [ - 35702, - 31 - ], - [ - 35767, - 12 - ], - [ - 35820, - 18 - ], - [ - 35840, - 27 - ], - [ - 35885, - 91 - ], - [ - 36002, - 76 - ], - [ - 36120, - 18 - ], - [ - 36140, - 27 - ], - [ - 36186, - 91 - ], - [ - 36301, - 77 - ], - [ - 36420, - 18 - ], - [ - 36440, - 27 - ], - [ - 36486, - 91 - ], - [ - 36601, - 77 - ], - [ - 36720, - 18 - ], - [ - 36740, - 27 - ], - [ - 36786, - 91 - ], - [ - 36901, - 77 - ], - [ - 37020, - 18 - ], - [ - 37040, - 27 - ], - [ - 37086, - 92 - ], - [ - 37200, - 78 - ], - [ - 37320, - 18 - ], - [ - 37340, - 27 - ], - [ - 37386, - 92 - ], - [ - 37500, - 78 - ], - [ - 37620, - 18 - ], - [ - 37640, - 27 - ], - [ - 37686, - 92 - ], - [ - 37800, - 78 - ], - [ - 37919, - 19 - ], - [ - 37940, - 27 - ], - [ - 37986, - 93 - ], - [ - 38100, - 78 - ], - [ - 38219, - 19 - ], - [ - 38240, - 27 - ], - [ - 38286, - 93 - ], - [ - 38400, - 79 - ], - [ - 38518, - 20 - ], - [ - 38540, - 27 - ], - [ - 38586, - 93 - ], - [ - 38700, - 79 - ], - [ - 38817, - 21 - ], - [ - 38840, - 27 - ], - [ - 38886, - 93 - ], - [ - 39000, - 80 - ], - [ - 39117, - 21 - ], - [ - 39140, - 27 - ], - [ - 39186, - 94 - ], - [ - 39300, - 80 - ], - [ - 39417, - 21 - ], - [ - 39440, - 27 - ], - [ - 39485, - 95 - ], - [ - 39600, - 81 - ], - [ - 39716, - 22 - ], - [ - 39740, - 27 - ], - [ - 39785, - 95 - ], - [ - 39900, - 82 - ], - [ - 40016, - 22 - ], - [ - 40040, - 28 - ], - [ - 40085, - 96 - ], - [ - 40200, - 83 - ], - [ - 40315, - 23 - ], - [ - 40340, - 28 - ], - [ - 40385, - 96 - ], - [ - 40500, - 84 - ], - [ - 40614, - 23 - ], - [ - 40640, - 28 - ], - [ - 40685, - 96 - ], - [ - 40800, - 86 - ], - [ - 40913, - 24 - ], - [ - 40940, - 28 - ], - [ - 40985, - 97 - ], - [ - 41100, - 88 - ], - [ - 41212, - 25 - ], - [ - 41240, - 28 - ], - [ - 41285, - 97 - ], - [ - 41400, - 89 - ], - [ - 41511, - 26 - ], - [ - 41540, - 29 - ], - [ - 41581, - 101 - ], - [ - 41700, - 90 - ], - [ - 41810, - 27 - ], - [ - 41840, - 142 - ], - [ - 42000, - 92 - ], - [ - 42109, - 28 - ], - [ - 42140, - 143 - ], - [ - 42300, - 95 - ], - [ - 42408, - 29 - ], - [ - 42440, - 143 - ], - [ - 42600, - 99 - ], - [ - 42705, - 32 - ], - [ - 42740, - 143 - ], - [ - 42900, - 137 - ], - [ - 43040, - 144 - ], - [ - 43200, - 137 - ], - [ - 43339, - 145 - ], - [ - 43500, - 137 - ], - [ - 43639, - 145 - ], - [ - 43800, - 137 - ], - [ - 43939, - 146 - ], - [ - 44100, - 137 - ], - [ - 44239, - 146 - ], - [ - 44400, - 137 - ], - [ - 44539, - 146 - ], - [ - 44700, - 137 - ], - [ - 44839, - 146 - ], - [ - 45000, - 137 - ], - [ - 45139, - 147 - ], - [ - 45300, - 137 - ], - [ - 45439, - 147 - ], - [ - 45600, - 137 - ], - [ - 45739, - 147 - ], - [ - 45900, - 137 - ], - [ - 46039, - 148 - ], - [ - 46200, - 138 - ], - [ - 46339, - 148 - ], - [ - 46500, - 287 - ], - [ - 46800, - 288 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.75, - "y": 0.9009992, - "z": 1.0 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.293552, - "y": 0.9110809, - "z": -0.393532485 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "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": 1.293553, - "y": 0.38308087, - "z": -0.09777205 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 1.22644794, - "y": 0.9169489, - "z": -0.104671881 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": -1.611249, - "y": 1.52728057, - "z": -2.43759346 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.51988137, - "y": 0.6980896, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 1.170655, - "y": 0.506587, - "z": -2.09353948 - }, - "rotation": { - "x": 0.0, - "y": 90.00017, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.06802571, - "y": 0.238312185, - "z": -1.67457843 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.22499633, - "y": 0.238312185, - "z": -1.60532045 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -1.20307612, - "y": 0.6091408, - "z": -0.5041878 - }, - "rotation": { - "x": 0.0, - "y": 179.999969, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -1.44346535, - "y": 0.610413, - "z": 0.3376408 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 0.93732, - "y": 0.5782969, - "z": -2.53734946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "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": -1.577699, - "y": 1.52728057, - "z": -2.14873242 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.51988137, - "y": 0.697214246, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.29355371, - "y": 0.9112921, - "z": 0.184188366 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "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": -1.33205307, - "y": 0.7021554, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.3946625, - "y": 0.6965797, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.51988137, - "y": 0.6990013, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.22644627, - "y": 1.41068065, - "z": -0.6714927 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 811806846, - "scene_num": 327 - }, - "task_id": "trial_T20190907_195918_167799", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A36DK84J5YJ942_339ANSOTR8J23OGWWO5B8FCUEUYIKI", - "high_descs": [ - "Move to the shelf to the left of the desk", - "Pick up a bowl from the shelf", - "Move to the dresser to the foot of the bed", - "Place the bowl on the dresser", - "Move to the shelf to the left of the desk", - "Pick up a bowl from the shelf", - "Move to the dresser to the foot of the bed", - "Place the bowl on the dresser" - ], - "task_desc": "Put two bowls on the dresser at the foot of the bed.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AIICJA0A5J8NF_3IHR8NYAMAI968EXOR8FAVOA3MV4PI", - "high_descs": [ - "Walk straight to the end of the shelves on the left. ", - "Pick up the large bowl on the end of the top shelf. ", - "Turn around, walk to the dresser. ", - "Put the bowl on the dresser in front of the keys. ", - "Turn around, walk back to the shelves, go to the left end of the shelves. ", - "Pick up the left bowl on the bottom shelf. ", - "Turn around, walk back to the dresser. ", - "Place the bowl in front of the disc on the dresser. " - ], - "task_desc": "Put two bowls on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2V35L3RIRYYXV_3YGXWBAF73YQCJ5TJMM9QVP341QC4I", - "high_descs": [ - "Walk forward and turn left to face the shelf on the wall.", - "Pick up the white bowl on the top shelf.", - "Turn right and then turn to face the gold nightstand beside the bed", - "Place the white bowl down on the nightstand in front of the keys. ", - "Turn around, then turn left and face the shelf on the wall. ", - "Pick up the white bowl on the left on the lowest shelf. ", - "Turn right and right again to face the gold nightstand.", - "Place the white bowl down on the nightstand in front of the CD." - ], - "task_desc": "Move two white bowls from the shelf to the nightstand. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_235202_045025/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_235202_045025/traj_data.json deleted file mode 100644 index 93a19f171..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Bowl-None-Dresser-327/trial_T20190907_235202_045025/traj_data.json +++ /dev/null @@ -1,6792 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 11 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "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": 0, - "image_name": "000000082.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 23 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 25 - }, - { - "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": 26 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 57 - }, - { - "high_idx": 7, - "image_name": "000000398.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000399.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000400.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000401.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000402.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000403.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000404.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000405.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000406.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000407.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000408.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000409.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000410.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000411.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000412.png", - "low_idx": 58 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Bowl", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-9|3|15" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - -6.44500636, - -6.44500636, - -8.59493064, - -8.59493064, - 6.08632328, - 6.08632328 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.3108, - -6.3108, - -8.1004, - -8.1004, - 6.0556, - 6.0556 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-01.61|+01.52|-02.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - -6.44500636, - -6.44500636, - -8.59493064, - -8.59493064, - 6.08632328, - 6.08632328 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|-01.61|+01.52|-02.15", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.682624, - 4.682624, - -7.27850296, - -7.27850296, - 2.0191392, - 2.0191392 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 4.88, - 4.88, - -7.208, - -7.208, - 3.436, - 3.436 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.17|+00.50|-01.82" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 4.682624, - 4.682624, - -7.27850296, - -7.27850296, - 2.0191392, - 2.0191392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+01.17|+00.50|-01.82", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|-01.61|+01.52|-02.15" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 157, - 70, - 206, - 99 - ], - "mask": [ - [ - 20867, - 35 - ], - [ - 21157, - 50 - ], - [ - 21457, - 50 - ], - [ - 21759, - 46 - ], - [ - 22059, - 46 - ], - [ - 22360, - 44 - ], - [ - 22660, - 44 - ], - [ - 22960, - 44 - ], - [ - 23260, - 44 - ], - [ - 23560, - 44 - ], - [ - 23860, - 44 - ], - [ - 24160, - 43 - ], - [ - 24461, - 42 - ], - [ - 24761, - 42 - ], - [ - 25061, - 41 - ], - [ - 25361, - 41 - ], - [ - 25662, - 40 - ], - [ - 25962, - 39 - ], - [ - 26263, - 38 - ], - [ - 26563, - 37 - ], - [ - 26864, - 35 - ], - [ - 27164, - 35 - ], - [ - 27465, - 33 - ], - [ - 27766, - 31 - ], - [ - 28066, - 30 - ], - [ - 28367, - 29 - ], - [ - 28667, - 28 - ], - [ - 28968, - 27 - ], - [ - 29268, - 27 - ], - [ - 29577, - 11 - ] - ], - "point": [ - 181, - 83 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Bowl|-01.61|+01.52|-02.15", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 39 - ], - [ - 23212, - 152 - ], - [ - 23458, - 39 - ], - [ - 23513, - 151 - ], - [ - 23759, - 37 - ], - [ - 23813, - 151 - ], - [ - 24059, - 37 - ], - [ - 24113, - 152 - ], - [ - 24359, - 36 - ], - [ - 24413, - 152 - ], - [ - 24660, - 35 - ], - [ - 24713, - 152 - ], - [ - 24975, - 20 - ], - [ - 25013, - 153 - ], - [ - 25275, - 20 - ], - [ - 25313, - 153 - ], - [ - 25575, - 19 - ], - [ - 25614, - 152 - ], - [ - 25814, - 12 - ], - [ - 25875, - 19 - ], - [ - 25914, - 152 - ], - [ - 26113, - 14 - ], - [ - 26174, - 20 - ], - [ - 26214, - 153 - ], - [ - 26413, - 14 - ], - [ - 26474, - 20 - ], - [ - 26514, - 153 - ], - [ - 26713, - 15 - ], - [ - 26774, - 20 - ], - [ - 26814, - 153 - ], - [ - 27012, - 16 - ], - [ - 27074, - 20 - ], - [ - 27114, - 154 - ], - [ - 27312, - 17 - ], - [ - 27374, - 19 - ], - [ - 27414, - 154 - ], - [ - 27612, - 17 - ], - [ - 27673, - 20 - ], - [ - 27714, - 154 - ], - [ - 27911, - 19 - ], - [ - 27973, - 20 - ], - [ - 28014, - 155 - ], - [ - 28211, - 20 - ], - [ - 28273, - 20 - ], - [ - 28314, - 155 - ], - [ - 28511, - 20 - ], - [ - 28573, - 20 - ], - [ - 28614, - 155 - ], - [ - 28810, - 22 - ], - [ - 28873, - 20 - ], - [ - 28913, - 156 - ], - [ - 29110, - 22 - ], - [ - 29172, - 21 - ], - [ - 29213, - 157 - ], - [ - 29410, - 23 - ], - [ - 29472, - 21 - ], - [ - 29513, - 157 - ], - [ - 29709, - 23 - ], - [ - 29772, - 21 - ], - [ - 29813, - 157 - ], - [ - 30009, - 23 - ], - [ - 30072, - 21 - ], - [ - 30113, - 158 - ], - [ - 30309, - 23 - ], - [ - 30372, - 20 - ], - [ - 30413, - 158 - ], - [ - 30608, - 23 - ], - [ - 30671, - 21 - ], - [ - 30713, - 158 - ], - [ - 30908, - 23 - ], - [ - 30971, - 21 - ], - [ - 31013, - 159 - ], - [ - 31207, - 24 - ], - [ - 31271, - 21 - ], - [ - 31313, - 159 - ], - [ - 31507, - 23 - ], - [ - 31571, - 21 - ], - [ - 31613, - 159 - ], - [ - 31807, - 23 - ], - [ - 31871, - 21 - ], - [ - 31913, - 159 - ], - [ - 32106, - 24 - ], - [ - 32170, - 22 - ], - [ - 32213, - 160 - ], - [ - 32406, - 24 - ], - [ - 32470, - 22 - ], - [ - 32513, - 160 - ], - [ - 32706, - 23 - ], - [ - 32770, - 22 - ], - [ - 32813, - 160 - ], - [ - 33005, - 24 - ], - [ - 33070, - 22 - ], - [ - 33113, - 161 - ], - [ - 33305, - 24 - ], - [ - 33370, - 22 - ], - [ - 33412, - 162 - ], - [ - 33605, - 23 - ], - [ - 33669, - 23 - ], - [ - 33712, - 162 - ], - [ - 33904, - 24 - ], - [ - 33969, - 23 - ], - [ - 34012, - 163 - ], - [ - 34204, - 24 - ], - [ - 34269, - 23 - ], - [ - 34312, - 163 - ], - [ - 34504, - 24 - ], - [ - 34569, - 23 - ], - [ - 34612, - 163 - ], - [ - 34803, - 24 - ], - [ - 34869, - 23 - ], - [ - 34912, - 65 - ], - [ - 34978, - 64 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 24 - ], - [ - 35212, - 64 - ], - [ - 35278, - 64 - ], - [ - 35343, - 33 - ], - [ - 35403, - 24 - ], - [ - 35468, - 24 - ], - [ - 35511, - 65 - ], - [ - 35577, - 65 - ], - [ - 35644, - 32 - ], - [ - 35702, - 31 - ], - [ - 35767, - 25 - ], - [ - 35811, - 65 - ], - [ - 35877, - 65 - ], - [ - 35944, - 32 - ], - [ - 36002, - 90 - ], - [ - 36111, - 7 - ], - [ - 36157, - 18 - ], - [ - 36177, - 65 - ], - [ - 36244, - 33 - ], - [ - 36301, - 92 - ], - [ - 36411, - 4 - ], - [ - 36460, - 5 - ], - [ - 36467, - 8 - ], - [ - 36477, - 65 - ], - [ - 36545, - 32 - ], - [ - 36601, - 92 - ], - [ - 36710, - 9 - ], - [ - 36757, - 7 - ], - [ - 36769, - 6 - ], - [ - 36777, - 65 - ], - [ - 36845, - 32 - ], - [ - 36901, - 92 - ], - [ - 37010, - 53 - ], - [ - 37070, - 3 - ], - [ - 37077, - 66 - ], - [ - 37145, - 33 - ], - [ - 37200, - 94 - ], - [ - 37310, - 55 - ], - [ - 37371, - 1 - ], - [ - 37378, - 65 - ], - [ - 37445, - 33 - ], - [ - 37500, - 98 - ], - [ - 37610, - 56 - ], - [ - 37672, - 1 - ], - [ - 37678, - 65 - ], - [ - 37745, - 33 - ], - [ - 37800, - 159 - ], - [ - 37961, - 6 - ], - [ - 37972, - 2 - ], - [ - 37977, - 66 - ], - [ - 38046, - 33 - ], - [ - 38100, - 159 - ], - [ - 38264, - 4 - ], - [ - 38271, - 73 - ], - [ - 38346, - 33 - ], - [ - 38400, - 161 - ], - [ - 38568, - 8 - ], - [ - 38577, - 67 - ], - [ - 38646, - 33 - ], - [ - 38700, - 164 - ], - [ - 38869, - 1 - ], - [ - 38874, - 70 - ], - [ - 38946, - 33 - ], - [ - 39000, - 164 - ], - [ - 39171, - 3 - ], - [ - 39175, - 69 - ], - [ - 39247, - 33 - ], - [ - 39300, - 165 - ], - [ - 39471, - 3 - ], - [ - 39475, - 69 - ], - [ - 39547, - 33 - ], - [ - 39600, - 170 - ], - [ - 39771, - 1 - ], - [ - 39775, - 70 - ], - [ - 39847, - 33 - ], - [ - 39900, - 171 - ], - [ - 40074, - 71 - ], - [ - 40147, - 34 - ], - [ - 40200, - 172 - ], - [ - 40374, - 71 - ], - [ - 40447, - 34 - ], - [ - 40500, - 172 - ], - [ - 40675, - 70 - ], - [ - 40748, - 33 - ], - [ - 40800, - 172 - ], - [ - 40976, - 70 - ], - [ - 41048, - 34 - ], - [ - 41100, - 171 - ], - [ - 41278, - 68 - ], - [ - 41348, - 34 - ], - [ - 41400, - 23 - ], - [ - 41436, - 134 - ], - [ - 41579, - 67 - ], - [ - 41648, - 34 - ], - [ - 41700, - 23 - ], - [ - 41736, - 133 - ], - [ - 41879, - 67 - ], - [ - 41949, - 33 - ], - [ - 42000, - 22 - ], - [ - 42036, - 133 - ], - [ - 42178, - 68 - ], - [ - 42249, - 34 - ], - [ - 42300, - 22 - ], - [ - 42336, - 135 - ], - [ - 42478, - 69 - ], - [ - 42549, - 34 - ], - [ - 42600, - 22 - ], - [ - 42635, - 137 - ], - [ - 42777, - 70 - ], - [ - 42849, - 34 - ], - [ - 42900, - 22 - ], - [ - 42935, - 139 - ], - [ - 43076, - 71 - ], - [ - 43150, - 34 - ], - [ - 43200, - 21 - ], - [ - 43235, - 212 - ], - [ - 43450, - 34 - ], - [ - 43500, - 21 - ], - [ - 43535, - 212 - ], - [ - 43750, - 34 - ], - [ - 43800, - 21 - ], - [ - 43834, - 214 - ], - [ - 44050, - 35 - ], - [ - 44100, - 20 - ], - [ - 44134, - 214 - ], - [ - 44350, - 35 - ], - [ - 44400, - 20 - ], - [ - 44434, - 214 - ], - [ - 44651, - 34 - ], - [ - 44700, - 20 - ], - [ - 44734, - 214 - ], - [ - 44951, - 34 - ], - [ - 45000, - 19 - ], - [ - 45033, - 216 - ], - [ - 45251, - 35 - ], - [ - 45300, - 19 - ], - [ - 45333, - 216 - ], - [ - 45551, - 35 - ], - [ - 45600, - 19 - ], - [ - 45633, - 216 - ], - [ - 45851, - 35 - ], - [ - 45900, - 19 - ], - [ - 45932, - 218 - ], - [ - 46151, - 36 - ], - [ - 46200, - 18 - ], - [ - 46232, - 218 - ], - [ - 46451, - 36 - ], - [ - 46500, - 18 - ], - [ - 46532, - 255 - ], - [ - 46800, - 18 - ], - [ - 46831, - 257 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+01.17|+00.50|-01.82" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 148, - 165, - 185, - 200 - ], - "mask": [ - [ - 49363, - 7 - ], - [ - 49659, - 15 - ], - [ - 49957, - 19 - ], - [ - 50255, - 23 - ], - [ - 50554, - 25 - ], - [ - 50853, - 27 - ], - [ - 51152, - 29 - ], - [ - 51451, - 31 - ], - [ - 51750, - 33 - ], - [ - 52050, - 34 - ], - [ - 52349, - 35 - ], - [ - 52649, - 36 - ], - [ - 52948, - 37 - ], - [ - 53248, - 37 - ], - [ - 53548, - 38 - ], - [ - 53848, - 38 - ], - [ - 54148, - 38 - ], - [ - 54448, - 38 - ], - [ - 54748, - 38 - ], - [ - 55048, - 38 - ], - [ - 55348, - 38 - ], - [ - 55648, - 38 - ], - [ - 55948, - 38 - ], - [ - 56249, - 37 - ], - [ - 56549, - 36 - ], - [ - 56849, - 36 - ], - [ - 57150, - 35 - ], - [ - 57451, - 33 - ], - [ - 57751, - 32 - ], - [ - 58052, - 31 - ], - [ - 58353, - 29 - ], - [ - 58654, - 27 - ], - [ - 58956, - 23 - ], - [ - 59257, - 21 - ], - [ - 59559, - 17 - ], - [ - 59862, - 11 - ] - ], - "point": [ - 166, - 181 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+01.17|+00.50|-01.82", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 39 - ], - [ - 23212, - 152 - ], - [ - 23458, - 39 - ], - [ - 23513, - 151 - ], - [ - 23759, - 37 - ], - [ - 23813, - 151 - ], - [ - 24059, - 37 - ], - [ - 24113, - 152 - ], - [ - 24359, - 36 - ], - [ - 24413, - 152 - ], - [ - 24660, - 35 - ], - [ - 24713, - 152 - ], - [ - 24975, - 20 - ], - [ - 25013, - 153 - ], - [ - 25275, - 20 - ], - [ - 25313, - 153 - ], - [ - 25575, - 19 - ], - [ - 25614, - 152 - ], - [ - 25814, - 12 - ], - [ - 25875, - 19 - ], - [ - 25914, - 152 - ], - [ - 26113, - 14 - ], - [ - 26174, - 20 - ], - [ - 26214, - 153 - ], - [ - 26413, - 14 - ], - [ - 26474, - 20 - ], - [ - 26514, - 153 - ], - [ - 26713, - 15 - ], - [ - 26774, - 20 - ], - [ - 26814, - 153 - ], - [ - 27012, - 16 - ], - [ - 27074, - 20 - ], - [ - 27114, - 154 - ], - [ - 27312, - 17 - ], - [ - 27374, - 19 - ], - [ - 27414, - 154 - ], - [ - 27612, - 17 - ], - [ - 27673, - 20 - ], - [ - 27714, - 154 - ], - [ - 27911, - 19 - ], - [ - 27973, - 20 - ], - [ - 28014, - 155 - ], - [ - 28211, - 20 - ], - [ - 28273, - 20 - ], - [ - 28314, - 155 - ], - [ - 28511, - 20 - ], - [ - 28573, - 20 - ], - [ - 28614, - 155 - ], - [ - 28810, - 22 - ], - [ - 28873, - 20 - ], - [ - 28913, - 156 - ], - [ - 29110, - 22 - ], - [ - 29172, - 21 - ], - [ - 29213, - 157 - ], - [ - 29410, - 23 - ], - [ - 29472, - 21 - ], - [ - 29513, - 157 - ], - [ - 29709, - 23 - ], - [ - 29772, - 21 - ], - [ - 29813, - 157 - ], - [ - 30009, - 23 - ], - [ - 30072, - 21 - ], - [ - 30113, - 158 - ], - [ - 30309, - 23 - ], - [ - 30372, - 20 - ], - [ - 30413, - 158 - ], - [ - 30608, - 23 - ], - [ - 30671, - 21 - ], - [ - 30713, - 158 - ], - [ - 30908, - 23 - ], - [ - 30971, - 21 - ], - [ - 31013, - 159 - ], - [ - 31207, - 24 - ], - [ - 31271, - 21 - ], - [ - 31313, - 159 - ], - [ - 31507, - 23 - ], - [ - 31571, - 21 - ], - [ - 31613, - 94 - ], - [ - 31718, - 54 - ], - [ - 31807, - 23 - ], - [ - 31871, - 21 - ], - [ - 31913, - 91 - ], - [ - 32021, - 51 - ], - [ - 32106, - 24 - ], - [ - 32170, - 22 - ], - [ - 32213, - 89 - ], - [ - 32324, - 49 - ], - [ - 32406, - 24 - ], - [ - 32470, - 22 - ], - [ - 32513, - 87 - ], - [ - 32626, - 47 - ], - [ - 32706, - 23 - ], - [ - 32770, - 22 - ], - [ - 32813, - 86 - ], - [ - 32928, - 45 - ], - [ - 33005, - 24 - ], - [ - 33070, - 22 - ], - [ - 33113, - 85 - ], - [ - 33229, - 45 - ], - [ - 33305, - 24 - ], - [ - 33370, - 22 - ], - [ - 33412, - 85 - ], - [ - 33530, - 44 - ], - [ - 33605, - 23 - ], - [ - 33669, - 23 - ], - [ - 33712, - 84 - ], - [ - 33831, - 43 - ], - [ - 33904, - 24 - ], - [ - 33969, - 23 - ], - [ - 34012, - 84 - ], - [ - 34132, - 43 - ], - [ - 34204, - 24 - ], - [ - 34269, - 23 - ], - [ - 34312, - 83 - ], - [ - 34433, - 42 - ], - [ - 34504, - 24 - ], - [ - 34569, - 23 - ], - [ - 34612, - 82 - ], - [ - 34733, - 42 - ], - [ - 34803, - 24 - ], - [ - 34869, - 23 - ], - [ - 34912, - 65 - ], - [ - 34978, - 16 - ], - [ - 35034, - 8 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 24 - ], - [ - 35212, - 64 - ], - [ - 35278, - 16 - ], - [ - 35335, - 7 - ], - [ - 35343, - 33 - ], - [ - 35403, - 24 - ], - [ - 35468, - 24 - ], - [ - 35511, - 65 - ], - [ - 35577, - 17 - ], - [ - 35635, - 7 - ], - [ - 35644, - 32 - ], - [ - 35702, - 31 - ], - [ - 35767, - 25 - ], - [ - 35811, - 65 - ], - [ - 35877, - 17 - ], - [ - 35935, - 7 - ], - [ - 35944, - 32 - ], - [ - 36002, - 90 - ], - [ - 36111, - 7 - ], - [ - 36157, - 18 - ], - [ - 36177, - 17 - ], - [ - 36236, - 6 - ], - [ - 36244, - 33 - ], - [ - 36301, - 92 - ], - [ - 36411, - 4 - ], - [ - 36460, - 5 - ], - [ - 36467, - 8 - ], - [ - 36477, - 17 - ], - [ - 36536, - 6 - ], - [ - 36545, - 32 - ], - [ - 36601, - 92 - ], - [ - 36710, - 9 - ], - [ - 36757, - 7 - ], - [ - 36769, - 6 - ], - [ - 36777, - 17 - ], - [ - 36836, - 6 - ], - [ - 36845, - 32 - ], - [ - 36901, - 92 - ], - [ - 37010, - 53 - ], - [ - 37070, - 3 - ], - [ - 37077, - 17 - ], - [ - 37136, - 7 - ], - [ - 37145, - 33 - ], - [ - 37200, - 94 - ], - [ - 37310, - 55 - ], - [ - 37371, - 1 - ], - [ - 37378, - 16 - ], - [ - 37436, - 7 - ], - [ - 37445, - 33 - ], - [ - 37500, - 98 - ], - [ - 37610, - 56 - ], - [ - 37672, - 1 - ], - [ - 37678, - 17 - ], - [ - 37736, - 7 - ], - [ - 37745, - 33 - ], - [ - 37800, - 159 - ], - [ - 37961, - 6 - ], - [ - 37972, - 2 - ], - [ - 37977, - 18 - ], - [ - 38036, - 7 - ], - [ - 38046, - 33 - ], - [ - 38100, - 159 - ], - [ - 38264, - 4 - ], - [ - 38271, - 25 - ], - [ - 38336, - 8 - ], - [ - 38346, - 33 - ], - [ - 38400, - 161 - ], - [ - 38568, - 8 - ], - [ - 38577, - 19 - ], - [ - 38636, - 8 - ], - [ - 38646, - 33 - ], - [ - 38700, - 164 - ], - [ - 38869, - 1 - ], - [ - 38874, - 22 - ], - [ - 38935, - 9 - ], - [ - 38946, - 33 - ], - [ - 39000, - 164 - ], - [ - 39171, - 3 - ], - [ - 39175, - 22 - ], - [ - 39235, - 9 - ], - [ - 39247, - 33 - ], - [ - 39300, - 165 - ], - [ - 39471, - 3 - ], - [ - 39475, - 22 - ], - [ - 39534, - 10 - ], - [ - 39547, - 33 - ], - [ - 39600, - 170 - ], - [ - 39771, - 1 - ], - [ - 39775, - 22 - ], - [ - 39833, - 12 - ], - [ - 39847, - 33 - ], - [ - 39900, - 171 - ], - [ - 40074, - 24 - ], - [ - 40133, - 12 - ], - [ - 40147, - 34 - ], - [ - 40200, - 172 - ], - [ - 40374, - 25 - ], - [ - 40432, - 13 - ], - [ - 40447, - 34 - ], - [ - 40500, - 172 - ], - [ - 40675, - 24 - ], - [ - 40730, - 15 - ], - [ - 40748, - 33 - ], - [ - 40800, - 172 - ], - [ - 40976, - 24 - ], - [ - 41029, - 17 - ], - [ - 41048, - 34 - ], - [ - 41100, - 171 - ], - [ - 41278, - 23 - ], - [ - 41327, - 19 - ], - [ - 41348, - 34 - ], - [ - 41400, - 23 - ], - [ - 41436, - 134 - ], - [ - 41579, - 23 - ], - [ - 41625, - 21 - ], - [ - 41648, - 34 - ], - [ - 41700, - 23 - ], - [ - 41736, - 133 - ], - [ - 41879, - 24 - ], - [ - 41924, - 22 - ], - [ - 41949, - 33 - ], - [ - 42000, - 22 - ], - [ - 42036, - 133 - ], - [ - 42178, - 26 - ], - [ - 42222, - 24 - ], - [ - 42249, - 34 - ], - [ - 42300, - 22 - ], - [ - 42336, - 135 - ], - [ - 42478, - 28 - ], - [ - 42519, - 28 - ], - [ - 42549, - 34 - ], - [ - 42600, - 22 - ], - [ - 42635, - 137 - ], - [ - 42777, - 32 - ], - [ - 42815, - 32 - ], - [ - 42849, - 34 - ], - [ - 42900, - 22 - ], - [ - 42935, - 139 - ], - [ - 43076, - 71 - ], - [ - 43150, - 34 - ], - [ - 43200, - 21 - ], - [ - 43235, - 212 - ], - [ - 43450, - 34 - ], - [ - 43500, - 21 - ], - [ - 43535, - 212 - ], - [ - 43750, - 34 - ], - [ - 43800, - 21 - ], - [ - 43834, - 214 - ], - [ - 44050, - 35 - ], - [ - 44100, - 20 - ], - [ - 44134, - 214 - ], - [ - 44350, - 35 - ], - [ - 44400, - 20 - ], - [ - 44434, - 214 - ], - [ - 44651, - 34 - ], - [ - 44700, - 20 - ], - [ - 44734, - 214 - ], - [ - 44951, - 34 - ], - [ - 45000, - 19 - ], - [ - 45033, - 216 - ], - [ - 45251, - 35 - ], - [ - 45300, - 19 - ], - [ - 45333, - 216 - ], - [ - 45551, - 35 - ], - [ - 45600, - 19 - ], - [ - 45633, - 216 - ], - [ - 45851, - 35 - ], - [ - 45900, - 19 - ], - [ - 45932, - 218 - ], - [ - 46151, - 36 - ], - [ - 46200, - 18 - ], - [ - 46232, - 218 - ], - [ - 46451, - 36 - ], - [ - 46500, - 18 - ], - [ - 46532, - 255 - ], - [ - 46800, - 18 - ], - [ - 46831, - 257 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.0, - "y": 0.9009992, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.293552, - "y": 1.41068065, - "z": -0.382632464 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": -1.61125159, - "y": 1.52158082, - "z": -2.14873266 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": -1.33205307, - "y": 0.7021554, - "z": -1.610656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 0.466705918, - "y": 0.5823627, - "z": -2.37327981 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.33205307, - "y": 0.6980896, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.33460355, - "y": 0.1002631, - "z": -1.83219182 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.30176127, - "y": 0.1002631, - "z": -2.152904 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -0.9626876, - "y": 0.610413, - "z": -0.223578036 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -1.32327068, - "y": 0.610413, - "z": -0.223578334 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.400288, - "y": 0.3970478, - "z": -2.259808 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "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": 1.27731884, - "y": 0.243455827, - "z": -1.9293704 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.17267179, - "y": 0.371416569, - "z": -1.99862838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.26944363, - "y": 0.6964986, - "z": -2.481344 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -1.44346547, - "y": 0.6091408, - "z": 0.61825037 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "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": -1.3946625, - "y": 0.7021554, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.45727193, - "y": 0.6965797, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -0.00390809774, - "y": 0.5763166, - "z": -2.42796969 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.170656, - "y": 0.5047848, - "z": -1.81962574 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 952450393, - "scene_num": 327 - }, - "task_id": "trial_T20190907_235202_045025", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AFU00NU09CFXE_3D3VGR7TA3W90PB8157L5LWJQ21R3M", - "high_descs": [ - "Move to stand in front of the nightstand with the lamp illuminated on top. ", - "Pick up the gray bowl from the shelf on the wall above the nightstand. ", - "Step back while holding the bowl so you're standing centered with the nightstand again.", - "Place the bowl on the nightstand between the keys and pen.", - "Move to the shelf in the wall by the desk.", - "Pick up the gray bowl from that shelf. ", - "Carry the gray bowl back over to the nightstand. ", - "Place the bowl on the nightstand, centered, and close to the wall." - ], - "task_desc": "Move two gray bowls to the nightstand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3HMVI3QICM9MNN9FSWLWPOAJV7CY1H", - "high_descs": [ - "Move to the dresser at the foot of the bed", - "pick up a bowl from the shelf", - "Move to the dresser at the foot of the bed", - "put the bowl on the dresser", - "move to the shelf to the left of the desk behind you", - "pick up a bowl from the shelf", - "Move to the dresser at the foot of the bed", - "put the bowl on the dresser" - ], - "task_desc": "Put two bowls on the dresser at the foot of the bed.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3M0NZ3JDP4FLGVK3P5PR6LW2DI0Z58", - "high_descs": [ - "Walk to the swivel chair in front of you then turn right and walk to the dresser and stand in front of the light on it's left side.", - "Pick up the bowl that's up high.", - "Take a step to your right.", - "Put the bowl to the left of the pen and to the right of the keys.", - "Turn around and make your way to the recessed closet area slightly to your right across the room.", - "Pick up the other bowl.", - "Go back to where you put the first bowl.", - "Put this bowl to the right of the clock." - ], - "task_desc": "Put two bowls on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085703_053950/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085703_053950/traj_data.json deleted file mode 100644 index 7df99e7ce..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085703_053950/traj_data.json +++ /dev/null @@ -1,6900 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "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": 36 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "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": 39 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 80 - }, - { - "high_idx": 7, - "image_name": "000000403.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000404.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000405.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000406.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000407.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000408.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000409.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000410.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000411.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000412.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000413.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000414.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000415.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000416.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000417.png", - "low_idx": 81 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-4|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - -7.17816352, - -7.17816352, - -4.7457, - -4.7457, - 0.2760268152, - 0.2760268152 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -7.15443228, - -7.15443228, - -4.601952, - -4.601952, - 0.3967999816, - 0.3967999816 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.79|+00.07|-01.19" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - -7.17816352, - -7.17816352, - -4.7457, - -4.7457, - 0.2760268152, - 0.2760268152 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.79|+00.07|-01.19", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|1|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - -7.64916228, - -7.64916228, - 0.12785292, - 0.12785292, - 2.3948268, - 2.3948268 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -6.84, - -6.84, - -1.496, - -1.496, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.91|+00.60|+00.03" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - -7.64916228, - -7.64916228, - 0.12785292, - 0.12785292, - 2.3948268, - 2.3948268 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.91|+00.60|+00.03", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - }, - { - "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": "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": "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": "OpenObject", - "objectId": "Drawer|-01.79|+00.10|-01.15" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 93, - 210, - 151, - 216 - ], - "mask": [ - [ - 62793, - 59 - ], - [ - 63094, - 58 - ], - [ - 63395, - 57 - ], - [ - 63695, - 57 - ], - [ - 63996, - 56 - ], - [ - 64296, - 56 - ], - [ - 64597, - 55 - ] - ], - "point": [ - 122, - 212 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CD|-01.79|+00.07|-01.19" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 108, - 222, - 126, - 241 - ], - "mask": [ - [ - 66414, - 8 - ], - [ - 66712, - 11 - ], - [ - 67011, - 14 - ], - [ - 67310, - 15 - ], - [ - 67609, - 17 - ], - [ - 67909, - 18 - ], - [ - 68208, - 19 - ], - [ - 68508, - 19 - ], - [ - 68808, - 8 - ], - [ - 68819, - 8 - ], - [ - 69108, - 8 - ], - [ - 69119, - 8 - ], - [ - 69408, - 8 - ], - [ - 69418, - 9 - ], - [ - 69708, - 19 - ], - [ - 70008, - 18 - ], - [ - 70308, - 18 - ], - [ - 70609, - 16 - ], - [ - 70909, - 16 - ], - [ - 71210, - 14 - ], - [ - 71511, - 12 - ], - [ - 71812, - 9 - ], - [ - 72116, - 1 - ] - ], - "point": [ - 118, - 231 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.79|+00.10|-01.15" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 89, - 210, - 150, - 253 - ], - "mask": [ - [ - 62794, - 57 - ], - [ - 63094, - 57 - ], - [ - 63394, - 57 - ], - [ - 63694, - 57 - ], - [ - 63994, - 57 - ], - [ - 64294, - 57 - ], - [ - 64594, - 57 - ], - [ - 64894, - 57 - ], - [ - 65194, - 57 - ], - [ - 65493, - 58 - ], - [ - 65793, - 58 - ], - [ - 66093, - 58 - ], - [ - 66393, - 54 - ], - [ - 66693, - 48 - ], - [ - 66993, - 44 - ], - [ - 67293, - 42 - ], - [ - 67593, - 41 - ], - [ - 67893, - 39 - ], - [ - 68192, - 38 - ], - [ - 68492, - 37 - ], - [ - 68792, - 35 - ], - [ - 69092, - 34 - ], - [ - 69392, - 32 - ], - [ - 69692, - 32 - ], - [ - 69992, - 31 - ], - [ - 70292, - 30 - ], - [ - 70592, - 30 - ], - [ - 70891, - 30 - ], - [ - 71191, - 29 - ], - [ - 71491, - 28 - ], - [ - 71791, - 28 - ], - [ - 72091, - 27 - ], - [ - 72391, - 26 - ], - [ - 72691, - 25 - ], - [ - 72991, - 25 - ], - [ - 73291, - 25 - ], - [ - 73590, - 25 - ], - [ - 73890, - 25 - ], - [ - 74189, - 26 - ], - [ - 74489, - 25 - ], - [ - 74790, - 24 - ], - [ - 75091, - 23 - ], - [ - 75393, - 21 - ], - [ - 75694, - 19 - ] - ], - "point": [ - 119, - 230 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|-01.79|+00.07|-01.19", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23162, - 16 - ], - [ - 23198, - 144 - ], - [ - 23344, - 17 - ], - [ - 23461, - 15 - ], - [ - 23499, - 124 - ], - [ - 23625, - 16 - ], - [ - 23646, - 15 - ], - [ - 23761, - 14 - ], - [ - 23801, - 98 - ], - [ - 23903, - 20 - ], - [ - 23927, - 13 - ], - [ - 23947, - 14 - ], - [ - 24061, - 12 - ], - [ - 24102, - 92 - ], - [ - 24203, - 22 - ], - [ - 24232, - 8 - ], - [ - 24247, - 14 - ], - [ - 24361, - 11 - ], - [ - 24403, - 86 - ], - [ - 24503, - 25 - ], - [ - 24533, - 8 - ], - [ - 24547, - 15 - ], - [ - 24660, - 11 - ], - [ - 24704, - 79 - ], - [ - 24804, - 24 - ], - [ - 24833, - 9 - ], - [ - 24846, - 2 - ], - [ - 24852, - 7 - ], - [ - 24960, - 11 - ], - [ - 25004, - 74 - ], - [ - 25104, - 25 - ], - [ - 25133, - 6 - ], - [ - 25141, - 2 - ], - [ - 25144, - 7 - ], - [ - 25152, - 2 - ], - [ - 25260, - 10 - ], - [ - 25304, - 69 - ], - [ - 25405, - 28 - ], - [ - 25434, - 4 - ], - [ - 25439, - 1 - ], - [ - 25444, - 7 - ], - [ - 25560, - 9 - ], - [ - 25605, - 63 - ], - [ - 25705, - 30 - ], - [ - 25741, - 2 - ], - [ - 25745, - 3 - ], - [ - 25859, - 10 - ], - [ - 25905, - 58 - ], - [ - 26006, - 30 - ], - [ - 26045, - 1 - ], - [ - 26159, - 9 - ], - [ - 26205, - 53 - ], - [ - 26306, - 28 - ], - [ - 26341, - 2 - ], - [ - 26459, - 9 - ], - [ - 26505, - 49 - ], - [ - 26607, - 24 - ], - [ - 26640, - 2 - ], - [ - 26759, - 9 - ], - [ - 26805, - 48 - ], - [ - 26907, - 24 - ], - [ - 26934, - 6 - ], - [ - 27058, - 9 - ], - [ - 27105, - 47 - ], - [ - 27208, - 31 - ], - [ - 27358, - 9 - ], - [ - 27405, - 47 - ], - [ - 27508, - 29 - ], - [ - 27658, - 9 - ], - [ - 27704, - 48 - ], - [ - 27809, - 27 - ], - [ - 27958, - 10 - ], - [ - 28004, - 49 - ], - [ - 28109, - 26 - ], - [ - 28258, - 10 - ], - [ - 28304, - 49 - ], - [ - 28410, - 23 - ], - [ - 28557, - 11 - ], - [ - 28603, - 51 - ], - [ - 28710, - 22 - ], - [ - 28857, - 12 - ], - [ - 28903, - 51 - ], - [ - 29011, - 21 - ], - [ - 29157, - 12 - ], - [ - 29202, - 52 - ], - [ - 29311, - 20 - ], - [ - 29457, - 13 - ], - [ - 29501, - 54 - ], - [ - 29612, - 15 - ], - [ - 29629, - 1 - ], - [ - 29756, - 15 - ], - [ - 29800, - 55 - ], - [ - 29912, - 15 - ], - [ - 30056, - 16 - ], - [ - 30099, - 56 - ], - [ - 30213, - 15 - ], - [ - 30356, - 17 - ], - [ - 30397, - 59 - ], - [ - 30513, - 15 - ], - [ - 30656, - 19 - ], - [ - 30695, - 61 - ], - [ - 30814, - 13 - ], - [ - 30955, - 22 - ], - [ - 30993, - 63 - ], - [ - 31114, - 13 - ], - [ - 31255, - 25 - ], - [ - 31290, - 67 - ], - [ - 31415, - 11 - ], - [ - 31555, - 102 - ], - [ - 31715, - 11 - ], - [ - 31855, - 102 - ], - [ - 32016, - 9 - ], - [ - 32154, - 104 - ], - [ - 32316, - 9 - ], - [ - 32454, - 104 - ], - [ - 32617, - 7 - ], - [ - 32754, - 104 - ], - [ - 32917, - 7 - ], - [ - 33054, - 105 - ], - [ - 33218, - 6 - ], - [ - 33354, - 105 - ], - [ - 33518, - 6 - ], - [ - 33653, - 107 - ], - [ - 33819, - 5 - ], - [ - 33953, - 107 - ], - [ - 34119, - 5 - ], - [ - 34253, - 107 - ], - [ - 34420, - 4 - ], - [ - 34553, - 108 - ], - [ - 34720, - 4 - ], - [ - 34852, - 109 - ], - [ - 35021, - 3 - ], - [ - 35152, - 109 - ], - [ - 35321, - 4 - ], - [ - 35452, - 110 - ], - [ - 35622, - 3 - ], - [ - 35752, - 110 - ], - [ - 35922, - 3 - ], - [ - 36051, - 111 - ], - [ - 36223, - 2 - ], - [ - 36351, - 112 - ], - [ - 36523, - 3 - ], - [ - 36651, - 112 - ], - [ - 36824, - 2 - ], - [ - 36951, - 112 - ], - [ - 37124, - 2 - ], - [ - 37250, - 114 - ], - [ - 37425, - 1 - ], - [ - 37550, - 114 - ], - [ - 37725, - 1 - ], - [ - 37850, - 114 - ], - [ - 38150, - 115 - ], - [ - 38450, - 115 - ], - [ - 38749, - 117 - ], - [ - 39049, - 117 - ], - [ - 39349, - 117 - ], - [ - 39649, - 118 - ], - [ - 39948, - 119 - ], - [ - 40248, - 119 - ], - [ - 40548, - 120 - ], - [ - 40743, - 13 - ], - [ - 40777, - 1 - ], - [ - 40848, - 120 - ], - [ - 41044, - 13 - ], - [ - 41075, - 3 - ], - [ - 41147, - 121 - ], - [ - 41344, - 13 - ], - [ - 41374, - 4 - ], - [ - 41447, - 122 - ], - [ - 41630, - 1 - ], - [ - 41644, - 13 - ], - [ - 41672, - 6 - ], - [ - 41747, - 122 - ], - [ - 41929, - 3 - ], - [ - 41944, - 14 - ], - [ - 41971, - 8 - ], - [ - 42047, - 122 - ], - [ - 42229, - 5 - ], - [ - 42244, - 14 - ], - [ - 42269, - 10 - ], - [ - 42347, - 123 - ], - [ - 42529, - 50 - ], - [ - 42646, - 124 - ], - [ - 42828, - 52 - ], - [ - 42946, - 124 - ], - [ - 43124, - 56 - ], - [ - 43246, - 125 - ], - [ - 43420, - 60 - ], - [ - 43546, - 125 - ], - [ - 43715, - 66 - ], - [ - 43845, - 127 - ], - [ - 44011, - 70 - ], - [ - 44145, - 127 - ], - [ - 44307, - 74 - ], - [ - 44445, - 127 - ], - [ - 44602, - 79 - ], - [ - 44745, - 128 - ], - [ - 44898, - 84 - ], - [ - 45044, - 129 - ], - [ - 45194, - 88 - ], - [ - 45344, - 129 - ], - [ - 45489, - 93 - ], - [ - 45644, - 130 - ], - [ - 45785, - 98 - ], - [ - 45944, - 130 - ], - [ - 46081, - 102 - ], - [ - 46243, - 132 - ], - [ - 46376, - 107 - ], - [ - 46543, - 240 - ], - [ - 46843, - 241 - ], - [ - 47143, - 241 - ], - [ - 47443, - 241 - ], - [ - 47742, - 243 - ], - [ - 48042, - 243 - ], - [ - 48342, - 243 - ], - [ - 48642, - 244 - ], - [ - 48941, - 245 - ], - [ - 49241, - 245 - ], - [ - 49541, - 245 - ], - [ - 49841, - 246 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CD|-01.91|+00.60|+00.03" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 90, - 123, - 113, - 142 - ], - "mask": [ - [ - 36700, - 6 - ], - [ - 36997, - 12 - ], - [ - 37295, - 16 - ], - [ - 37594, - 18 - ], - [ - 37893, - 20 - ], - [ - 38192, - 21 - ], - [ - 38491, - 23 - ], - [ - 38791, - 23 - ], - [ - 39090, - 12 - ], - [ - 39103, - 11 - ], - [ - 39390, - 10 - ], - [ - 39404, - 10 - ], - [ - 39690, - 10 - ], - [ - 39704, - 10 - ], - [ - 39990, - 11 - ], - [ - 40003, - 11 - ], - [ - 40290, - 24 - ], - [ - 40590, - 23 - ], - [ - 40891, - 22 - ], - [ - 41191, - 21 - ], - [ - 41492, - 19 - ], - [ - 41793, - 17 - ], - [ - 42094, - 14 - ], - [ - 42396, - 10 - ] - ], - "point": [ - 101, - 130 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|-01.91|+00.60|+00.03", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23162, - 16 - ], - [ - 23198, - 144 - ], - [ - 23344, - 17 - ], - [ - 23461, - 15 - ], - [ - 23499, - 124 - ], - [ - 23625, - 16 - ], - [ - 23646, - 15 - ], - [ - 23761, - 14 - ], - [ - 23801, - 98 - ], - [ - 23903, - 20 - ], - [ - 23927, - 13 - ], - [ - 23947, - 14 - ], - [ - 24061, - 12 - ], - [ - 24102, - 92 - ], - [ - 24203, - 22 - ], - [ - 24232, - 8 - ], - [ - 24247, - 14 - ], - [ - 24361, - 11 - ], - [ - 24403, - 86 - ], - [ - 24503, - 25 - ], - [ - 24533, - 8 - ], - [ - 24547, - 15 - ], - [ - 24660, - 11 - ], - [ - 24704, - 79 - ], - [ - 24804, - 24 - ], - [ - 24833, - 9 - ], - [ - 24846, - 2 - ], - [ - 24852, - 7 - ], - [ - 24960, - 11 - ], - [ - 25004, - 74 - ], - [ - 25104, - 25 - ], - [ - 25133, - 6 - ], - [ - 25141, - 2 - ], - [ - 25144, - 7 - ], - [ - 25152, - 2 - ], - [ - 25260, - 10 - ], - [ - 25304, - 69 - ], - [ - 25405, - 28 - ], - [ - 25434, - 4 - ], - [ - 25439, - 1 - ], - [ - 25444, - 7 - ], - [ - 25560, - 9 - ], - [ - 25605, - 63 - ], - [ - 25705, - 30 - ], - [ - 25741, - 2 - ], - [ - 25745, - 3 - ], - [ - 25859, - 10 - ], - [ - 25905, - 58 - ], - [ - 26006, - 30 - ], - [ - 26045, - 1 - ], - [ - 26159, - 9 - ], - [ - 26205, - 53 - ], - [ - 26306, - 28 - ], - [ - 26341, - 2 - ], - [ - 26459, - 9 - ], - [ - 26505, - 49 - ], - [ - 26607, - 24 - ], - [ - 26640, - 2 - ], - [ - 26759, - 9 - ], - [ - 26805, - 48 - ], - [ - 26907, - 24 - ], - [ - 26934, - 6 - ], - [ - 27058, - 9 - ], - [ - 27105, - 47 - ], - [ - 27208, - 31 - ], - [ - 27358, - 9 - ], - [ - 27405, - 47 - ], - [ - 27508, - 29 - ], - [ - 27658, - 9 - ], - [ - 27704, - 48 - ], - [ - 27809, - 27 - ], - [ - 27958, - 10 - ], - [ - 28004, - 49 - ], - [ - 28109, - 26 - ], - [ - 28258, - 10 - ], - [ - 28304, - 49 - ], - [ - 28410, - 23 - ], - [ - 28557, - 11 - ], - [ - 28603, - 51 - ], - [ - 28710, - 22 - ], - [ - 28857, - 12 - ], - [ - 28903, - 51 - ], - [ - 29011, - 21 - ], - [ - 29157, - 12 - ], - [ - 29202, - 52 - ], - [ - 29311, - 20 - ], - [ - 29457, - 13 - ], - [ - 29501, - 54 - ], - [ - 29612, - 15 - ], - [ - 29629, - 1 - ], - [ - 29756, - 15 - ], - [ - 29800, - 55 - ], - [ - 29912, - 15 - ], - [ - 30056, - 16 - ], - [ - 30099, - 56 - ], - [ - 30213, - 15 - ], - [ - 30356, - 17 - ], - [ - 30397, - 59 - ], - [ - 30513, - 15 - ], - [ - 30656, - 19 - ], - [ - 30695, - 61 - ], - [ - 30814, - 13 - ], - [ - 30955, - 22 - ], - [ - 30993, - 63 - ], - [ - 31114, - 13 - ], - [ - 31255, - 25 - ], - [ - 31290, - 67 - ], - [ - 31415, - 11 - ], - [ - 31555, - 102 - ], - [ - 31715, - 11 - ], - [ - 31855, - 102 - ], - [ - 32016, - 9 - ], - [ - 32154, - 104 - ], - [ - 32316, - 9 - ], - [ - 32454, - 104 - ], - [ - 32617, - 7 - ], - [ - 32754, - 104 - ], - [ - 32917, - 7 - ], - [ - 33054, - 105 - ], - [ - 33218, - 6 - ], - [ - 33354, - 105 - ], - [ - 33518, - 6 - ], - [ - 33653, - 107 - ], - [ - 33819, - 5 - ], - [ - 33953, - 107 - ], - [ - 34119, - 5 - ], - [ - 34253, - 107 - ], - [ - 34420, - 4 - ], - [ - 34553, - 108 - ], - [ - 34720, - 4 - ], - [ - 34852, - 109 - ], - [ - 35021, - 3 - ], - [ - 35152, - 109 - ], - [ - 35321, - 4 - ], - [ - 35452, - 110 - ], - [ - 35622, - 3 - ], - [ - 35752, - 110 - ], - [ - 35922, - 3 - ], - [ - 36051, - 111 - ], - [ - 36223, - 2 - ], - [ - 36351, - 112 - ], - [ - 36523, - 3 - ], - [ - 36651, - 112 - ], - [ - 36824, - 2 - ], - [ - 36951, - 112 - ], - [ - 37124, - 2 - ], - [ - 37250, - 114 - ], - [ - 37425, - 1 - ], - [ - 37550, - 114 - ], - [ - 37725, - 1 - ], - [ - 37850, - 114 - ], - [ - 38150, - 115 - ], - [ - 38450, - 115 - ], - [ - 38749, - 117 - ], - [ - 39049, - 117 - ], - [ - 39349, - 117 - ], - [ - 39649, - 118 - ], - [ - 39948, - 119 - ], - [ - 40248, - 119 - ], - [ - 40548, - 120 - ], - [ - 40743, - 13 - ], - [ - 40777, - 1 - ], - [ - 40848, - 120 - ], - [ - 41044, - 13 - ], - [ - 41075, - 3 - ], - [ - 41147, - 121 - ], - [ - 41344, - 13 - ], - [ - 41374, - 4 - ], - [ - 41447, - 122 - ], - [ - 41630, - 1 - ], - [ - 41644, - 13 - ], - [ - 41672, - 6 - ], - [ - 41747, - 122 - ], - [ - 41929, - 3 - ], - [ - 41944, - 14 - ], - [ - 41971, - 8 - ], - [ - 42047, - 122 - ], - [ - 42229, - 5 - ], - [ - 42244, - 14 - ], - [ - 42269, - 10 - ], - [ - 42347, - 91 - ], - [ - 42443, - 27 - ], - [ - 42529, - 50 - ], - [ - 42646, - 88 - ], - [ - 42747, - 23 - ], - [ - 42828, - 52 - ], - [ - 42946, - 86 - ], - [ - 43049, - 21 - ], - [ - 43124, - 56 - ], - [ - 43246, - 84 - ], - [ - 43350, - 21 - ], - [ - 43420, - 60 - ], - [ - 43546, - 83 - ], - [ - 43651, - 20 - ], - [ - 43715, - 66 - ], - [ - 43845, - 83 - ], - [ - 43952, - 20 - ], - [ - 44011, - 70 - ], - [ - 44145, - 83 - ], - [ - 44253, - 19 - ], - [ - 44307, - 74 - ], - [ - 44445, - 82 - ], - [ - 44554, - 18 - ], - [ - 44602, - 79 - ], - [ - 44745, - 81 - ], - [ - 44854, - 19 - ], - [ - 44898, - 84 - ], - [ - 45044, - 82 - ], - [ - 45154, - 19 - ], - [ - 45194, - 88 - ], - [ - 45344, - 82 - ], - [ - 45455, - 18 - ], - [ - 45489, - 93 - ], - [ - 45644, - 81 - ], - [ - 45738, - 4 - ], - [ - 45755, - 19 - ], - [ - 45785, - 98 - ], - [ - 45944, - 81 - ], - [ - 46038, - 5 - ], - [ - 46055, - 19 - ], - [ - 46081, - 102 - ], - [ - 46243, - 82 - ], - [ - 46338, - 4 - ], - [ - 46355, - 20 - ], - [ - 46376, - 107 - ], - [ - 46543, - 82 - ], - [ - 46639, - 3 - ], - [ - 46655, - 128 - ], - [ - 46843, - 83 - ], - [ - 46955, - 129 - ], - [ - 47143, - 83 - ], - [ - 47254, - 130 - ], - [ - 47443, - 83 - ], - [ - 47554, - 130 - ], - [ - 47742, - 84 - ], - [ - 47854, - 131 - ], - [ - 48042, - 85 - ], - [ - 48153, - 132 - ], - [ - 48342, - 86 - ], - [ - 48452, - 133 - ], - [ - 48642, - 86 - ], - [ - 48751, - 135 - ], - [ - 48941, - 88 - ], - [ - 49051, - 135 - ], - [ - 49241, - 90 - ], - [ - 49349, - 137 - ], - [ - 49541, - 92 - ], - [ - 49647, - 139 - ], - [ - 49841, - 94 - ], - [ - 49945, - 142 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan303", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.75, - "y": 0.901000142, - "z": -1.75 - }, - "object_poses": [ - { - "objectName": "Mug_79472253", - "position": { - "x": -1.51596332, - "y": 0.5971, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 1.9813447, - "y": 1.57837439, - "z": -2.2986 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": -1.91229057, - "y": 0.5987067, - "z": 0.03196323 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.5820179, - "y": 0.5990095, - "z": -0.10948959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.714127, - "y": 0.5990095, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": -1.64807248, - "y": 0.604752839, - "z": -0.2509424 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": -1.714127, - "y": 0.604752839, - "z": 0.03196323 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": -1.846236, - "y": 0.6027754, - "z": -0.10948959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": -1.5820179, - "y": 0.6027754, - "z": 0.03196323 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": 0.07691854, - "y": 0.731248856, - "z": -2.70558977 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.81966841, - "y": 0.217719942, - "z": -1.04022884 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0d1fa29c", - "position": { - "x": -1.02475691, - "y": 0.4918668, - "z": -1.61096263 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_20fa9a67", - "position": { - "x": -1.02475691, - "y": 0.415540248, - "z": -2.100039 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": -1.714127, - "y": 0.599390268, - "z": -0.5338481 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": 0.07691851, - "y": 0.7290902, - "z": -2.58861017 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ddebce5c", - "position": { - "x": 1.996, - "y": 0.316, - "z": -1.042 - }, - "rotation": { - "x": 0.0, - "y": 254.839432, - "z": 0.0 - } - }, - { - "objectName": "Book_bd6507e1", - "position": { - "x": 0.339, - "y": 0.7234131, - "z": -2.65 - }, - "rotation": { - "x": 0.0, - "y": 165.000366, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0d1fa29c", - "position": { - "x": -1.54828632, - "y": 0.457, - "z": -1.83189642 - }, - "rotation": { - "x": 0.0, - "y": 89.9999847, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": 0.359944165, - "y": 0.415603638, - "z": -2.55001283 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 0.766442, - "y": 0.731112, - "z": -2.76407933 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_a983eb51", - "position": { - "x": -1.62947965, - "y": 0.649, - "z": 0.416 - }, - "rotation": { - "x": 14.4914894, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": -1.7551136, - "y": 0.5018158, - "z": -1.19072688 - }, - "rotation": { - "x": 0.00016234479, - "y": 3.655342e-05, - "z": -0.0005424293 - } - }, - { - "objectName": "TennisRacket_2d36a6ad", - "position": { - "x": 2.244, - "y": 0.279, - "z": -1.901 - }, - "rotation": { - "x": 335.40213, - "y": 251.97406, - "z": 201.7148 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": 0.07691854, - "y": 0.731248856, - "z": -2.822569 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": -1.85399914, - "y": 0.501957834, - "z": -1.174999 - }, - "rotation": { - "x": 0.04749797, - "y": 285.157532, - "z": 0.0004634658 - } - }, - { - "objectName": "Cloth_d24bf320", - "position": { - "x": 2.17615461, - "y": 0.0, - "z": -0.5715845 - }, - "rotation": { - "x": 0.0, - "y": 335.474518, - "z": 0.0 - } - }, - { - "objectName": "Laptop_20fa9a67", - "position": { - "x": -0.3336389, - "y": 0.415540248, - "z": -2.100039 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_10494eb8", - "position": { - "x": -1.91229057, - "y": 0.5987067, - "z": -0.5338481 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": -1.79454088, - "y": 0.0690067038, - "z": -1.186425 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": 1.320924, - "y": 1.18462837, - "z": -2.27765536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": -1.78018141, - "y": 0.6027754, - "z": -0.2509424 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_79472253", - "position": { - "x": 1.9813447, - "y": 0.9754755, - "z": -2.27765536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3133582819, - "scene_num": 303 - }, - "task_id": "trial_T20190908_085703_053950", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3PPLDHC3CG0YN_33FOTY3KEPCH59U8SCSOTJ22M9DC1J", - "high_descs": [ - "Turn left and walk to the night stand to the right of the bed. ", - "Open the bottom drawer of the night stand, take the CD out, close the drawer. ", - "Turn around and walk to the dresser to the left of the bed. ", - "Put the CD down on the front edge of the dresser. ", - "Turn around and walk to the dresser to the right of the night stand. ", - "Pick up the CD from the back right corner of the desk. ", - "Turn and walk back over to the dresser to the left of the bed. ", - "Put the CD down on the dresser to the left of the first CD. " - ], - "task_desc": "To move two CD's to the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A24RGLS3BRZ60J_37U1UTWH9YD3MB3C9URYXOOW0G9R8B", - "high_descs": [ - "Turn to the left and go to the desk.", - "Open the drawer of the small table, and take out the disc. Shut the drawer.", - "Hold the disc and turn around. Then turn right to face the dresser.", - "Place the disc on top of the dresser.", - "Turn around and then left to go to the desk.", - "Pick up the disc from the right back corner of the desk.", - "Carry the disc and turn around. Turn right to go to the dresser.", - "Place the disc on top of the dresser, next to the other disc." - ], - "task_desc": "Move two discs to the top of the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36A780ODXBDEH_3W8CV64QJ5QQBM8JIHLIJGH1XE5H97", - "high_descs": [ - "Turn left and go to the nightstand between the desk and the bed.", - "Open the nightstand drawer and pick up the CD inside.", - "Turn around and go to the dresser below the mirror.", - "Place the CD on top of the dresser.", - "Turn around and move to the rightmost side of the desk.", - "Pick up the CD on the rightmost side of the desk.", - "Turn around and move back to the dresser.", - "Place the CD to the left of the other CD on the dresser." - ], - "task_desc": "Find and move the CDs on the desk plus the nightstand to the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085759_424304/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085759_424304/traj_data.json deleted file mode 100644 index 46317eb13..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085759_424304/traj_data.json +++ /dev/null @@ -1,5486 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "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": 4, - "image_name": "000000213.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 52 - }, - { - "high_idx": 7, - "image_name": "000000293.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000294.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000295.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000296.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000297.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000298.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000299.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000300.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000301.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000302.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000303.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000304.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000305.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000306.png", - "low_idx": 53 - }, - { - "high_idx": 7, - "image_name": "000000307.png", - "low_idx": 53 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-4|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - -7.0776534, - -7.0776534, - -4.30711128, - -4.30711128, - 0.2760268152, - 0.2760268152 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -7.15443228, - -7.15443228, - -4.601952, - -4.601952, - 0.3967999816, - 0.3967999816 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.77|+00.07|-01.08" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - -7.0776534, - -7.0776534, - -4.30711128, - -4.30711128, - 0.2760268152, - 0.2760268152 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.77|+00.07|-01.08", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - 7.15553808, - 7.15553808, - -9.2781782, - -9.2781782, - 3.9083288, - 3.9083288 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 7.3752, - 7.3752, - -9.1944, - -9.1944, - 3.8792, - 3.8792 - ] - ], - "forceVisible": true, - "objectId": "CD|+01.79|+00.98|-02.32" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - 7.15553808, - 7.15553808, - -9.2781782, - -9.2781782, - 3.9083288, - 3.9083288 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "CD|+01.79|+00.98|-02.32", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "OpenObject", - "objectId": "Drawer|-01.79|+00.10|-01.15" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 93, - 210, - 151, - 216 - ], - "mask": [ - [ - 62793, - 59 - ], - [ - 63094, - 58 - ], - [ - 63395, - 57 - ], - [ - 63695, - 57 - ], - [ - 63996, - 56 - ], - [ - 64296, - 56 - ], - [ - 64597, - 55 - ] - ], - "point": [ - 122, - 212 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CD|-01.77|+00.07|-01.08" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 127, - 226, - 145, - 245 - ], - "mask": [ - [ - 67634, - 6 - ], - [ - 67932, - 10 - ], - [ - 68230, - 13 - ], - [ - 68529, - 15 - ], - [ - 68829, - 16 - ], - [ - 69128, - 17 - ], - [ - 69427, - 19 - ], - [ - 69727, - 19 - ], - [ - 70027, - 9 - ], - [ - 70037, - 9 - ], - [ - 70327, - 8 - ], - [ - 70338, - 8 - ], - [ - 70627, - 8 - ], - [ - 70638, - 8 - ], - [ - 70927, - 9 - ], - [ - 70937, - 9 - ], - [ - 71227, - 19 - ], - [ - 71527, - 19 - ], - [ - 71828, - 17 - ], - [ - 72128, - 17 - ], - [ - 72429, - 15 - ], - [ - 72730, - 13 - ], - [ - 73031, - 11 - ], - [ - 73332, - 8 - ] - ], - "point": [ - 135, - 233 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.79|+00.10|-01.15" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 89, - 210, - 150, - 253 - ], - "mask": [ - [ - 62794, - 57 - ], - [ - 63094, - 57 - ], - [ - 63394, - 57 - ], - [ - 63694, - 57 - ], - [ - 63994, - 57 - ], - [ - 64294, - 57 - ], - [ - 64594, - 57 - ], - [ - 64894, - 57 - ], - [ - 65194, - 57 - ], - [ - 65493, - 58 - ], - [ - 65793, - 58 - ], - [ - 66093, - 58 - ], - [ - 66393, - 54 - ], - [ - 66693, - 48 - ], - [ - 66993, - 44 - ], - [ - 67293, - 42 - ], - [ - 67593, - 41 - ], - [ - 67893, - 39 - ], - [ - 68192, - 38 - ], - [ - 68492, - 37 - ], - [ - 68792, - 35 - ], - [ - 69092, - 34 - ], - [ - 69392, - 32 - ], - [ - 69692, - 32 - ], - [ - 69992, - 31 - ], - [ - 70292, - 30 - ], - [ - 70592, - 30 - ], - [ - 70891, - 30 - ], - [ - 71191, - 29 - ], - [ - 71491, - 28 - ], - [ - 71791, - 28 - ], - [ - 72091, - 27 - ], - [ - 72391, - 26 - ], - [ - 72691, - 25 - ], - [ - 72991, - 25 - ], - [ - 73291, - 25 - ], - [ - 73590, - 25 - ], - [ - 73890, - 25 - ], - [ - 74189, - 26 - ], - [ - 74489, - 25 - ], - [ - 74790, - 24 - ], - [ - 75091, - 23 - ], - [ - 75393, - 21 - ], - [ - 75694, - 19 - ] - ], - "point": [ - 119, - 230 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|-01.77|+00.07|-01.08", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23162, - 199 - ], - [ - 23461, - 200 - ], - [ - 23761, - 200 - ], - [ - 24061, - 200 - ], - [ - 24361, - 201 - ], - [ - 24660, - 202 - ], - [ - 24960, - 202 - ], - [ - 25260, - 203 - ], - [ - 25560, - 203 - ], - [ - 25859, - 204 - ], - [ - 26159, - 205 - ], - [ - 26459, - 205 - ], - [ - 26759, - 153 - ], - [ - 26931, - 33 - ], - [ - 27058, - 56 - ], - [ - 27115, - 97 - ], - [ - 27231, - 33 - ], - [ - 27358, - 56 - ], - [ - 27416, - 96 - ], - [ - 27531, - 34 - ], - [ - 27658, - 56 - ], - [ - 27716, - 96 - ], - [ - 27832, - 33 - ], - [ - 27958, - 56 - ], - [ - 28016, - 96 - ], - [ - 28132, - 33 - ], - [ - 28258, - 56 - ], - [ - 28316, - 96 - ], - [ - 28432, - 34 - ], - [ - 28557, - 56 - ], - [ - 28616, - 96 - ], - [ - 28732, - 34 - ], - [ - 28857, - 26 - ], - [ - 28886, - 27 - ], - [ - 28915, - 98 - ], - [ - 29032, - 34 - ], - [ - 29157, - 21 - ], - [ - 29192, - 21 - ], - [ - 29216, - 97 - ], - [ - 29333, - 33 - ], - [ - 29457, - 18 - ], - [ - 29495, - 18 - ], - [ - 29516, - 97 - ], - [ - 29632, - 35 - ], - [ - 29756, - 17 - ], - [ - 29796, - 17 - ], - [ - 29816, - 151 - ], - [ - 30056, - 15 - ], - [ - 30098, - 15 - ], - [ - 30115, - 152 - ], - [ - 30356, - 14 - ], - [ - 30399, - 14 - ], - [ - 30415, - 153 - ], - [ - 30656, - 13 - ], - [ - 30700, - 13 - ], - [ - 30715, - 153 - ], - [ - 30955, - 13 - ], - [ - 31001, - 12 - ], - [ - 31015, - 153 - ], - [ - 31255, - 12 - ], - [ - 31301, - 12 - ], - [ - 31315, - 154 - ], - [ - 31555, - 11 - ], - [ - 31602, - 11 - ], - [ - 31615, - 154 - ], - [ - 31855, - 10 - ], - [ - 31902, - 10 - ], - [ - 31915, - 154 - ], - [ - 32154, - 11 - ], - [ - 32202, - 10 - ], - [ - 32214, - 155 - ], - [ - 32454, - 10 - ], - [ - 32503, - 9 - ], - [ - 32514, - 156 - ], - [ - 32754, - 10 - ], - [ - 32803, - 9 - ], - [ - 32814, - 156 - ], - [ - 33054, - 9 - ], - [ - 33103, - 9 - ], - [ - 33114, - 156 - ], - [ - 33354, - 9 - ], - [ - 33403, - 9 - ], - [ - 33414, - 157 - ], - [ - 33653, - 10 - ], - [ - 33703, - 9 - ], - [ - 33714, - 157 - ], - [ - 33953, - 10 - ], - [ - 34002, - 10 - ], - [ - 34014, - 157 - ], - [ - 34253, - 10 - ], - [ - 34302, - 10 - ], - [ - 34314, - 157 - ], - [ - 34553, - 10 - ], - [ - 34602, - 10 - ], - [ - 34614, - 158 - ], - [ - 34852, - 11 - ], - [ - 34901, - 11 - ], - [ - 34914, - 158 - ], - [ - 35152, - 11 - ], - [ - 35201, - 10 - ], - [ - 35214, - 158 - ], - [ - 35452, - 12 - ], - [ - 35500, - 11 - ], - [ - 35514, - 159 - ], - [ - 35752, - 12 - ], - [ - 35800, - 11 - ], - [ - 35813, - 160 - ], - [ - 36051, - 14 - ], - [ - 36099, - 12 - ], - [ - 36113, - 160 - ], - [ - 36351, - 14 - ], - [ - 36398, - 13 - ], - [ - 36413, - 160 - ], - [ - 36651, - 15 - ], - [ - 36697, - 14 - ], - [ - 36713, - 161 - ], - [ - 36951, - 16 - ], - [ - 36996, - 15 - ], - [ - 37013, - 161 - ], - [ - 37250, - 18 - ], - [ - 37295, - 179 - ], - [ - 37550, - 20 - ], - [ - 37593, - 182 - ], - [ - 37850, - 21 - ], - [ - 37892, - 183 - ], - [ - 38150, - 24 - ], - [ - 38189, - 186 - ], - [ - 38450, - 27 - ], - [ - 38485, - 191 - ], - [ - 38749, - 227 - ], - [ - 39049, - 227 - ], - [ - 39349, - 227 - ], - [ - 39649, - 228 - ], - [ - 39948, - 229 - ], - [ - 40248, - 229 - ], - [ - 40548, - 230 - ], - [ - 40848, - 230 - ], - [ - 41147, - 231 - ], - [ - 41447, - 231 - ], - [ - 41747, - 232 - ], - [ - 42047, - 232 - ], - [ - 42347, - 232 - ], - [ - 42646, - 234 - ], - [ - 42946, - 234 - ], - [ - 43246, - 234 - ], - [ - 43546, - 235 - ], - [ - 43845, - 236 - ], - [ - 44145, - 236 - ], - [ - 44445, - 236 - ], - [ - 44745, - 237 - ], - [ - 45044, - 238 - ], - [ - 45344, - 238 - ], - [ - 45644, - 239 - ], - [ - 45944, - 239 - ], - [ - 46243, - 240 - ], - [ - 46543, - 240 - ], - [ - 46843, - 241 - ], - [ - 47143, - 241 - ], - [ - 47443, - 241 - ], - [ - 47742, - 243 - ], - [ - 48042, - 243 - ], - [ - 48342, - 243 - ], - [ - 48642, - 244 - ], - [ - 48941, - 245 - ], - [ - 49241, - 245 - ], - [ - 49541, - 245 - ], - [ - 49841, - 246 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "PickupObject", - "objectId": "CD|+01.79|+00.98|-02.32" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 115, - 165, - 155, - 179 - ], - "mask": [ - [ - 49315, - 41 - ], - [ - 49615, - 40 - ], - [ - 49915, - 40 - ], - [ - 50215, - 40 - ], - [ - 50516, - 38 - ], - [ - 50817, - 36 - ], - [ - 51117, - 36 - ], - [ - 51418, - 34 - ], - [ - 51718, - 33 - ], - [ - 52019, - 31 - ], - [ - 52321, - 28 - ], - [ - 52622, - 25 - ], - [ - 52924, - 21 - ], - [ - 53225, - 19 - ], - [ - 53529, - 11 - ] - ], - "point": [ - 135, - 171 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|+01.79|+00.98|-02.32", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23162, - 199 - ], - [ - 23461, - 200 - ], - [ - 23761, - 200 - ], - [ - 24061, - 200 - ], - [ - 24361, - 201 - ], - [ - 24660, - 202 - ], - [ - 24960, - 202 - ], - [ - 25260, - 203 - ], - [ - 25560, - 203 - ], - [ - 25859, - 204 - ], - [ - 26159, - 205 - ], - [ - 26459, - 205 - ], - [ - 26759, - 153 - ], - [ - 26931, - 33 - ], - [ - 27058, - 56 - ], - [ - 27115, - 97 - ], - [ - 27231, - 33 - ], - [ - 27358, - 56 - ], - [ - 27416, - 96 - ], - [ - 27531, - 34 - ], - [ - 27658, - 56 - ], - [ - 27716, - 96 - ], - [ - 27832, - 33 - ], - [ - 27958, - 56 - ], - [ - 28016, - 96 - ], - [ - 28132, - 33 - ], - [ - 28258, - 56 - ], - [ - 28316, - 96 - ], - [ - 28432, - 34 - ], - [ - 28557, - 56 - ], - [ - 28616, - 96 - ], - [ - 28732, - 34 - ], - [ - 28857, - 26 - ], - [ - 28886, - 27 - ], - [ - 28915, - 98 - ], - [ - 29032, - 34 - ], - [ - 29157, - 21 - ], - [ - 29192, - 21 - ], - [ - 29216, - 97 - ], - [ - 29333, - 33 - ], - [ - 29457, - 18 - ], - [ - 29495, - 18 - ], - [ - 29516, - 97 - ], - [ - 29632, - 35 - ], - [ - 29756, - 17 - ], - [ - 29796, - 17 - ], - [ - 29816, - 151 - ], - [ - 30056, - 15 - ], - [ - 30098, - 15 - ], - [ - 30115, - 152 - ], - [ - 30356, - 14 - ], - [ - 30399, - 14 - ], - [ - 30415, - 153 - ], - [ - 30656, - 13 - ], - [ - 30700, - 13 - ], - [ - 30715, - 153 - ], - [ - 30955, - 13 - ], - [ - 31001, - 12 - ], - [ - 31015, - 153 - ], - [ - 31255, - 12 - ], - [ - 31301, - 12 - ], - [ - 31315, - 154 - ], - [ - 31555, - 11 - ], - [ - 31602, - 11 - ], - [ - 31615, - 154 - ], - [ - 31855, - 10 - ], - [ - 31902, - 10 - ], - [ - 31915, - 154 - ], - [ - 32154, - 11 - ], - [ - 32202, - 10 - ], - [ - 32214, - 155 - ], - [ - 32454, - 10 - ], - [ - 32503, - 9 - ], - [ - 32514, - 156 - ], - [ - 32754, - 10 - ], - [ - 32803, - 9 - ], - [ - 32814, - 156 - ], - [ - 33054, - 9 - ], - [ - 33103, - 9 - ], - [ - 33114, - 156 - ], - [ - 33354, - 9 - ], - [ - 33403, - 9 - ], - [ - 33414, - 157 - ], - [ - 33653, - 10 - ], - [ - 33703, - 9 - ], - [ - 33714, - 157 - ], - [ - 33953, - 10 - ], - [ - 34002, - 10 - ], - [ - 34014, - 157 - ], - [ - 34253, - 10 - ], - [ - 34302, - 10 - ], - [ - 34314, - 157 - ], - [ - 34553, - 10 - ], - [ - 34602, - 10 - ], - [ - 34614, - 158 - ], - [ - 34852, - 11 - ], - [ - 34901, - 11 - ], - [ - 34914, - 158 - ], - [ - 35152, - 11 - ], - [ - 35201, - 10 - ], - [ - 35214, - 158 - ], - [ - 35452, - 12 - ], - [ - 35500, - 11 - ], - [ - 35514, - 159 - ], - [ - 35752, - 12 - ], - [ - 35800, - 11 - ], - [ - 35813, - 160 - ], - [ - 36051, - 14 - ], - [ - 36099, - 12 - ], - [ - 36113, - 160 - ], - [ - 36351, - 14 - ], - [ - 36398, - 13 - ], - [ - 36413, - 160 - ], - [ - 36651, - 15 - ], - [ - 36697, - 14 - ], - [ - 36713, - 161 - ], - [ - 36951, - 16 - ], - [ - 36996, - 15 - ], - [ - 37013, - 161 - ], - [ - 37250, - 18 - ], - [ - 37295, - 179 - ], - [ - 37550, - 20 - ], - [ - 37593, - 182 - ], - [ - 37850, - 21 - ], - [ - 37892, - 183 - ], - [ - 38150, - 24 - ], - [ - 38189, - 186 - ], - [ - 38450, - 27 - ], - [ - 38485, - 191 - ], - [ - 38749, - 227 - ], - [ - 39049, - 227 - ], - [ - 39349, - 227 - ], - [ - 39649, - 228 - ], - [ - 39948, - 229 - ], - [ - 40248, - 229 - ], - [ - 40548, - 230 - ], - [ - 40848, - 230 - ], - [ - 41147, - 231 - ], - [ - 41447, - 231 - ], - [ - 41747, - 232 - ], - [ - 42047, - 232 - ], - [ - 42347, - 91 - ], - [ - 42443, - 136 - ], - [ - 42646, - 88 - ], - [ - 42747, - 133 - ], - [ - 42946, - 86 - ], - [ - 43049, - 131 - ], - [ - 43246, - 84 - ], - [ - 43350, - 130 - ], - [ - 43546, - 83 - ], - [ - 43651, - 130 - ], - [ - 43845, - 83 - ], - [ - 43952, - 129 - ], - [ - 44145, - 83 - ], - [ - 44253, - 128 - ], - [ - 44445, - 82 - ], - [ - 44554, - 127 - ], - [ - 44745, - 81 - ], - [ - 44854, - 128 - ], - [ - 45044, - 82 - ], - [ - 45154, - 128 - ], - [ - 45344, - 82 - ], - [ - 45455, - 127 - ], - [ - 45644, - 81 - ], - [ - 45738, - 4 - ], - [ - 45755, - 128 - ], - [ - 45944, - 81 - ], - [ - 46038, - 5 - ], - [ - 46055, - 128 - ], - [ - 46243, - 82 - ], - [ - 46338, - 4 - ], - [ - 46355, - 128 - ], - [ - 46543, - 82 - ], - [ - 46639, - 3 - ], - [ - 46655, - 128 - ], - [ - 46843, - 83 - ], - [ - 46955, - 129 - ], - [ - 47143, - 83 - ], - [ - 47254, - 130 - ], - [ - 47443, - 83 - ], - [ - 47554, - 130 - ], - [ - 47742, - 84 - ], - [ - 47854, - 131 - ], - [ - 48042, - 85 - ], - [ - 48153, - 132 - ], - [ - 48342, - 86 - ], - [ - 48452, - 133 - ], - [ - 48642, - 86 - ], - [ - 48751, - 135 - ], - [ - 48941, - 88 - ], - [ - 49051, - 135 - ], - [ - 49241, - 90 - ], - [ - 49349, - 137 - ], - [ - 49541, - 92 - ], - [ - 49647, - 139 - ], - [ - 49841, - 94 - ], - [ - 49945, - 142 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan303", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.75, - "y": 0.901000142, - "z": -0.25 - }, - "object_poses": [ - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 1.320924, - "y": 1.57837439, - "z": -2.2986 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": -1.76941335, - "y": 0.2164909, - "z": -1.11332691 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": 2.261906, - "y": 0.0447977223, - "z": 0.265094072 - }, - "rotation": { - "x": 0.0, - "y": 225.000046, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -0.7943843, - "y": 0.417449743, - "z": -1.97777 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": 1.91719127, - "y": 0.9831283, - "z": -2.235766 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": -1.846236, - "y": 0.6027754, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": 0.450656772, - "y": 0.113801874, - "z": -2.55001283 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": -1.74428582, - "y": 0.216880172, - "z": -1.22297406 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.937785, - "y": 0.5098357, - "z": -1.10710418 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ddebce5c", - "position": { - "x": 1.996, - "y": 0.316, - "z": -1.042 - }, - "rotation": { - "x": 0.0, - "y": 254.839432, - "z": 0.0 - } - }, - { - "objectName": "Book_bd6507e1", - "position": { - "x": -1.5820179, - "y": 0.600090742, - "z": -0.10948959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0d1fa29c", - "position": { - "x": -1.54828632, - "y": 0.457, - "z": -1.83189642 - }, - "rotation": { - "x": 0.0, - "y": 89.9999847, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.25512958, - "y": 0.417449743, - "z": -1.61096263 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 0.766442, - "y": 0.729498863, - "z": -2.6471 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_a983eb51", - "position": { - "x": -1.62947965, - "y": 0.649, - "z": 0.416 - }, - "rotation": { - "x": 14.4914894, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": 0.1918391, - "y": 0.730409145, - "z": -2.76407933 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_2d36a6ad", - "position": { - "x": 2.244, - "y": 0.279, - "z": -1.901 - }, - "rotation": { - "x": 335.40213, - "y": 251.97406, - "z": 201.7148 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.64807248, - "y": 0.59993577, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": -1.85399938, - "y": 0.501959443, - "z": -1.17499912 - }, - "rotation": { - "x": 0.04807372, - "y": 285.15744, - "z": 0.000188857462 - } - }, - { - "objectName": "Cloth_d24bf320", - "position": { - "x": 2.17615461, - "y": 0.0, - "z": -0.5715845 - }, - "rotation": { - "x": 0.0, - "y": 335.474518, - "z": 0.0 - } - }, - { - "objectName": "Laptop_20fa9a67", - "position": { - "x": -1.02475691, - "y": 0.415540248, - "z": -1.85550082 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_10494eb8", - "position": { - "x": 1.78888452, - "y": 0.9770822, - "z": -2.31954455 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": -1.76941335, - "y": 0.0690067038, - "z": -1.07677782 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": 0.6515214, - "y": 0.734452844, - "z": -2.70558977 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": 1.38428545, - "y": 0.05849502, - "z": -2.28225541 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_79472253", - "position": { - "x": 1.66057765, - "y": 0.9754755, - "z": -2.31954455 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1959006121, - "scene_num": 303 - }, - "task_id": "trial_T20190908_085759_424304", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AISNLDPD2DFEG_3JWH6J9I9V419B9RJZURF69N7OTBNS", - "high_descs": [ - "Go forward a bit, turn right and go to the nightstand", - "Open the bottom drawer of the nightstand, pick up the cd in the drawer, close the drawer", - "Turn around, go forward, turn right and go to the dresser", - "Put the cd on the dresser", - "Turn left, go forward, turn right in front of the shelf unit", - "Pick up the cd on the bottom shelf", - "Turn right, go forward, turn left at the dresser", - "Put the cd on the dresser" - ], - "task_desc": "Put two cd on the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1OWHPMKE7YAGL_3MD9PLUKKL5XR9C7PDAU1OGQYRLNZG", - "high_descs": [ - "Go forward, hang a right and go to the bedside table.", - "Open the bottom drawer of the table, remove the CD.", - "Turn around, go to the end of the bed, hang a right, go to the dresser.", - "Put the CD down on top of the dresser.", - "Turn to the left, go to the dark brown shelves on the right. ", - "Pick up the leftmost CD from the shelf. ", - "Turn to the right, go to the dresser that is ahead on the left. ", - "Put the CD on the dresser to the right of the other CD." - ], - "task_desc": "Put two CD's on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A11LSO6D7BMY99_3NAPMVF0ZZ6IIDH8KZKRIGKTD26724", - "high_descs": [ - "go to your right to the end table that is next to the bed", - "open the bottom drawer and remove the Cd", - "go to the foot of the bed to the chest of drawers under the mirror", - "Place the CD on top of the chest of drawers", - "go to your left to the shelving unit", - "pick up a CD from the shelving unit", - "carry the CD to the chest of drawers where you were before", - "place the CD next to the other one you put there" - ], - "task_desc": "Put two CDs on a chest of drawers", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085826_396748/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085826_396748/traj_data.json deleted file mode 100644 index 111bd8c06..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CD-None-Dresser-303/trial_T20190908_085826_396748/traj_data.json +++ /dev/null @@ -1,7489 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "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": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000365.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000366.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000367.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000368.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000369.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000370.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000371.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000372.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000373.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000374.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000375.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000376.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000377.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000378.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000379.png", - "low_idx": 69 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CD", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-4|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - -7.0776534, - -7.0776534, - -4.45330764, - -4.45330764, - 0.8659636, - 0.8659636 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -7.15443228, - -7.15443228, - -4.601952, - -4.601952, - 0.9867368, - 0.9867368 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.77|+00.22|-01.11" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - -7.0776534, - -7.0776534, - -4.45330764, - -4.45330764, - 0.8659636, - 0.8659636 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.77|+00.22|-01.11", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-4|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cd" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CD", - [ - -7.17816352, - -7.17816352, - -4.89189624, - -4.89189624, - 0.8659636, - 0.8659636 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -7.15443228, - -7.15443228, - -4.601952, - -4.601952, - 0.9867368, - 0.9867368 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.79|+00.22|-01.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|-8|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cd", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CD", - [ - -7.17816352, - -7.17816352, - -4.89189624, - -4.89189624, - 0.8659636, - 0.8659636 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 1.7424, - 1.7424, - -10.5884, - -10.5884, - 0.1444, - 0.1444 - ] - ], - "forceVisible": true, - "objectId": "CD|-01.79|+00.22|-01.22", - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "OpenObject", - "objectId": "Drawer|-01.79|+00.25|-01.15" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 88, - 201, - 151, - 209 - ], - "mask": [ - [ - 60088, - 64 - ], - [ - 60388, - 64 - ], - [ - 60689, - 63 - ], - [ - 60990, - 62 - ], - [ - 61290, - 62 - ], - [ - 61591, - 61 - ], - [ - 61891, - 61 - ], - [ - 62192, - 60 - ], - [ - 62493, - 59 - ] - ], - "point": [ - 119, - 204 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CD|-01.77|+00.22|-01.11" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 117, - 219, - 138, - 240 - ], - "mask": [ - [ - 65525, - 6 - ], - [ - 65823, - 11 - ], - [ - 66122, - 13 - ], - [ - 66421, - 15 - ], - [ - 66720, - 17 - ], - [ - 67019, - 19 - ], - [ - 67318, - 20 - ], - [ - 67618, - 20 - ], - [ - 67918, - 21 - ], - [ - 68218, - 9 - ], - [ - 68229, - 10 - ], - [ - 68517, - 9 - ], - [ - 68530, - 9 - ], - [ - 68817, - 10 - ], - [ - 68830, - 9 - ], - [ - 69117, - 22 - ], - [ - 69418, - 20 - ], - [ - 69718, - 20 - ], - [ - 70018, - 20 - ], - [ - 70319, - 18 - ], - [ - 70619, - 17 - ], - [ - 70920, - 16 - ], - [ - 71221, - 13 - ], - [ - 71522, - 11 - ], - [ - 71825, - 5 - ] - ], - "point": [ - 126, - 227 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.79|+00.25|-01.15" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 82, - 201, - 150, - 248 - ], - "mask": [ - [ - 60089, - 62 - ], - [ - 60389, - 62 - ], - [ - 60689, - 62 - ], - [ - 60989, - 62 - ], - [ - 61288, - 63 - ], - [ - 61588, - 63 - ], - [ - 61888, - 63 - ], - [ - 62188, - 63 - ], - [ - 62488, - 63 - ], - [ - 62788, - 63 - ], - [ - 63088, - 63 - ], - [ - 63388, - 63 - ], - [ - 63687, - 64 - ], - [ - 63987, - 20 - ], - [ - 64010, - 41 - ], - [ - 64287, - 16 - ], - [ - 64313, - 38 - ], - [ - 64587, - 15 - ], - [ - 64614, - 37 - ], - [ - 64887, - 13 - ], - [ - 64916, - 35 - ], - [ - 65187, - 12 - ], - [ - 65216, - 35 - ], - [ - 65487, - 12 - ], - [ - 65517, - 34 - ], - [ - 65787, - 11 - ], - [ - 65817, - 34 - ], - [ - 66086, - 12 - ], - [ - 66118, - 33 - ], - [ - 66386, - 11 - ], - [ - 66418, - 29 - ], - [ - 66686, - 11 - ], - [ - 66706, - 2 - ], - [ - 66718, - 23 - ], - [ - 66986, - 11 - ], - [ - 67006, - 3 - ], - [ - 67018, - 19 - ], - [ - 67286, - 11 - ], - [ - 67306, - 3 - ], - [ - 67318, - 17 - ], - [ - 67586, - 11 - ], - [ - 67607, - 1 - ], - [ - 67618, - 16 - ], - [ - 67886, - 11 - ], - [ - 67917, - 15 - ], - [ - 68186, - 11 - ], - [ - 68217, - 13 - ], - [ - 68486, - 11 - ], - [ - 68517, - 12 - ], - [ - 68785, - 13 - ], - [ - 68816, - 11 - ], - [ - 69085, - 13 - ], - [ - 69115, - 11 - ], - [ - 69385, - 14 - ], - [ - 69414, - 10 - ], - [ - 69685, - 15 - ], - [ - 69713, - 11 - ], - [ - 69985, - 16 - ], - [ - 70011, - 12 - ], - [ - 70285, - 19 - ], - [ - 70309, - 13 - ], - [ - 70585, - 37 - ], - [ - 70885, - 36 - ], - [ - 71184, - 36 - ], - [ - 71484, - 35 - ], - [ - 71784, - 35 - ], - [ - 72084, - 34 - ], - [ - 72382, - 35 - ], - [ - 72682, - 34 - ], - [ - 72983, - 33 - ], - [ - 73284, - 32 - ], - [ - 73585, - 30 - ], - [ - 73887, - 28 - ], - [ - 74188, - 27 - ] - ], - "point": [ - 118, - 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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|-01.77|+00.22|-01.11", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23162, - 56 - ], - [ - 23261, - 50 - ], - [ - 23340, - 21 - ], - [ - 23461, - 56 - ], - [ - 23562, - 47 - ], - [ - 23640, - 21 - ], - [ - 23761, - 55 - ], - [ - 23877, - 31 - ], - [ - 23940, - 21 - ], - [ - 24061, - 55 - ], - [ - 24178, - 30 - ], - [ - 24240, - 21 - ], - [ - 24361, - 54 - ], - [ - 24478, - 29 - ], - [ - 24512, - 1 - ], - [ - 24540, - 22 - ], - [ - 24660, - 54 - ], - [ - 24778, - 29 - ], - [ - 24810, - 3 - ], - [ - 24840, - 22 - ], - [ - 24960, - 53 - ], - [ - 25078, - 29 - ], - [ - 25110, - 3 - ], - [ - 25139, - 23 - ], - [ - 25260, - 53 - ], - [ - 25378, - 29 - ], - [ - 25409, - 3 - ], - [ - 25439, - 24 - ], - [ - 25560, - 53 - ], - [ - 25678, - 29 - ], - [ - 25709, - 3 - ], - [ - 25738, - 25 - ], - [ - 25859, - 54 - ], - [ - 25978, - 29 - ], - [ - 26009, - 3 - ], - [ - 26038, - 25 - ], - [ - 26159, - 53 - ], - [ - 26278, - 29 - ], - [ - 26310, - 2 - ], - [ - 26338, - 26 - ], - [ - 26459, - 53 - ], - [ - 26578, - 29 - ], - [ - 26637, - 27 - ], - [ - 26759, - 53 - ], - [ - 26878, - 30 - ], - [ - 26937, - 27 - ], - [ - 27058, - 54 - ], - [ - 27178, - 30 - ], - [ - 27236, - 28 - ], - [ - 27358, - 53 - ], - [ - 27478, - 31 - ], - [ - 27536, - 29 - ], - [ - 27658, - 53 - ], - [ - 27778, - 32 - ], - [ - 27835, - 30 - ], - [ - 27958, - 53 - ], - [ - 28079, - 31 - ], - [ - 28135, - 30 - ], - [ - 28258, - 53 - ], - [ - 28379, - 31 - ], - [ - 28435, - 31 - ], - [ - 28557, - 54 - ], - [ - 28679, - 31 - ], - [ - 28734, - 32 - ], - [ - 28857, - 23 - ], - [ - 28889, - 22 - ], - [ - 28979, - 31 - ], - [ - 29034, - 32 - ], - [ - 29157, - 20 - ], - [ - 29192, - 19 - ], - [ - 29279, - 32 - ], - [ - 29333, - 33 - ], - [ - 29457, - 17 - ], - [ - 29495, - 16 - ], - [ - 29579, - 33 - ], - [ - 29633, - 34 - ], - [ - 29756, - 16 - ], - [ - 29797, - 14 - ], - [ - 29879, - 33 - ], - [ - 29933, - 34 - ], - [ - 30056, - 15 - ], - [ - 30098, - 13 - ], - [ - 30179, - 34 - ], - [ - 30232, - 35 - ], - [ - 30356, - 14 - ], - [ - 30399, - 11 - ], - [ - 30479, - 36 - ], - [ - 30531, - 37 - ], - [ - 30656, - 12 - ], - [ - 30700, - 10 - ], - [ - 30779, - 37 - ], - [ - 30829, - 39 - ], - [ - 30955, - 12 - ], - [ - 31001, - 9 - ], - [ - 31079, - 40 - ], - [ - 31127, - 41 - ], - [ - 31255, - 12 - ], - [ - 31301, - 9 - ], - [ - 31379, - 90 - ], - [ - 31555, - 11 - ], - [ - 31602, - 8 - ], - [ - 31679, - 90 - ], - [ - 31855, - 10 - ], - [ - 31902, - 8 - ], - [ - 31980, - 89 - ], - [ - 32154, - 10 - ], - [ - 32202, - 8 - ], - [ - 32280, - 89 - ], - [ - 32454, - 10 - ], - [ - 32503, - 7 - ], - [ - 32580, - 90 - ], - [ - 32754, - 10 - ], - [ - 32803, - 8 - ], - [ - 32880, - 90 - ], - [ - 33054, - 9 - ], - [ - 33103, - 8 - ], - [ - 33180, - 90 - ], - [ - 33354, - 9 - ], - [ - 33403, - 8 - ], - [ - 33479, - 92 - ], - [ - 33653, - 10 - ], - [ - 33702, - 9 - ], - [ - 33769, - 102 - ], - [ - 33953, - 10 - ], - [ - 34002, - 10 - ], - [ - 34069, - 102 - ], - [ - 34253, - 10 - ], - [ - 34302, - 10 - ], - [ - 34369, - 102 - ], - [ - 34553, - 10 - ], - [ - 34602, - 11 - ], - [ - 34668, - 104 - ], - [ - 34852, - 11 - ], - [ - 34901, - 12 - ], - [ - 34968, - 104 - ], - [ - 35152, - 11 - ], - [ - 35201, - 12 - ], - [ - 35267, - 105 - ], - [ - 35452, - 12 - ], - [ - 35500, - 14 - ], - [ - 35567, - 106 - ], - [ - 35752, - 12 - ], - [ - 35800, - 14 - ], - [ - 35867, - 106 - ], - [ - 36051, - 14 - ], - [ - 36099, - 16 - ], - [ - 36166, - 107 - ], - [ - 36351, - 14 - ], - [ - 36398, - 18 - ], - [ - 36465, - 51 - ], - [ - 36538, - 35 - ], - [ - 36651, - 15 - ], - [ - 36697, - 20 - ], - [ - 36764, - 52 - ], - [ - 36839, - 35 - ], - [ - 36951, - 16 - ], - [ - 36996, - 22 - ], - [ - 37063, - 53 - ], - [ - 37139, - 35 - ], - [ - 37250, - 19 - ], - [ - 37294, - 25 - ], - [ - 37334, - 13 - ], - [ - 37363, - 53 - ], - [ - 37439, - 35 - ], - [ - 37550, - 20 - ], - [ - 37593, - 27 - ], - [ - 37634, - 13 - ], - [ - 37662, - 55 - ], - [ - 37739, - 36 - ], - [ - 37850, - 21 - ], - [ - 37891, - 30 - ], - [ - 37934, - 13 - ], - [ - 37961, - 56 - ], - [ - 38040, - 35 - ], - [ - 38150, - 24 - ], - [ - 38188, - 34 - ], - [ - 38234, - 13 - ], - [ - 38259, - 58 - ], - [ - 38340, - 35 - ], - [ - 38450, - 29 - ], - [ - 38483, - 20 - ], - [ - 38511, - 13 - ], - [ - 38534, - 13 - ], - [ - 38558, - 59 - ], - [ - 38640, - 36 - ], - [ - 38749, - 51 - ], - [ - 38813, - 104 - ], - [ - 38940, - 36 - ], - [ - 39049, - 49 - ], - [ - 39115, - 102 - ], - [ - 39240, - 36 - ], - [ - 39349, - 47 - ], - [ - 39417, - 100 - ], - [ - 39541, - 35 - ], - [ - 39649, - 46 - ], - [ - 39717, - 101 - ], - [ - 39841, - 36 - ], - [ - 39948, - 46 - ], - [ - 40018, - 100 - ], - [ - 40141, - 36 - ], - [ - 40248, - 45 - ], - [ - 40319, - 99 - ], - [ - 40441, - 36 - ], - [ - 40548, - 45 - ], - [ - 40619, - 99 - ], - [ - 40741, - 37 - ], - [ - 40848, - 44 - ], - [ - 40920, - 98 - ], - [ - 41042, - 36 - ], - [ - 41147, - 45 - ], - [ - 41220, - 98 - ], - [ - 41342, - 36 - ], - [ - 41447, - 44 - ], - [ - 41520, - 99 - ], - [ - 41642, - 36 - ], - [ - 41747, - 39 - ], - [ - 41820, - 99 - ], - [ - 41942, - 37 - ], - [ - 42047, - 38 - ], - [ - 42121, - 98 - ], - [ - 42243, - 36 - ], - [ - 42347, - 38 - ], - [ - 42421, - 98 - ], - [ - 42543, - 36 - ], - [ - 42646, - 39 - ], - [ - 42721, - 98 - ], - [ - 42843, - 37 - ], - [ - 42946, - 39 - ], - [ - 43021, - 98 - ], - [ - 43143, - 37 - ], - [ - 43246, - 39 - ], - [ - 43289, - 2 - ], - [ - 43321, - 98 - ], - [ - 43443, - 37 - ], - [ - 43546, - 39 - ], - [ - 43590, - 2 - ], - [ - 43622, - 98 - ], - [ - 43744, - 37 - ], - [ - 43845, - 40 - ], - [ - 43891, - 1 - ], - [ - 43922, - 98 - ], - [ - 44044, - 37 - ], - [ - 44145, - 41 - ], - [ - 44222, - 98 - ], - [ - 44344, - 37 - ], - [ - 44445, - 42 - ], - [ - 44522, - 98 - ], - [ - 44644, - 37 - ], - [ - 44745, - 42 - ], - [ - 44822, - 98 - ], - [ - 44944, - 38 - ], - [ - 45044, - 44 - ], - [ - 45122, - 98 - ], - [ - 45245, - 37 - ], - [ - 45344, - 46 - ], - [ - 45423, - 98 - ], - [ - 45545, - 37 - ], - [ - 45644, - 48 - ], - [ - 45723, - 98 - ], - [ - 45845, - 38 - ], - [ - 45944, - 51 - ], - [ - 46023, - 98 - ], - [ - 46145, - 38 - ], - [ - 46243, - 52 - ], - [ - 46323, - 98 - ], - [ - 46445, - 38 - ], - [ - 46543, - 52 - ], - [ - 46623, - 98 - ], - [ - 46746, - 37 - ], - [ - 46843, - 53 - ], - [ - 46922, - 99 - ], - [ - 47046, - 38 - ], - [ - 47143, - 53 - ], - [ - 47222, - 100 - ], - [ - 47346, - 38 - ], - [ - 47443, - 54 - ], - [ - 47522, - 100 - ], - [ - 47646, - 38 - ], - [ - 47742, - 55 - ], - [ - 47821, - 101 - ], - [ - 47946, - 39 - ], - [ - 48042, - 55 - ], - [ - 48121, - 101 - ], - [ - 48246, - 39 - ], - [ - 48342, - 56 - ], - [ - 48420, - 165 - ], - [ - 48642, - 57 - ], - [ - 48719, - 167 - ], - [ - 48941, - 59 - ], - [ - 49017, - 169 - ], - [ - 49241, - 60 - ], - [ - 49316, - 170 - ], - [ - 49541, - 63 - ], - [ - 49613, - 173 - ], - [ - 49841, - 246 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "OpenObject", - "objectId": "Drawer|-01.79|+00.25|-01.15" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 88, - 201, - 151, - 209 - ], - "mask": [ - [ - 60088, - 64 - ], - [ - 60388, - 64 - ], - [ - 60689, - 63 - ], - [ - 60990, - 62 - ], - [ - 61290, - 62 - ], - [ - 61591, - 61 - ], - [ - 61891, - 61 - ], - [ - 62192, - 60 - ], - [ - 62493, - 59 - ] - ], - "point": [ - 119, - 204 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CD|-01.79|+00.22|-01.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 97, - 214, - 117, - 235 - ], - "mask": [ - [ - 64007, - 3 - ], - [ - 64303, - 10 - ], - [ - 64602, - 12 - ], - [ - 64900, - 16 - ], - [ - 65199, - 17 - ], - [ - 65499, - 18 - ], - [ - 65798, - 19 - ], - [ - 66098, - 20 - ], - [ - 66397, - 21 - ], - [ - 66697, - 9 - ], - [ - 66708, - 10 - ], - [ - 66997, - 9 - ], - [ - 67009, - 9 - ], - [ - 67297, - 9 - ], - [ - 67309, - 9 - ], - [ - 67597, - 10 - ], - [ - 67608, - 10 - ], - [ - 67897, - 20 - ], - [ - 68197, - 20 - ], - [ - 68497, - 20 - ], - [ - 68798, - 18 - ], - [ - 69098, - 17 - ], - [ - 69399, - 15 - ], - [ - 69700, - 13 - ], - [ - 70001, - 10 - ], - [ - 70304, - 5 - ] - ], - "point": [ - 108, - 222 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.79|+00.25|-01.15" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 82, - 201, - 150, - 248 - ], - "mask": [ - [ - 60089, - 62 - ], - [ - 60389, - 62 - ], - [ - 60689, - 62 - ], - [ - 60989, - 62 - ], - [ - 61288, - 63 - ], - [ - 61588, - 63 - ], - [ - 61888, - 63 - ], - [ - 62188, - 63 - ], - [ - 62488, - 63 - ], - [ - 62788, - 63 - ], - [ - 63088, - 63 - ], - [ - 63388, - 63 - ], - [ - 63687, - 64 - ], - [ - 63987, - 64 - ], - [ - 64287, - 64 - ], - [ - 64587, - 64 - ], - [ - 64887, - 64 - ], - [ - 65187, - 64 - ], - [ - 65487, - 64 - ], - [ - 65787, - 64 - ], - [ - 66086, - 65 - ], - [ - 66386, - 61 - ], - [ - 66686, - 55 - ], - [ - 66986, - 51 - ], - [ - 67286, - 49 - ], - [ - 67586, - 48 - ], - [ - 67886, - 46 - ], - [ - 68186, - 44 - ], - [ - 68486, - 43 - ], - [ - 68785, - 42 - ], - [ - 69085, - 41 - ], - [ - 69385, - 39 - ], - [ - 69685, - 39 - ], - [ - 69985, - 38 - ], - [ - 70285, - 37 - ], - [ - 70585, - 37 - ], - [ - 70885, - 36 - ], - [ - 71184, - 36 - ], - [ - 71484, - 35 - ], - [ - 71784, - 35 - ], - [ - 72084, - 34 - ], - [ - 72382, - 35 - ], - [ - 72682, - 34 - ], - [ - 72983, - 33 - ], - [ - 73284, - 32 - ], - [ - 73585, - 30 - ], - [ - 73887, - 28 - ], - [ - 74188, - 27 - ] - ], - "point": [ - 116, - 223 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CD|-01.79|+00.22|-01.22", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.44|+00.04|-02.65" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 40, - 78, - 286, - 219 - ], - "mask": [ - [ - 23162, - 56 - ], - [ - 23261, - 50 - ], - [ - 23340, - 21 - ], - [ - 23461, - 56 - ], - [ - 23562, - 47 - ], - [ - 23640, - 21 - ], - [ - 23761, - 55 - ], - [ - 23877, - 31 - ], - [ - 23940, - 21 - ], - [ - 24061, - 55 - ], - [ - 24178, - 30 - ], - [ - 24240, - 21 - ], - [ - 24361, - 54 - ], - [ - 24478, - 29 - ], - [ - 24512, - 1 - ], - [ - 24540, - 22 - ], - [ - 24660, - 54 - ], - [ - 24778, - 29 - ], - [ - 24810, - 3 - ], - [ - 24840, - 22 - ], - [ - 24960, - 53 - ], - [ - 25078, - 29 - ], - [ - 25110, - 3 - ], - [ - 25139, - 23 - ], - [ - 25260, - 53 - ], - [ - 25378, - 29 - ], - [ - 25409, - 3 - ], - [ - 25439, - 24 - ], - [ - 25560, - 53 - ], - [ - 25678, - 29 - ], - [ - 25709, - 3 - ], - [ - 25738, - 25 - ], - [ - 25859, - 54 - ], - [ - 25978, - 29 - ], - [ - 26009, - 3 - ], - [ - 26038, - 25 - ], - [ - 26159, - 53 - ], - [ - 26278, - 29 - ], - [ - 26310, - 2 - ], - [ - 26338, - 26 - ], - [ - 26459, - 53 - ], - [ - 26578, - 29 - ], - [ - 26637, - 27 - ], - [ - 26759, - 53 - ], - [ - 26878, - 30 - ], - [ - 26937, - 27 - ], - [ - 27058, - 54 - ], - [ - 27178, - 30 - ], - [ - 27236, - 28 - ], - [ - 27358, - 53 - ], - [ - 27478, - 31 - ], - [ - 27536, - 29 - ], - [ - 27658, - 53 - ], - [ - 27778, - 32 - ], - [ - 27835, - 30 - ], - [ - 27958, - 53 - ], - [ - 28079, - 31 - ], - [ - 28135, - 30 - ], - [ - 28258, - 53 - ], - [ - 28379, - 31 - ], - [ - 28435, - 31 - ], - [ - 28557, - 54 - ], - [ - 28679, - 31 - ], - [ - 28734, - 32 - ], - [ - 28857, - 23 - ], - [ - 28889, - 22 - ], - [ - 28979, - 31 - ], - [ - 29034, - 32 - ], - [ - 29157, - 20 - ], - [ - 29192, - 19 - ], - [ - 29279, - 32 - ], - [ - 29333, - 33 - ], - [ - 29457, - 17 - ], - [ - 29495, - 16 - ], - [ - 29579, - 33 - ], - [ - 29633, - 34 - ], - [ - 29756, - 16 - ], - [ - 29797, - 14 - ], - [ - 29879, - 33 - ], - [ - 29933, - 34 - ], - [ - 30056, - 15 - ], - [ - 30098, - 13 - ], - [ - 30179, - 34 - ], - [ - 30232, - 35 - ], - [ - 30356, - 14 - ], - [ - 30399, - 11 - ], - [ - 30479, - 36 - ], - [ - 30531, - 37 - ], - [ - 30656, - 12 - ], - [ - 30700, - 10 - ], - [ - 30779, - 37 - ], - [ - 30829, - 39 - ], - [ - 30955, - 12 - ], - [ - 31001, - 9 - ], - [ - 31079, - 40 - ], - [ - 31127, - 41 - ], - [ - 31255, - 12 - ], - [ - 31301, - 9 - ], - [ - 31379, - 90 - ], - [ - 31555, - 11 - ], - [ - 31602, - 8 - ], - [ - 31679, - 90 - ], - [ - 31855, - 10 - ], - [ - 31902, - 8 - ], - [ - 31980, - 89 - ], - [ - 32154, - 10 - ], - [ - 32202, - 8 - ], - [ - 32280, - 89 - ], - [ - 32454, - 10 - ], - [ - 32503, - 7 - ], - [ - 32580, - 90 - ], - [ - 32754, - 10 - ], - [ - 32803, - 8 - ], - [ - 32880, - 90 - ], - [ - 33054, - 9 - ], - [ - 33103, - 8 - ], - [ - 33180, - 90 - ], - [ - 33354, - 9 - ], - [ - 33403, - 8 - ], - [ - 33479, - 92 - ], - [ - 33653, - 10 - ], - [ - 33702, - 9 - ], - [ - 33769, - 102 - ], - [ - 33953, - 10 - ], - [ - 34002, - 10 - ], - [ - 34069, - 102 - ], - [ - 34253, - 10 - ], - [ - 34302, - 10 - ], - [ - 34369, - 102 - ], - [ - 34553, - 10 - ], - [ - 34602, - 11 - ], - [ - 34668, - 104 - ], - [ - 34852, - 11 - ], - [ - 34901, - 12 - ], - [ - 34968, - 104 - ], - [ - 35152, - 11 - ], - [ - 35201, - 12 - ], - [ - 35267, - 105 - ], - [ - 35452, - 12 - ], - [ - 35500, - 14 - ], - [ - 35567, - 106 - ], - [ - 35752, - 12 - ], - [ - 35800, - 14 - ], - [ - 35867, - 106 - ], - [ - 36051, - 14 - ], - [ - 36099, - 16 - ], - [ - 36166, - 107 - ], - [ - 36351, - 14 - ], - [ - 36398, - 18 - ], - [ - 36465, - 51 - ], - [ - 36538, - 35 - ], - [ - 36651, - 15 - ], - [ - 36697, - 20 - ], - [ - 36764, - 52 - ], - [ - 36839, - 35 - ], - [ - 36951, - 16 - ], - [ - 36996, - 22 - ], - [ - 37063, - 53 - ], - [ - 37139, - 35 - ], - [ - 37250, - 19 - ], - [ - 37294, - 25 - ], - [ - 37334, - 13 - ], - [ - 37363, - 53 - ], - [ - 37439, - 35 - ], - [ - 37550, - 20 - ], - [ - 37593, - 27 - ], - [ - 37634, - 13 - ], - [ - 37662, - 55 - ], - [ - 37739, - 36 - ], - [ - 37850, - 21 - ], - [ - 37891, - 30 - ], - [ - 37934, - 13 - ], - [ - 37961, - 56 - ], - [ - 38040, - 35 - ], - [ - 38150, - 24 - ], - [ - 38188, - 34 - ], - [ - 38234, - 13 - ], - [ - 38259, - 58 - ], - [ - 38340, - 35 - ], - [ - 38450, - 29 - ], - [ - 38483, - 20 - ], - [ - 38511, - 13 - ], - [ - 38534, - 13 - ], - [ - 38558, - 59 - ], - [ - 38640, - 36 - ], - [ - 38749, - 51 - ], - [ - 38813, - 104 - ], - [ - 38940, - 36 - ], - [ - 39049, - 49 - ], - [ - 39115, - 102 - ], - [ - 39240, - 36 - ], - [ - 39349, - 47 - ], - [ - 39417, - 100 - ], - [ - 39541, - 35 - ], - [ - 39649, - 46 - ], - [ - 39717, - 101 - ], - [ - 39841, - 36 - ], - [ - 39948, - 46 - ], - [ - 40018, - 100 - ], - [ - 40141, - 36 - ], - [ - 40248, - 45 - ], - [ - 40319, - 99 - ], - [ - 40441, - 36 - ], - [ - 40548, - 45 - ], - [ - 40619, - 99 - ], - [ - 40741, - 37 - ], - [ - 40848, - 44 - ], - [ - 40920, - 98 - ], - [ - 41042, - 36 - ], - [ - 41147, - 45 - ], - [ - 41220, - 98 - ], - [ - 41342, - 36 - ], - [ - 41447, - 44 - ], - [ - 41520, - 99 - ], - [ - 41642, - 36 - ], - [ - 41747, - 39 - ], - [ - 41820, - 99 - ], - [ - 41942, - 37 - ], - [ - 42047, - 38 - ], - [ - 42121, - 98 - ], - [ - 42243, - 36 - ], - [ - 42347, - 38 - ], - [ - 42421, - 17 - ], - [ - 42443, - 76 - ], - [ - 42543, - 36 - ], - [ - 42646, - 39 - ], - [ - 42721, - 13 - ], - [ - 42747, - 72 - ], - [ - 42843, - 37 - ], - [ - 42946, - 39 - ], - [ - 43021, - 11 - ], - [ - 43049, - 70 - ], - [ - 43143, - 37 - ], - [ - 43246, - 39 - ], - [ - 43289, - 2 - ], - [ - 43321, - 9 - ], - [ - 43350, - 69 - ], - [ - 43443, - 37 - ], - [ - 43546, - 39 - ], - [ - 43590, - 2 - ], - [ - 43622, - 7 - ], - [ - 43651, - 69 - ], - [ - 43744, - 37 - ], - [ - 43845, - 40 - ], - [ - 43891, - 1 - ], - [ - 43922, - 6 - ], - [ - 43952, - 68 - ], - [ - 44044, - 37 - ], - [ - 44145, - 41 - ], - [ - 44222, - 6 - ], - [ - 44253, - 67 - ], - [ - 44344, - 37 - ], - [ - 44445, - 42 - ], - [ - 44522, - 5 - ], - [ - 44554, - 66 - ], - [ - 44644, - 37 - ], - [ - 44745, - 42 - ], - [ - 44822, - 4 - ], - [ - 44854, - 66 - ], - [ - 44944, - 38 - ], - [ - 45044, - 44 - ], - [ - 45122, - 4 - ], - [ - 45154, - 66 - ], - [ - 45245, - 37 - ], - [ - 45344, - 46 - ], - [ - 45423, - 3 - ], - [ - 45455, - 66 - ], - [ - 45545, - 37 - ], - [ - 45644, - 48 - ], - [ - 45723, - 2 - ], - [ - 45738, - 4 - ], - [ - 45755, - 66 - ], - [ - 45845, - 38 - ], - [ - 45944, - 51 - ], - [ - 46023, - 2 - ], - [ - 46038, - 5 - ], - [ - 46055, - 66 - ], - [ - 46145, - 38 - ], - [ - 46243, - 52 - ], - [ - 46323, - 2 - ], - [ - 46338, - 4 - ], - [ - 46355, - 66 - ], - [ - 46445, - 38 - ], - [ - 46543, - 52 - ], - [ - 46623, - 2 - ], - [ - 46639, - 3 - ], - [ - 46655, - 66 - ], - [ - 46746, - 37 - ], - [ - 46843, - 53 - ], - [ - 46922, - 4 - ], - [ - 46955, - 66 - ], - [ - 47046, - 38 - ], - [ - 47143, - 53 - ], - [ - 47222, - 4 - ], - [ - 47254, - 68 - ], - [ - 47346, - 38 - ], - [ - 47443, - 54 - ], - [ - 47522, - 4 - ], - [ - 47554, - 68 - ], - [ - 47646, - 38 - ], - [ - 47742, - 55 - ], - [ - 47821, - 5 - ], - [ - 47854, - 68 - ], - [ - 47946, - 39 - ], - [ - 48042, - 55 - ], - [ - 48121, - 6 - ], - [ - 48153, - 69 - ], - [ - 48246, - 39 - ], - [ - 48342, - 56 - ], - [ - 48420, - 8 - ], - [ - 48452, - 133 - ], - [ - 48642, - 57 - ], - [ - 48719, - 9 - ], - [ - 48751, - 135 - ], - [ - 48941, - 59 - ], - [ - 49017, - 12 - ], - [ - 49051, - 135 - ], - [ - 49241, - 60 - ], - [ - 49316, - 15 - ], - [ - 49349, - 137 - ], - [ - 49541, - 63 - ], - [ - 49613, - 20 - ], - [ - 49647, - 139 - ], - [ - 49841, - 94 - ], - [ - 49945, - 142 - ], - [ - 50140, - 247 - ], - [ - 50441, - 246 - ], - [ - 50741, - 246 - ], - [ - 51042, - 244 - ], - [ - 51342, - 243 - ], - [ - 51643, - 240 - ], - [ - 51945, - 236 - ], - [ - 52246, - 13 - ], - [ - 52467, - 13 - ], - [ - 52547, - 11 - ], - [ - 52768, - 11 - ], - [ - 52848, - 10 - ], - [ - 53069, - 9 - ], - [ - 53148, - 9 - ], - [ - 53369, - 8 - ], - [ - 53449, - 8 - ], - [ - 53669, - 7 - ], - [ - 53750, - 7 - ], - [ - 53969, - 6 - ], - [ - 54051, - 7 - ], - [ - 54268, - 6 - ], - [ - 54352, - 7 - ], - [ - 54567, - 6 - ], - [ - 54653, - 7 - ], - [ - 54866, - 6 - ], - [ - 54953, - 7 - ], - [ - 55165, - 6 - ], - [ - 55254, - 7 - ], - [ - 55464, - 6 - ], - [ - 55555, - 7 - ], - [ - 55763, - 6 - ], - [ - 55856, - 7 - ], - [ - 56062, - 6 - ], - [ - 56157, - 7 - ], - [ - 56361, - 6 - ], - [ - 56457, - 7 - ], - [ - 56660, - 6 - ], - [ - 56758, - 7 - ], - [ - 56959, - 6 - ], - [ - 57059, - 7 - ], - [ - 57258, - 6 - ], - [ - 57360, - 7 - ], - [ - 57557, - 6 - ], - [ - 57661, - 6 - ], - [ - 57856, - 5 - ], - [ - 57962, - 6 - ], - [ - 58155, - 5 - ], - [ - 58262, - 7 - ], - [ - 58454, - 5 - ], - [ - 58563, - 7 - ], - [ - 58753, - 5 - ], - [ - 58864, - 6 - ], - [ - 59052, - 5 - ], - [ - 59165, - 6 - ], - [ - 59351, - 5 - ], - [ - 59466, - 6 - ], - [ - 59650, - 5 - ], - [ - 59767, - 6 - ], - [ - 59949, - 5 - ], - [ - 60067, - 7 - ], - [ - 60248, - 5 - ], - [ - 60368, - 6 - ], - [ - 60547, - 5 - ], - [ - 60669, - 6 - ], - [ - 60846, - 5 - ], - [ - 60970, - 6 - ], - [ - 61145, - 5 - ], - [ - 61271, - 6 - ], - [ - 61444, - 5 - ], - [ - 61572, - 5 - ], - [ - 61743, - 5 - ], - [ - 61872, - 6 - ], - [ - 62042, - 5 - ], - [ - 62173, - 6 - ], - [ - 62341, - 5 - ], - [ - 62474, - 6 - ], - [ - 62640, - 5 - ], - [ - 62775, - 5 - ], - [ - 62939, - 5 - ], - [ - 63076, - 5 - ], - [ - 63238, - 5 - ], - [ - 63377, - 5 - ], - [ - 63537, - 5 - ], - [ - 63677, - 6 - ], - [ - 63837, - 4 - ], - [ - 63978, - 6 - ], - [ - 64136, - 4 - ], - [ - 64279, - 5 - ], - [ - 64435, - 4 - ], - [ - 64580, - 5 - ], - [ - 64734, - 4 - ], - [ - 64881, - 5 - ], - [ - 65033, - 4 - ], - [ - 65182, - 5 - ], - [ - 65332, - 4 - ], - [ - 65482, - 5 - ], - [ - 65631, - 3 - ] - ], - "point": [ - 163, - 147 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan303", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.25, - "y": 0.901000142, - "z": -1.75 - }, - "object_poses": [ - { - "objectName": "Mug_79472253", - "position": { - "x": -1.5820179, - "y": 0.5971, - "z": -0.5338481 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_79472253", - "position": { - "x": 0.6515214, - "y": 0.7284131, - "z": -2.471631 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 1.38428545, - "y": 0.05551854, - "z": -2.3032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": 1.91719127, - "y": 1.57728219, - "z": -2.27765536 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": -1.79454088, - "y": 0.2164909, - "z": -1.22297406 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": -1.51596332, - "y": 0.5990095, - "z": 0.03196323 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": 0.421680272, - "y": 0.7303226, - "z": -2.76407933 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": -1.75511384, - "y": 0.50899595, - "z": -1.02348125 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.51596332, - "y": 0.59993577, - "z": -0.392395258 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ddebce5c", - "position": { - "x": 1.996, - "y": 0.316, - "z": -1.042 - }, - "rotation": { - "x": 0.0, - "y": 254.839432, - "z": 0.0 - } - }, - { - "objectName": "Book_bd6507e1", - "position": { - "x": -1.714127, - "y": 0.600090742, - "z": -0.2509424 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0d1fa29c", - "position": { - "x": -1.54828632, - "y": 0.457, - "z": -1.83189642 - }, - "rotation": { - "x": 0.0, - "y": 89.9999847, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_31865df4", - "position": { - "x": 0.1918391, - "y": 0.728709459, - "z": -2.53012061 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_1bd7addd", - "position": { - "x": 0.766442, - "y": 0.731112, - "z": -2.6471 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_a983eb51", - "position": { - "x": -1.62947965, - "y": 0.649, - "z": 0.416 - }, - "rotation": { - "x": 14.4914894, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_15d77e20", - "position": { - "x": -1.75511384, - "y": 0.50899595, - "z": -1.27434993 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_2d36a6ad", - "position": { - "x": 2.244, - "y": 0.279, - "z": -1.901 - }, - "rotation": { - "x": 335.40213, - "y": 251.97406, - "z": 201.7148 - } - }, - { - "objectName": "KeyChain_27a5504d", - "position": { - "x": -1.74428582, - "y": 0.365035743, - "z": -1.11332691 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_b5103f04", - "position": { - "x": 0.5366008, - "y": 0.730703354, - "z": -2.6471 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_d24bf320", - "position": { - "x": 2.17615461, - "y": 0.0, - "z": -0.5715845 - }, - "rotation": { - "x": 0.0, - "y": 335.474518, - "z": 0.0 - } - }, - { - "objectName": "Laptop_20fa9a67", - "position": { - "x": -0.794384241, - "y": 0.415540248, - "z": -1.73323166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_10494eb8", - "position": { - "x": -1.76941335, - "y": 0.2164909, - "z": -1.11332691 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_ecad3d62", - "position": { - "x": 2.23895288, - "y": 0.0447977223, - "z": 0.288047016 - }, - "rotation": { - "x": 0.0, - "y": 225.000046, - "z": 0.0 - } - }, - { - "objectName": "Pen_194b8b51", - "position": { - "x": 1.85193682, - "y": 0.361152261, - "z": -2.26131058 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_7cb80570", - "position": { - "x": 1.85303783, - "y": 1.18265092, - "z": -2.25671053 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_79472253", - "position": { - "x": 0.1918391, - "y": 0.726799965, - "z": -2.76407933 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4079012485, - "scene_num": 303 - }, - "task_id": "trial_T20190908_085826_396748", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_3TE3O85733ZS0W1NTDIXNXBTEF4R2T", - "high_descs": [ - "Turn right then head to your left facing the side drawer on the bed", - "Open the second drawer and pick up the cd", - "Turn left walk past the end of the bed then turn right facing the cabinet", - "Put the cd on top of the cabinet", - "Turn right head back to the side drawer", - "Open the second drawer and pick up the cd", - "Turn left and head back to the cabinet", - "Put the cd on the right side of the cabinet beside the cell phone" - ], - "task_desc": "Put two cd's on the cabinet", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1O3TWBUDONVLO_3YJ6NA41JE77UFJGN6K0HJXVF93JPJ", - "high_descs": [ - "Turn to the right and walk forward to face the table to the right of the bed.", - "Remove the CD on the right side from the drawer to the right of the table.", - "Walk around the foot of the bed to face the table at the foot of the bed.", - "Place the CD on the table at the foot of the bed.", - "Turn to the right and walk around the bed to face the table to the right of the bed.", - "Remove the CD in the drawer to the right of the table.", - "Walk around the foot of the bed to face the table at the foot of the bed.", - "Place the CD on the table at the foot of the bed next to the other CD." - ], - "task_desc": "To move two CDs from a drawer to the top of the table at the foot of the bed.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3T9K2RY06UO14_3VNXK88KKF9VTN33N62MYH8A5RMV9D", - "high_descs": [ - "Turn and go to the nightstand by the bed", - "Take a DVD out of the drawer of the nightstand.", - "Turn and go to the dresser.", - "Put the DVD on the dresser.", - "Turn and go to the nightstand by the bed", - "Take a DVD out of the drawer of the nightstand.", - "Turn and go to the dresser.", - "Put the DVD on the dresser." - ], - "task_desc": "Move two DVDs from the nightstand to the dresser.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190908_122634_511704/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190908_122634_511704/traj_data.json deleted file mode 100644 index d1bf0b9d1..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190908_122634_511704/traj_data.json +++ /dev/null @@ -1,6580 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 42 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 43 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 72 - }, - { - "high_idx": 7, - "image_name": "000000365.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000366.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000367.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000368.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000369.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000370.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000371.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000372.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000373.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000374.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000375.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000376.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000377.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000378.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000379.png", - "low_idx": 73 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|7|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -0.820000052, - -0.820000052, - 6.94106148, - 6.94106148, - 3.0799576, - 3.0799576 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -0.82, - -0.82, - 6.084, - 6.084, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-00.21|+00.77|+01.74" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -0.820000052, - -0.820000052, - 6.94106148, - 6.94106148, - 3.0799576, - 3.0799576 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-00.21|+00.77|+01.74", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|12|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -12.75322532, - -12.75322532, - 10.50305748, - 10.50305748, - 1.66664028, - 1.66664028 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -12.167908, - -12.167908, - 9.360716, - 9.360716, - 0.104, - 0.104 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-03.19|+00.42|+02.63" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -12.75322532, - -12.75322532, - 10.50305748, - 10.50305748, - 1.66664028, - 1.66664028 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-03.19|+00.42|+02.63", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "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": "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": "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": "CellPhone|-00.21|+00.77|+01.74" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 135, - 127, - 172, - 143 - ], - "mask": [ - [ - 37936, - 35 - ], - [ - 38236, - 36 - ], - [ - 38536, - 36 - ], - [ - 38836, - 36 - ], - [ - 39136, - 36 - ], - [ - 39436, - 36 - ], - [ - 39736, - 36 - ], - [ - 40036, - 36 - ], - [ - 40336, - 36 - ], - [ - 40635, - 37 - ], - [ - 40935, - 37 - ], - [ - 41235, - 37 - ], - [ - 41535, - 37 - ], - [ - 41835, - 38 - ], - [ - 42135, - 37 - ], - [ - 42436, - 36 - ], - [ - 42737, - 34 - ] - ], - "point": [ - 153, - 134 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-00.21|+00.77|+01.74", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 78 - ], - [ - 29228, - 75 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 78 - ], - [ - 29528, - 75 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 77 - ], - [ - 29828, - 75 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 78 - ], - [ - 30128, - 75 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 78 - ], - [ - 30428, - 75 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 78 - ], - [ - 30728, - 75 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 78 - ], - [ - 31028, - 76 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 79 - ], - [ - 31328, - 76 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 79 - ], - [ - 31628, - 76 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 79 - ], - [ - 31928, - 76 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 79 - ], - [ - 32228, - 76 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 80 - ], - [ - 32528, - 76 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 80 - ], - [ - 32828, - 76 - ], - [ - 32921, - 45 - ], - [ - 33000, - 29 - ], - [ - 33046, - 80 - ], - [ - 33128, - 76 - ], - [ - 33221, - 46 - ], - [ - 33300, - 29 - ], - [ - 33346, - 80 - ], - [ - 33428, - 14 - ], - [ - 33448, - 57 - ], - [ - 33521, - 46 - ], - [ - 33600, - 28 - ], - [ - 33645, - 61 - ], - [ - 33714, - 12 - ], - [ - 33728, - 7 - ], - [ - 33750, - 55 - ], - [ - 33822, - 45 - ], - [ - 33900, - 28 - ], - [ - 33945, - 57 - ], - [ - 34051, - 54 - ], - [ - 34122, - 45 - ], - [ - 34200, - 28 - ], - [ - 34245, - 56 - ], - [ - 34351, - 54 - ], - [ - 34422, - 46 - ], - [ - 34500, - 27 - ], - [ - 34545, - 55 - ], - [ - 34652, - 53 - ], - [ - 34722, - 46 - ], - [ - 34800, - 27 - ], - [ - 34844, - 55 - ], - [ - 34952, - 53 - ], - [ - 35022, - 46 - ], - [ - 35100, - 27 - ], - [ - 35144, - 55 - ], - [ - 35252, - 53 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 55 - ], - [ - 35552, - 54 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 55 - ], - [ - 35852, - 54 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 56 - ], - [ - 36152, - 54 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 56 - ], - [ - 36452, - 54 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 57 - ], - [ - 36752, - 54 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 58 - ], - [ - 37051, - 55 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 60 - ], - [ - 37351, - 55 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 63 - ], - [ - 37613, - 23 - ], - [ - 37649, - 57 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 100 - ], - [ - 37947, - 60 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "CellPhone|-03.19|+00.42|+02.63" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 128, - 194, - 144, - 222 - ], - "mask": [ - [ - 58030, - 14 - ], - [ - 58329, - 16 - ], - [ - 58629, - 16 - ], - [ - 58929, - 16 - ], - [ - 59229, - 16 - ], - [ - 59529, - 16 - ], - [ - 59829, - 16 - ], - [ - 60129, - 16 - ], - [ - 60429, - 16 - ], - [ - 60729, - 16 - ], - [ - 61029, - 16 - ], - [ - 61329, - 16 - ], - [ - 61629, - 16 - ], - [ - 61929, - 16 - ], - [ - 62229, - 16 - ], - [ - 62529, - 16 - ], - [ - 62829, - 16 - ], - [ - 63129, - 16 - ], - [ - 63429, - 16 - ], - [ - 63729, - 16 - ], - [ - 64029, - 16 - ], - [ - 64328, - 17 - ], - [ - 64628, - 17 - ], - [ - 64928, - 17 - ], - [ - 65228, - 16 - ], - [ - 65528, - 16 - ], - [ - 65828, - 16 - ], - [ - 66128, - 16 - ], - [ - 66429, - 15 - ] - ], - "point": [ - 136, - 207 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-03.19|+00.42|+02.63", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 78 - ], - [ - 29228, - 35 - ], - [ - 29266, - 37 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 78 - ], - [ - 29528, - 35 - ], - [ - 29566, - 37 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 77 - ], - [ - 29828, - 35 - ], - [ - 29866, - 37 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 78 - ], - [ - 30128, - 35 - ], - [ - 30166, - 37 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 78 - ], - [ - 30428, - 35 - ], - [ - 30466, - 37 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 78 - ], - [ - 30728, - 35 - ], - [ - 30766, - 37 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 78 - ], - [ - 31028, - 35 - ], - [ - 31066, - 38 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 79 - ], - [ - 31328, - 35 - ], - [ - 31366, - 38 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 79 - ], - [ - 31628, - 35 - ], - [ - 31666, - 38 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 79 - ], - [ - 31928, - 35 - ], - [ - 31966, - 38 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 79 - ], - [ - 32228, - 35 - ], - [ - 32266, - 38 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 80 - ], - [ - 32528, - 34 - ], - [ - 32566, - 38 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 80 - ], - [ - 32828, - 34 - ], - [ - 32866, - 38 - ], - [ - 32921, - 45 - ], - [ - 33000, - 29 - ], - [ - 33046, - 80 - ], - [ - 33128, - 34 - ], - [ - 33166, - 38 - ], - [ - 33221, - 46 - ], - [ - 33300, - 29 - ], - [ - 33346, - 80 - ], - [ - 33428, - 14 - ], - [ - 33448, - 14 - ], - [ - 33466, - 39 - ], - [ - 33521, - 46 - ], - [ - 33600, - 28 - ], - [ - 33645, - 61 - ], - [ - 33714, - 12 - ], - [ - 33728, - 7 - ], - [ - 33750, - 12 - ], - [ - 33766, - 39 - ], - [ - 33822, - 45 - ], - [ - 33900, - 28 - ], - [ - 33945, - 57 - ], - [ - 34051, - 11 - ], - [ - 34066, - 39 - ], - [ - 34122, - 45 - ], - [ - 34200, - 28 - ], - [ - 34245, - 56 - ], - [ - 34351, - 11 - ], - [ - 34365, - 40 - ], - [ - 34422, - 46 - ], - [ - 34500, - 27 - ], - [ - 34545, - 55 - ], - [ - 34652, - 10 - ], - [ - 34665, - 40 - ], - [ - 34722, - 46 - ], - [ - 34800, - 27 - ], - [ - 34844, - 55 - ], - [ - 34952, - 10 - ], - [ - 34965, - 40 - ], - [ - 35022, - 46 - ], - [ - 35100, - 27 - ], - [ - 35144, - 55 - ], - [ - 35252, - 10 - ], - [ - 35265, - 40 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 55 - ], - [ - 35552, - 10 - ], - [ - 35565, - 41 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 55 - ], - [ - 35852, - 10 - ], - [ - 35865, - 41 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 56 - ], - [ - 36152, - 11 - ], - [ - 36165, - 41 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 56 - ], - [ - 36452, - 11 - ], - [ - 36465, - 41 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 57 - ], - [ - 36752, - 11 - ], - [ - 36765, - 41 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 58 - ], - [ - 37051, - 12 - ], - [ - 37065, - 41 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 60 - ], - [ - 37351, - 12 - ], - [ - 37365, - 41 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 63 - ], - [ - 37613, - 23 - ], - [ - 37649, - 14 - ], - [ - 37664, - 42 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 100 - ], - [ - 37947, - 60 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan229", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -3.25, - "y": 0.922051549, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -2.89564753, - "y": 0.414699525, - "z": 2.530569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -2.749318, - "y": 0.420346081, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -3.041977, - "y": 0.420346081, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -3.48096561, - "y": 0.415584326, - "z": 2.244984 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -3.42713547, - "y": 0.431709915, - "z": 0.535032332 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -3.18830633, - "y": 0.41666007, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -0.403339475, - "y": 0.7699894, - "z": 1.44957829 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -0.3372263, - "y": 0.769996, - "z": 1.66384363 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -0.072773695, - "y": 0.769996, - "z": 1.37815642 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -5.65006447, - "y": 0.724234164, - "z": 2.401 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -3.334636, - "y": 0.4119136, - "z": 2.530569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_3a2ac9e3", - "position": { - "x": -2.824864, - "y": 0.651521742, - "z": 0.670671463 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -0.098035574, - "y": 0.7731067, - "z": 0.172807932 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0e7ad8bb", - "position": { - "x": -2.147, - "y": 0.615, - "z": 0.59 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 42.94562 - } - }, - { - "objectName": "WateringCan_f71b5fc6", - "position": { - "x": -5.238764, - "y": 0.0201935917, - "z": 0.136437342 - }, - "rotation": { - "x": -0.002103566, - "y": 0.000306327129, - "z": 0.000320422638 - } - }, - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -2.60298824, - "y": 0.418370247, - "z": 2.14978886 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -4.0294075, - "y": 0.414654076, - "z": 0.399393231 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -1.37301791, - "y": 0.397734165, - "z": 3.54970431 - }, - "rotation": { - "x": 0.0, - "y": 209.03656, - "z": 0.0 - } - }, - { - "objectName": "Boots_2407c22b", - "position": { - "x": 0.0340102427, - "y": 0.0217030942, - "z": 3.09199619 - }, - "rotation": { - "x": 359.987549, - "y": 259.598633, - "z": 359.9935 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -0.205000013, - "y": 0.7699894, - "z": 1.73526537 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -5.667973, - "y": 0.7344237, - "z": 0.146563992 - }, - "rotation": { - "x": 0.0, - "y": 89.9999, - "z": 0.0 - } - }, - { - "objectName": "Laptop_10eaeb6a", - "position": { - "x": -0.334, - "y": 0.765, - "z": 0.722 - }, - "rotation": { - "x": 0.0, - "y": 296.906128, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -5.74257374, - "y": 0.730203867, - "z": 2.401 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_b87ac3be", - "position": { - "x": -2.89564753, - "y": 0.4267347, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_2bdb1f8f", - "position": { - "x": -0.1815925, - "y": 0.7597089, - "z": 1.552922 - }, - "rotation": { - "x": 0.0, - "y": 301.397, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 921631838, - "scene_num": 229 - }, - "task_id": "trial_T20190908_122634_511704", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3HL2LL0LEPZT8_3KXIR214I77LZQZPI1MKF40JM1A24B", - "high_descs": [ - "Turn right, go forward to the coffee table, turn right, go forward to the table with the statue.", - "Take the cell phone to the left of the statue from the table.", - "Turn around, go forward across the room to the dresser with the TV on it.", - "Put the cell phone to the right of the remote control on the dresser.", - "Turn right, go forward a step, turn right, go forward, turn right to face the coffee table.", - "Take the cell phone from the coffee table.", - "Turn right, go forward and to the left back to the dresser with the TV.", - "Put the cell phone to the right of the first cell phone on the dresser." - ], - "task_desc": "Put two cell phones on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1O3TWBUDONVLO_33LK57MYLWWU7M4CX9RG0IQWLROSZU", - "high_descs": [ - "Turn around and walk across the room to face the table with the statue on it.", - "Pick up the media device on the left side of the table with the statue on it.", - "Turn around and walk across the room to face the TV stand.", - "Place the media device on the right side of the TV stand.", - "Turn around and walk forward to face the left side of the living room table.", - "Pick up the media device on the living room table.", - "Turn right and walk forward to face the TV stand.", - "Place the media device next to the first media device." - ], - "task_desc": "To place two media devices on the TV stand.", - "votes": [ - 0, - 1, - 1 - ] - }, - { - "assignment_id": "ARB8SJAWXUWTD_3FTYUGLFSXCQYJ15TVPBGFX1JO15DZ", - "high_descs": [ - "Go to the table with the statue", - "Pick up the phone on the elft", - "Go to the TV table", - "Put the phone down on the table", - "Go to the center table", - "Pick up the phone", - "Go to the TV table", - "Put the phone down on the table" - ], - "task_desc": "Move two phones to the TV stand", - "votes": [ - 1, - 1, - 0 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190911_131442_170447/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190911_131442_170447/traj_data.json deleted file mode 100644 index f62c16245..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190911_131442_170447/traj_data.json +++ /dev/null @@ -1,6261 +0,0 @@ -{ - "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": 5 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 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": 15 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 27 - }, - { - "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": 29 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000358.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000359.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000360.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000361.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000362.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000363.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000364.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000365.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000366.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000367.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000368.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000369.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000370.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000371.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000372.png", - "low_idx": 65 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-12|12|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -12.167908, - -12.167908, - 10.50305748, - 10.50305748, - 1.651957392, - 1.651957392 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -12.167908, - -12.167908, - 9.360716, - 9.360716, - 0.104, - 0.104 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-03.04|+00.41|+02.63" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -12.167908, - -12.167908, - 10.50305748, - 10.50305748, - 1.651957392, - 1.651957392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-03.04|+00.41|+02.63", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -13.338544, - -13.338544, - 8.21837424, - 8.21837424, - 1.651957392, - 1.651957392 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -12.167908, - -12.167908, - 9.360716, - 9.360716, - 0.104, - 0.104 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-03.33|+00.41|+02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -13.338544, - -13.338544, - 8.21837424, - 8.21837424, - 1.651957392, - 1.651957392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-03.33|+00.41|+02.05", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|-03.04|+00.41|+02.63" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 151, - 194, - 166, - 222 - ], - "mask": [ - [ - 58051, - 15 - ], - [ - 58351, - 15 - ], - [ - 58651, - 16 - ], - [ - 58951, - 16 - ], - [ - 59251, - 16 - ], - [ - 59551, - 16 - ], - [ - 59851, - 16 - ], - [ - 60151, - 16 - ], - [ - 60451, - 16 - ], - [ - 60751, - 16 - ], - [ - 61051, - 16 - ], - [ - 61351, - 16 - ], - [ - 61651, - 16 - ], - [ - 61951, - 16 - ], - [ - 62251, - 16 - ], - [ - 62551, - 16 - ], - [ - 62851, - 16 - ], - [ - 63151, - 16 - ], - [ - 63451, - 16 - ], - [ - 63751, - 16 - ], - [ - 64051, - 16 - ], - [ - 64351, - 16 - ], - [ - 64651, - 16 - ], - [ - 64951, - 16 - ], - [ - 65251, - 16 - ], - [ - 65551, - 16 - ], - [ - 65851, - 16 - ], - [ - 66151, - 16 - ], - [ - 66452, - 15 - ] - ], - "point": [ - 158, - 207 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-03.04|+00.41|+02.63", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26286, - 15 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26586, - 16 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26886, - 16 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27186, - 16 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27486, - 16 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27787, - 15 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28087, - 15 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28387, - 15 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28687, - 15 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28987, - 16 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 88 - ], - [ - 29287, - 16 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 88 - ], - [ - 29587, - 16 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 88 - ], - [ - 29887, - 16 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 89 - ], - [ - 30187, - 16 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 89 - ], - [ - 30487, - 16 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 89 - ], - [ - 30787, - 16 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 89 - ], - [ - 31088, - 16 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 90 - ], - [ - 31388, - 16 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 90 - ], - [ - 31688, - 16 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 90 - ], - [ - 31988, - 16 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 90 - ], - [ - 32287, - 17 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 158 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 158 - ], - [ - 32921, - 45 - ], - [ - 33000, - 29 - ], - [ - 33046, - 158 - ], - [ - 33221, - 46 - ], - [ - 33300, - 29 - ], - [ - 33346, - 159 - ], - [ - 33521, - 46 - ], - [ - 33600, - 28 - ], - [ - 33645, - 160 - ], - [ - 33822, - 45 - ], - [ - 33900, - 28 - ], - [ - 33945, - 160 - ], - [ - 34122, - 45 - ], - [ - 34200, - 28 - ], - [ - 34245, - 160 - ], - [ - 34422, - 46 - ], - [ - 34500, - 27 - ], - [ - 34545, - 160 - ], - [ - 34722, - 46 - ], - [ - 34800, - 27 - ], - [ - 34844, - 161 - ], - [ - 35022, - 46 - ], - [ - 35100, - 27 - ], - [ - 35144, - 161 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 162 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 162 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 163 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 163 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 163 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 163 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 164 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 164 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|-03.33|+00.41|+02.05" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 123, - 208, - 139, - 238 - ], - "mask": [ - [ - 62225, - 14 - ], - [ - 62524, - 15 - ], - [ - 62824, - 16 - ], - [ - 63124, - 16 - ], - [ - 63424, - 16 - ], - [ - 63724, - 16 - ], - [ - 64024, - 16 - ], - [ - 64324, - 16 - ], - [ - 64623, - 17 - ], - [ - 64923, - 17 - ], - [ - 65223, - 17 - ], - [ - 65523, - 16 - ], - [ - 65823, - 16 - ], - [ - 66123, - 16 - ], - [ - 66423, - 16 - ], - [ - 66723, - 16 - ], - [ - 67023, - 16 - ], - [ - 67323, - 16 - ], - [ - 67623, - 16 - ], - [ - 67923, - 16 - ], - [ - 68223, - 16 - ], - [ - 68523, - 16 - ], - [ - 68823, - 16 - ], - [ - 69123, - 16 - ], - [ - 69423, - 16 - ], - [ - 69723, - 16 - ], - [ - 70023, - 16 - ], - [ - 70323, - 16 - ], - [ - 70623, - 16 - ], - [ - 70923, - 16 - ], - [ - 71223, - 16 - ] - ], - "point": [ - 131, - 222 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-03.33|+00.41|+02.05", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26286, - 15 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26586, - 16 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26886, - 16 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27186, - 16 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27486, - 16 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27787, - 15 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28087, - 15 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28387, - 15 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28687, - 15 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28987, - 16 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 88 - ], - [ - 29287, - 16 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 88 - ], - [ - 29587, - 16 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 88 - ], - [ - 29887, - 16 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 89 - ], - [ - 30187, - 16 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 89 - ], - [ - 30487, - 16 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 89 - ], - [ - 30787, - 16 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 89 - ], - [ - 31088, - 16 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 90 - ], - [ - 31388, - 16 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 90 - ], - [ - 31688, - 16 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 90 - ], - [ - 31988, - 16 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 90 - ], - [ - 32287, - 17 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 158 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 158 - ], - [ - 32921, - 45 - ], - [ - 33000, - 29 - ], - [ - 33046, - 158 - ], - [ - 33221, - 46 - ], - [ - 33300, - 29 - ], - [ - 33346, - 101 - ], - [ - 33477, - 28 - ], - [ - 33521, - 46 - ], - [ - 33600, - 28 - ], - [ - 33645, - 101 - ], - [ - 33779, - 26 - ], - [ - 33822, - 45 - ], - [ - 33900, - 28 - ], - [ - 33945, - 101 - ], - [ - 34079, - 26 - ], - [ - 34122, - 45 - ], - [ - 34200, - 28 - ], - [ - 34245, - 101 - ], - [ - 34379, - 26 - ], - [ - 34422, - 46 - ], - [ - 34500, - 27 - ], - [ - 34545, - 101 - ], - [ - 34679, - 26 - ], - [ - 34722, - 46 - ], - [ - 34800, - 27 - ], - [ - 34844, - 102 - ], - [ - 34979, - 26 - ], - [ - 35022, - 46 - ], - [ - 35100, - 27 - ], - [ - 35144, - 102 - ], - [ - 35279, - 26 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 102 - ], - [ - 35579, - 27 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 102 - ], - [ - 35879, - 27 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 103 - ], - [ - 36179, - 27 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 103 - ], - [ - 36479, - 27 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 103 - ], - [ - 36780, - 26 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 103 - ], - [ - 37080, - 26 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 104 - ], - [ - 37380, - 26 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 104 - ], - [ - 37679, - 27 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan229", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.75, - "y": 0.922051549, - "z": 2.5 - }, - "object_poses": [ - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -3.48096561, - "y": 0.414699525, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_b87ac3be", - "position": { - "x": -0.138886854, - "y": 0.780064, - "z": 1.30673468 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -2.60298824, - "y": 0.420346081, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -5.83508348, - "y": 0.724587, - "z": 2.25050926 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -2.749318, - "y": 0.414587, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -5.788829, - "y": 0.7254421, - "z": 2.55149078 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -3.18830633, - "y": 0.4119136, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -5.495782, - "y": 0.7279894, - "z": 0.194026351 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -3.041977, - "y": 0.412989348, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -3.041977, - "y": 0.417904854, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -1.23848319, - "y": 0.395413637, - "z": 3.54455185 - }, - "rotation": { - "x": 0.0, - "y": 299.03656, - "z": 0.0 - } - }, - { - "objectName": "Box_3a2ac9e3", - "position": { - "x": -3.426, - "y": 0.635, - "z": 2.439 - }, - "rotation": { - "x": 0.0, - "y": 330.427948, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -5.695654, - "y": 0.09632734, - "z": 2.62345481 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0e7ad8bb", - "position": { - "x": -2.147, - "y": 0.615, - "z": 0.59 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 42.94562 - } - }, - { - "objectName": "WateringCan_f71b5fc6", - "position": { - "x": -5.238764, - "y": 0.0201935917, - "z": 0.136437342 - }, - "rotation": { - "x": -0.002103566, - "y": 0.000306327129, - "z": 0.000320422638 - } - }, - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -0.072773695, - "y": 0.771699548, - "z": 1.521 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -1.33700919, - "y": 0.401351631, - "z": 3.73831558 - }, - "rotation": { - "x": 0.0, - "y": 209.03656, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -1.50755262, - "y": 0.397734165, - "z": 3.55485654 - }, - "rotation": { - "x": 0.0, - "y": 209.03656, - "z": 0.0 - } - }, - { - "objectName": "Boots_2407c22b", - "position": { - "x": 0.0340102427, - "y": 0.0217030942, - "z": 3.09199619 - }, - "rotation": { - "x": 359.987549, - "y": 259.598633, - "z": 359.9935 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -3.334636, - "y": 0.412989348, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -0.425153017, - "y": 0.774652839, - "z": 0.172807932 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_10eaeb6a", - "position": { - "x": -0.334, - "y": 0.765, - "z": 0.722 - }, - "rotation": { - "x": 0.0, - "y": 296.906128, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -2.60298824, - "y": 0.416675359, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_b87ac3be", - "position": { - "x": -0.163459063, - "y": 0.781583667, - "z": 0.3146487 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_2bdb1f8f", - "position": { - "x": -2.60298824, - "y": 0.419679374, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2524849224, - "scene_num": 229 - }, - "task_id": "trial_T20190911_131442_170447", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3PPLDHC3CG0YN_34Q075JO104XBHZSGWZ4YI01DJT01P", - "high_descs": [ - "Turn around and walk to the coffee table on the left. ", - "Pick up the cell phone in front of the remote. ", - "Turn right and walk to the television stand. ", - "Place the cell phone in front of the TV on the TV stand. ", - "Turn around and walk to the other side of the coffee table. ", - "Pick up the cell phone to the right of the tissue box. ", - "Turn left and walk to the TV stand. ", - "Place the cell phone to the left of the first cell phone on the TV stand. " - ], - "task_desc": "To move two cell phones to the TV stand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AO33H4GL9KZX9_34QN5IT0T2IFMHJDFH8JDSN9RQQ082", - "high_descs": [ - "Turn right and go to the wooden coffee table to the side opposite of the sofa.", - "Pick up the gray phone near the front edge of the table. ", - "Turn right and go to the front of the white TV stand.", - "Place the phone on the top of the TV stand towards the front edge in front of the magazine. ", - "Turn around and go back to the coffee table between the sofa and the table. ", - "Pick up the gray phone on the left of the magazine. ", - "Turn left to go back to the white TV stand. ", - "Place the phone on the left side of the first phone. " - ], - "task_desc": "Move the phones on the table to the TV stand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1K5ILJMG439M5_36NEMU28XI4NFWM22PBNP5X8CYCWM2", - "high_descs": [ - "Move to face the coffee table so that the statue is at the top left corner when you look at it.", - "Pick up the phone that's in front of the remote control.", - "Bring the phone with you over to the console table with the television on it.", - "Put the phone down on the console table so that it's in front of the magazine.", - "Go back to the coffee table and face it so that now the empty box is at the top left corner when you look at it.", - "Pick up the phone that's between the magazine and the box of tissues.", - "Bring the phone with you and go back over to the console table.", - "Put the second phone down to the left of the first one." - ], - "task_desc": "Move the phones to the console table.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190911_131523_783089/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190911_131523_783089/traj_data.json deleted file mode 100644 index e5895bc04..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-229/trial_T20190911_131523_783089/traj_data.json +++ /dev/null @@ -1,6517 +0,0 @@ -{ - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "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": 1, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "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": 33 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 73 - }, - { - "high_idx": 7, - "image_name": "000000385.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000386.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000387.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000388.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000389.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000390.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000391.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000392.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000393.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000394.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000395.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000396.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000397.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000398.png", - "low_idx": 74 - }, - { - "high_idx": 7, - "image_name": "000000399.png", - "low_idx": 74 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-12|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -12.167908, - -12.167908, - 8.21837424, - 8.21837424, - 1.651957392, - 1.651957392 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -12.167908, - -12.167908, - 9.360716, - 9.360716, - 0.104, - 0.104 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-03.04|+00.41|+02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -12.167908, - -12.167908, - 8.21837424, - 8.21837424, - 1.651957392, - 1.651957392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-03.04|+00.41|+02.05", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-9|11|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -10.41195296, - -10.41195296, - 10.50305748, - 10.50305748, - 1.651957392, - 1.651957392 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -12.167908, - -12.167908, - 9.360716, - 9.360716, - 0.104, - 0.104 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-02.60|+00.41|+02.63" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -10.41195296, - -10.41195296, - 10.50305748, - 10.50305748, - 1.651957392, - 1.651957392 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-02.60|+00.41|+02.63", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "CellPhone|-03.04|+00.41|+02.05" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 132, - 208, - 148, - 238 - ], - "mask": [ - [ - 62234, - 14 - ], - [ - 62533, - 16 - ], - [ - 62833, - 16 - ], - [ - 63133, - 16 - ], - [ - 63433, - 16 - ], - [ - 63733, - 16 - ], - [ - 64033, - 16 - ], - [ - 64333, - 16 - ], - [ - 64633, - 16 - ], - [ - 64933, - 16 - ], - [ - 65233, - 16 - ], - [ - 65533, - 16 - ], - [ - 65833, - 16 - ], - [ - 66133, - 16 - ], - [ - 66433, - 16 - ], - [ - 66733, - 16 - ], - [ - 67033, - 16 - ], - [ - 67333, - 16 - ], - [ - 67632, - 17 - ], - [ - 67932, - 17 - ], - [ - 68232, - 17 - ], - [ - 68532, - 17 - ], - [ - 68832, - 17 - ], - [ - 69132, - 17 - ], - [ - 69432, - 17 - ], - [ - 69732, - 17 - ], - [ - 70032, - 17 - ], - [ - 70332, - 17 - ], - [ - 70632, - 17 - ], - [ - 70932, - 17 - ], - [ - 71233, - 15 - ] - ], - "point": [ - 140, - 222 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-03.04|+00.41|+02.05", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 53 - ], - [ - 29252, - 51 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 53 - ], - [ - 29552, - 51 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 53 - ], - [ - 29852, - 51 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 54 - ], - [ - 30152, - 51 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 53 - ], - [ - 30452, - 51 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 53 - ], - [ - 30752, - 51 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 53 - ], - [ - 31052, - 52 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 54 - ], - [ - 31352, - 52 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 54 - ], - [ - 31652, - 52 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 54 - ], - [ - 31952, - 52 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 54 - ], - [ - 32252, - 52 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 158 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 158 - ], - [ - 32921, - 45 - ], - [ - 33000, - 26 - ], - [ - 33048, - 156 - ], - [ - 33221, - 46 - ], - [ - 33300, - 25 - ], - [ - 33376, - 129 - ], - [ - 33521, - 46 - ], - [ - 33600, - 24 - ], - [ - 33678, - 127 - ], - [ - 33822, - 45 - ], - [ - 33900, - 23 - ], - [ - 33978, - 127 - ], - [ - 34122, - 45 - ], - [ - 34200, - 23 - ], - [ - 34279, - 126 - ], - [ - 34422, - 46 - ], - [ - 34500, - 23 - ], - [ - 34579, - 126 - ], - [ - 34722, - 46 - ], - [ - 34800, - 23 - ], - [ - 34880, - 125 - ], - [ - 35022, - 46 - ], - [ - 35100, - 24 - ], - [ - 35180, - 125 - ], - [ - 35322, - 47 - ], - [ - 35400, - 24 - ], - [ - 35480, - 126 - ], - [ - 35623, - 46 - ], - [ - 35700, - 25 - ], - [ - 35780, - 126 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36080, - 126 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36379, - 127 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36679, - 127 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 13 - ], - [ - 36978, - 128 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 21 - ], - [ - 37277, - 129 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 25 - ], - [ - 37575, - 131 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "PickupObject", - "objectId": "CellPhone|-02.60|+00.41|+02.63" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 108, - 205, - 137, - 220 - ], - "mask": [ - [ - 61309, - 29 - ], - [ - 61609, - 29 - ], - [ - 61908, - 30 - ], - [ - 62208, - 30 - ], - [ - 62508, - 30 - ], - [ - 62808, - 30 - ], - [ - 63108, - 30 - ], - [ - 63408, - 30 - ], - [ - 63708, - 30 - ], - [ - 64008, - 30 - ], - [ - 64308, - 30 - ], - [ - 64608, - 30 - ], - [ - 64908, - 30 - ], - [ - 65208, - 30 - ], - [ - 65508, - 30 - ], - [ - 65808, - 29 - ] - ], - "point": [ - 122, - 211 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-02.60|+00.41|+02.63", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 53 - ], - [ - 29252, - 51 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 53 - ], - [ - 29552, - 51 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 53 - ], - [ - 29852, - 51 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 54 - ], - [ - 30152, - 51 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 53 - ], - [ - 30452, - 51 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 53 - ], - [ - 30752, - 51 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 53 - ], - [ - 31052, - 52 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 54 - ], - [ - 31352, - 52 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 54 - ], - [ - 31652, - 52 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 54 - ], - [ - 31952, - 52 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 54 - ], - [ - 32252, - 52 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 158 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 158 - ], - [ - 32921, - 45 - ], - [ - 33000, - 26 - ], - [ - 33048, - 156 - ], - [ - 33221, - 46 - ], - [ - 33300, - 25 - ], - [ - 33376, - 71 - ], - [ - 33477, - 28 - ], - [ - 33521, - 46 - ], - [ - 33600, - 24 - ], - [ - 33678, - 68 - ], - [ - 33779, - 26 - ], - [ - 33822, - 45 - ], - [ - 33900, - 23 - ], - [ - 33978, - 68 - ], - [ - 34079, - 26 - ], - [ - 34122, - 45 - ], - [ - 34200, - 23 - ], - [ - 34279, - 67 - ], - [ - 34379, - 26 - ], - [ - 34422, - 46 - ], - [ - 34500, - 23 - ], - [ - 34579, - 67 - ], - [ - 34679, - 26 - ], - [ - 34722, - 46 - ], - [ - 34800, - 23 - ], - [ - 34880, - 66 - ], - [ - 34979, - 26 - ], - [ - 35022, - 46 - ], - [ - 35100, - 24 - ], - [ - 35180, - 66 - ], - [ - 35279, - 26 - ], - [ - 35322, - 47 - ], - [ - 35400, - 24 - ], - [ - 35480, - 66 - ], - [ - 35579, - 27 - ], - [ - 35623, - 46 - ], - [ - 35700, - 25 - ], - [ - 35780, - 66 - ], - [ - 35879, - 27 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36080, - 66 - ], - [ - 36179, - 27 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36379, - 67 - ], - [ - 36479, - 27 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36679, - 67 - ], - [ - 36780, - 26 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 13 - ], - [ - 36978, - 68 - ], - [ - 37080, - 26 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 21 - ], - [ - 37277, - 69 - ], - [ - 37380, - 26 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 25 - ], - [ - 37575, - 71 - ], - [ - 37679, - 27 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan229", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -4.75, - "y": 0.922051549, - "z": 2.5 - }, - "object_poses": [ - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -2.60298824, - "y": 0.418370247, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -0.228882551, - "y": 0.770699561, - "z": 0.172807932 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -3.041977, - "y": 0.416675359, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -3.18830633, - "y": 0.422323525, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -0.072773695, - "y": 0.7756528, - "z": 1.521 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -5.788829, - "y": 0.7254421, - "z": 2.401 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -2.60298824, - "y": 0.412989348, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -3.041977, - "y": 0.412989348, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -0.425153017, - "y": 0.771515667, - "z": 0.3146487 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -1.32050419, - "y": 0.397788644, - "z": 3.520552 - }, - "rotation": { - "x": 0.0, - "y": 209.03656, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -5.65006447, - "y": 0.72776264, - "z": 2.1000185 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_3a2ac9e3", - "position": { - "x": -2.824864, - "y": 0.651521742, - "z": 0.670671463 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_10eaeb6a", - "position": { - "x": -3.42713547, - "y": 0.4307963, - "z": 0.535032332 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -2.89564753, - "y": 0.415584326, - "z": 2.530569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_3a2ac9e3", - "position": { - "x": -3.426, - "y": 0.635, - "z": 2.439 - }, - "rotation": { - "x": 0.0, - "y": 330.427948, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -3.334636, - "y": 0.4182577, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0e7ad8bb", - "position": { - "x": -2.147, - "y": 0.615, - "z": 0.59 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 42.94562 - } - }, - { - "objectName": "WateringCan_f71b5fc6", - "position": { - "x": -5.238764, - "y": 0.0201935917, - "z": 0.136437342 - }, - "rotation": { - "x": -0.002103566, - "y": 0.000306327129, - "z": 0.000320422638 - } - }, - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -3.48096561, - "y": 0.418370247, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -3.42713547, - "y": 0.409010828, - "z": 0.4672128 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -1.314003, - "y": 0.397734165, - "z": 3.65601 - }, - "rotation": { - "x": 0.0, - "y": 299.03656, - "z": 0.0 - } - }, - { - "objectName": "Boots_2407c22b", - "position": { - "x": 0.0340102427, - "y": 0.0217030942, - "z": 3.09199619 - }, - "rotation": { - "x": 359.987549, - "y": 259.598633, - "z": 359.9935 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -3.126, - "y": 0.411046743, - "z": 0.602851868 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -0.271113157, - "y": 0.7756528, - "z": 1.66384363 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_10eaeb6a", - "position": { - "x": -0.334, - "y": 0.765, - "z": 0.722 - }, - "rotation": { - "x": 0.0, - "y": 296.906128, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -2.749318, - "y": 0.416675359, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_b87ac3be", - "position": { - "x": -2.749318, - "y": 0.423063964, - "z": 2.244984 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_2bdb1f8f", - "position": { - "x": -0.1815925, - "y": 0.7597089, - "z": 1.552922 - }, - "rotation": { - "x": 0.0, - "y": 301.397, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2565248870, - "scene_num": 229 - }, - "task_id": "trial_T20190911_131523_783089", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AOPI4DCPSO8H4_3ATTHHXXWDFG8D11RF9HZV4Y4T1XIN", - "high_descs": [ - "Go the right side of the table and face it.", - "Pick up the cell phone from the table.", - "Turn left and go to the TV.", - "Put the phone on the stand in front of the TV.", - "Turn around and walk to the far end of the coffee table.", - "Pick up the phone off of the table. ", - "Go to the TV.", - "Put the cell phone down to the left of the other phone." - ], - "task_desc": "Move cell phones from one table to another. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A16184N1RO5OJV_3X31TUMD70DA8DOE5PLNW2SPGG91L2", - "high_descs": [ - "Go to the right, walk between the couch and the table and turn left to face the table. ", - "Pick a phone that is between the tissue paper box on the table. ", - "Go to the left, turn right after the table, walk 1 step and turn left to go to the white TV cabinet. ", - "Put the phone on top of the white cabinet. ", - "Turn around, walk straight, turn right at the end of the table and turn right to face the other side of the table. ", - "Pick up the phone from on top of the table.", - "Go back to the white TV cabinet. ", - "Put the phone next to the other phone on the cabinet. " - ], - "task_desc": "Put 2 phone side by side on the white TV cabinet. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AISNLDPD2DFEG_39DD6S19JS2TX3ZUWE7BB1MHK0CZEX", - "high_descs": [ - "Turn right, go forward a bit, turn left, go forward a bit, turn left at the coffee table", - "Pick up the cell phone on the coffee table", - "Turn left, go forward a bit, turn right, go forward a bit, turn left, go to the tv stand", - "Put the cell phone on the tv stand", - "Turn right, go forward a bit, turn right, go forward a bit, turn right at the coffee table ", - "Pick up the cell phone on the coffee table", - "Turn right, go forward, turn left, go forward, turn left, go forward a bit, turn right and go to the tv stand", - "Put the cell phone on the tv stand" - ], - "task_desc": "Put two cell phones on the tv stand", - "votes": [ - 1, - 1, - 0 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042509_028087/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042509_028087/traj_data.json deleted file mode 100644 index c477e8e8b..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042509_028087/traj_data.json +++ /dev/null @@ -1,6780 +0,0 @@ -{ - "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": 12 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 12 - }, - { - "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": 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": 17 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 31 - }, - { - "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": 34 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000319.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000428.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000429.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000430.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000431.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000432.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000433.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000434.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000435.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000436.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000437.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000438.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000439.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000440.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000441.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000442.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000443.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000444.png", - "low_idx": 92 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-1|1|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 5.04, - 5.04, - -0.95280862, - -0.95280862, - 5.64643, - 5.64643 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.036, - -1.036, - 5.61199952, - 5.61199952 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.26|+01.41|-00.24" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 5.04, - 5.04, - -0.95280862, - -0.95280862, - 5.64643, - 5.64643 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.26|+01.41|-00.24", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-6|5|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -6.25463916, - -6.25463916, - 2.47300148, - 2.47300148, - 2.447409868, - 2.447409868 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -4.848, - -4.848, - -1.064, - -1.064, - 0.08, - 0.08 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-01.56|+00.61|+00.62" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -6.25463916, - -6.25463916, - 2.47300148, - 2.47300148, - 2.447409868, - 2.447409868 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-01.56|+00.61|+00.62", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+01.26|+01.41|-00.24" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 122, - 81, - 164, - 106 - ], - "mask": [ - [ - 24128, - 33 - ], - [ - 24427, - 35 - ], - [ - 24727, - 35 - ], - [ - 25027, - 35 - ], - [ - 25326, - 37 - ], - [ - 25626, - 37 - ], - [ - 25926, - 37 - ], - [ - 26225, - 38 - ], - [ - 26525, - 38 - ], - [ - 26825, - 38 - ], - [ - 27125, - 38 - ], - [ - 27424, - 40 - ], - [ - 27724, - 40 - ], - [ - 28024, - 40 - ], - [ - 28324, - 40 - ], - [ - 28623, - 41 - ], - [ - 28923, - 41 - ], - [ - 29223, - 41 - ], - [ - 29522, - 43 - ], - [ - 29822, - 43 - ], - [ - 30122, - 43 - ], - [ - 30422, - 43 - ], - [ - 30722, - 43 - ], - [ - 31022, - 43 - ], - [ - 31322, - 42 - ], - [ - 31623, - 40 - ] - ], - "point": [ - 143, - 92 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "CellPhone|+01.26|+01.41|-00.24", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 143 - ], - [ - 22403, - 60 - ], - [ - 22557, - 144 - ], - [ - 22703, - 60 - ], - [ - 22857, - 144 - ], - [ - 23003, - 60 - ], - [ - 23158, - 144 - ], - [ - 23303, - 61 - ], - [ - 23458, - 144 - ], - [ - 23603, - 61 - ], - [ - 23759, - 143 - ], - [ - 23904, - 60 - ], - [ - 24059, - 143 - ], - [ - 24204, - 61 - ], - [ - 24359, - 143 - ], - [ - 24504, - 61 - ], - [ - 24660, - 142 - ], - [ - 24804, - 61 - ], - [ - 24975, - 127 - ], - [ - 25104, - 62 - ], - [ - 25275, - 128 - ], - [ - 25404, - 62 - ], - [ - 25575, - 128 - ], - [ - 25704, - 62 - ], - [ - 25814, - 12 - ], - [ - 25875, - 128 - ], - [ - 26005, - 61 - ], - [ - 26113, - 14 - ], - [ - 26174, - 129 - ], - [ - 26305, - 62 - ], - [ - 26413, - 14 - ], - [ - 26474, - 129 - ], - [ - 26605, - 62 - ], - [ - 26713, - 15 - ], - [ - 26774, - 129 - ], - [ - 26905, - 62 - ], - [ - 27012, - 16 - ], - [ - 27074, - 129 - ], - [ - 27205, - 63 - ], - [ - 27312, - 17 - ], - [ - 27374, - 130 - ], - [ - 27505, - 63 - ], - [ - 27612, - 17 - ], - [ - 27673, - 131 - ], - [ - 27805, - 63 - ], - [ - 27911, - 19 - ], - [ - 27973, - 131 - ], - [ - 28106, - 63 - ], - [ - 28211, - 20 - ], - [ - 28273, - 131 - ], - [ - 28406, - 63 - ], - [ - 28511, - 20 - ], - [ - 28573, - 131 - ], - [ - 28706, - 63 - ], - [ - 28810, - 22 - ], - [ - 28873, - 131 - ], - [ - 29006, - 63 - ], - [ - 29110, - 22 - ], - [ - 29172, - 132 - ], - [ - 29306, - 64 - ], - [ - 29410, - 23 - ], - [ - 29472, - 132 - ], - [ - 29606, - 64 - ], - [ - 29709, - 23 - ], - [ - 29772, - 133 - ], - [ - 29906, - 64 - ], - [ - 30009, - 23 - ], - [ - 30072, - 97 - ], - [ - 30175, - 30 - ], - [ - 30207, - 64 - ], - [ - 30309, - 23 - ], - [ - 30372, - 94 - ], - [ - 30479, - 26 - ], - [ - 30507, - 64 - ], - [ - 30608, - 23 - ], - [ - 30671, - 93 - ], - [ - 30781, - 24 - ], - [ - 30806, - 65 - ], - [ - 30908, - 23 - ], - [ - 30971, - 92 - ], - [ - 31082, - 90 - ], - [ - 31207, - 24 - ], - [ - 31271, - 91 - ], - [ - 31383, - 89 - ], - [ - 31507, - 23 - ], - [ - 31571, - 90 - ], - [ - 31684, - 88 - ], - [ - 31807, - 23 - ], - [ - 31871, - 90 - ], - [ - 31985, - 87 - ], - [ - 32106, - 24 - ], - [ - 32170, - 91 - ], - [ - 32285, - 88 - ], - [ - 32406, - 24 - ], - [ - 32470, - 90 - ], - [ - 32586, - 87 - ], - [ - 32706, - 23 - ], - [ - 32770, - 90 - ], - [ - 32871, - 4 - ], - [ - 32886, - 87 - ], - [ - 33005, - 24 - ], - [ - 33070, - 90 - ], - [ - 33171, - 4 - ], - [ - 33186, - 88 - ], - [ - 33305, - 24 - ], - [ - 33370, - 90 - ], - [ - 33472, - 2 - ], - [ - 33486, - 88 - ], - [ - 33605, - 23 - ], - [ - 33669, - 92 - ], - [ - 33786, - 88 - ], - [ - 33904, - 24 - ], - [ - 33969, - 92 - ], - [ - 34085, - 90 - ], - [ - 34204, - 24 - ], - [ - 34269, - 92 - ], - [ - 34385, - 90 - ], - [ - 34504, - 24 - ], - [ - 34569, - 93 - ], - [ - 34684, - 91 - ], - [ - 34803, - 24 - ], - [ - 34869, - 94 - ], - [ - 34984, - 92 - ], - [ - 35103, - 24 - ], - [ - 35168, - 96 - ], - [ - 35283, - 93 - ], - [ - 35403, - 24 - ], - [ - 35468, - 98 - ], - [ - 35581, - 95 - ], - [ - 35702, - 31 - ], - [ - 35767, - 101 - ], - [ - 35879, - 97 - ], - [ - 36002, - 170 - ], - [ - 36175, - 102 - ], - [ - 36301, - 276 - ], - [ - 36601, - 276 - ], - [ - 36901, - 277 - ], - [ - 37200, - 278 - ], - [ - 37500, - 278 - ], - [ - 37800, - 279 - ], - [ - 38100, - 279 - ], - [ - 38400, - 177 - ], - [ - 38578, - 101 - ], - [ - 38700, - 177 - ], - [ - 38878, - 101 - ], - [ - 39000, - 177 - ], - [ - 39178, - 102 - ], - [ - 39300, - 177 - ], - [ - 39478, - 102 - ], - [ - 39600, - 176 - ], - [ - 39778, - 102 - ], - [ - 39900, - 176 - ], - [ - 40078, - 103 - ], - [ - 40200, - 165 - ], - [ - 40369, - 7 - ], - [ - 40378, - 103 - ], - [ - 40500, - 164 - ], - [ - 40670, - 6 - ], - [ - 40677, - 104 - ], - [ - 40800, - 164 - ], - [ - 40971, - 2 - ], - [ - 40978, - 104 - ], - [ - 41100, - 165 - ], - [ - 41272, - 1 - ], - [ - 41279, - 103 - ], - [ - 41400, - 166 - ], - [ - 41579, - 103 - ], - [ - 41700, - 159 - ], - [ - 41862, - 5 - ], - [ - 41873, - 2 - ], - [ - 41878, - 104 - ], - [ - 42000, - 160 - ], - [ - 42164, - 4 - ], - [ - 42172, - 111 - ], - [ - 42300, - 162 - ], - [ - 42469, - 114 - ], - [ - 42600, - 164 - ], - [ - 42770, - 1 - ], - [ - 42774, - 109 - ], - [ - 42900, - 165 - ], - [ - 43072, - 2 - ], - [ - 43075, - 109 - ], - [ - 43200, - 165 - ], - [ - 43372, - 3 - ], - [ - 43376, - 108 - ], - [ - 43500, - 170 - ], - [ - 43671, - 3 - ], - [ - 43676, - 108 - ], - [ - 43800, - 171 - ], - [ - 43975, - 110 - ], - [ - 44100, - 172 - ], - [ - 44275, - 110 - ], - [ - 44400, - 173 - ], - [ - 44575, - 110 - ], - [ - 44700, - 173 - ], - [ - 44876, - 109 - ], - [ - 45000, - 172 - ], - [ - 45178, - 108 - ], - [ - 45300, - 171 - ], - [ - 45480, - 106 - ], - [ - 45600, - 170 - ], - [ - 45780, - 106 - ], - [ - 45900, - 169 - ], - [ - 46080, - 107 - ], - [ - 46200, - 170 - ], - [ - 46379, - 108 - ], - [ - 46500, - 172 - ], - [ - 46678, - 109 - ], - [ - 46800, - 173 - ], - [ - 46977, - 111 - ], - [ - 47100, - 175 - ], - [ - 47277, - 111 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|-01.56|+00.61|+00.62" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 156, - 122, - 173, - 149 - ], - "mask": [ - [ - 36456, - 16 - ], - [ - 36756, - 17 - ], - [ - 37056, - 17 - ], - [ - 37356, - 17 - ], - [ - 37656, - 17 - ], - [ - 37956, - 17 - ], - [ - 38256, - 17 - ], - [ - 38556, - 17 - ], - [ - 38856, - 17 - ], - [ - 39156, - 17 - ], - [ - 39456, - 17 - ], - [ - 39756, - 17 - ], - [ - 40056, - 17 - ], - [ - 40356, - 17 - ], - [ - 40656, - 17 - ], - [ - 40956, - 17 - ], - [ - 41256, - 17 - ], - [ - 41556, - 17 - ], - [ - 41856, - 18 - ], - [ - 42156, - 18 - ], - [ - 42456, - 18 - ], - [ - 42756, - 18 - ], - [ - 43056, - 18 - ], - [ - 43356, - 18 - ], - [ - 43656, - 18 - ], - [ - 43956, - 18 - ], - [ - 44256, - 18 - ], - [ - 44556, - 17 - ] - ], - "point": [ - 164, - 134 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-01.56|+00.61|+00.62", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 143 - ], - [ - 22403, - 60 - ], - [ - 22557, - 144 - ], - [ - 22703, - 60 - ], - [ - 22857, - 144 - ], - [ - 23003, - 60 - ], - [ - 23158, - 144 - ], - [ - 23303, - 61 - ], - [ - 23458, - 144 - ], - [ - 23603, - 61 - ], - [ - 23759, - 143 - ], - [ - 23904, - 60 - ], - [ - 24059, - 143 - ], - [ - 24204, - 61 - ], - [ - 24359, - 143 - ], - [ - 24504, - 61 - ], - [ - 24660, - 142 - ], - [ - 24804, - 61 - ], - [ - 24975, - 127 - ], - [ - 25104, - 62 - ], - [ - 25275, - 128 - ], - [ - 25404, - 62 - ], - [ - 25575, - 128 - ], - [ - 25704, - 62 - ], - [ - 25814, - 12 - ], - [ - 25875, - 128 - ], - [ - 26005, - 61 - ], - [ - 26113, - 14 - ], - [ - 26174, - 129 - ], - [ - 26305, - 62 - ], - [ - 26413, - 14 - ], - [ - 26474, - 129 - ], - [ - 26605, - 62 - ], - [ - 26713, - 15 - ], - [ - 26774, - 129 - ], - [ - 26905, - 62 - ], - [ - 27012, - 16 - ], - [ - 27074, - 129 - ], - [ - 27205, - 63 - ], - [ - 27312, - 17 - ], - [ - 27374, - 130 - ], - [ - 27505, - 63 - ], - [ - 27612, - 17 - ], - [ - 27673, - 131 - ], - [ - 27805, - 63 - ], - [ - 27911, - 19 - ], - [ - 27973, - 131 - ], - [ - 28106, - 63 - ], - [ - 28211, - 20 - ], - [ - 28273, - 131 - ], - [ - 28406, - 63 - ], - [ - 28511, - 20 - ], - [ - 28573, - 131 - ], - [ - 28706, - 63 - ], - [ - 28810, - 22 - ], - [ - 28873, - 131 - ], - [ - 29006, - 63 - ], - [ - 29110, - 22 - ], - [ - 29172, - 132 - ], - [ - 29306, - 64 - ], - [ - 29410, - 23 - ], - [ - 29472, - 132 - ], - [ - 29606, - 64 - ], - [ - 29709, - 23 - ], - [ - 29772, - 133 - ], - [ - 29906, - 64 - ], - [ - 30009, - 23 - ], - [ - 30072, - 97 - ], - [ - 30175, - 30 - ], - [ - 30207, - 64 - ], - [ - 30309, - 23 - ], - [ - 30372, - 94 - ], - [ - 30479, - 26 - ], - [ - 30507, - 64 - ], - [ - 30608, - 23 - ], - [ - 30671, - 93 - ], - [ - 30781, - 24 - ], - [ - 30806, - 65 - ], - [ - 30908, - 23 - ], - [ - 30971, - 92 - ], - [ - 31082, - 90 - ], - [ - 31207, - 24 - ], - [ - 31271, - 91 - ], - [ - 31383, - 89 - ], - [ - 31507, - 23 - ], - [ - 31571, - 90 - ], - [ - 31684, - 88 - ], - [ - 31807, - 23 - ], - [ - 31871, - 90 - ], - [ - 31985, - 87 - ], - [ - 32106, - 24 - ], - [ - 32170, - 91 - ], - [ - 32285, - 88 - ], - [ - 32406, - 24 - ], - [ - 32470, - 90 - ], - [ - 32586, - 87 - ], - [ - 32706, - 23 - ], - [ - 32770, - 90 - ], - [ - 32871, - 4 - ], - [ - 32886, - 87 - ], - [ - 33005, - 24 - ], - [ - 33070, - 90 - ], - [ - 33171, - 4 - ], - [ - 33186, - 88 - ], - [ - 33305, - 24 - ], - [ - 33370, - 90 - ], - [ - 33472, - 2 - ], - [ - 33486, - 88 - ], - [ - 33605, - 23 - ], - [ - 33669, - 92 - ], - [ - 33786, - 88 - ], - [ - 33904, - 24 - ], - [ - 33969, - 92 - ], - [ - 34085, - 90 - ], - [ - 34204, - 24 - ], - [ - 34269, - 92 - ], - [ - 34385, - 90 - ], - [ - 34504, - 24 - ], - [ - 34569, - 93 - ], - [ - 34684, - 91 - ], - [ - 34803, - 24 - ], - [ - 34869, - 94 - ], - [ - 34984, - 92 - ], - [ - 35103, - 24 - ], - [ - 35168, - 96 - ], - [ - 35283, - 93 - ], - [ - 35403, - 24 - ], - [ - 35468, - 98 - ], - [ - 35581, - 95 - ], - [ - 35702, - 31 - ], - [ - 35767, - 101 - ], - [ - 35879, - 97 - ], - [ - 36002, - 170 - ], - [ - 36175, - 102 - ], - [ - 36301, - 276 - ], - [ - 36601, - 276 - ], - [ - 36901, - 277 - ], - [ - 37200, - 278 - ], - [ - 37500, - 278 - ], - [ - 37800, - 279 - ], - [ - 38100, - 279 - ], - [ - 38400, - 177 - ], - [ - 38578, - 101 - ], - [ - 38700, - 177 - ], - [ - 38878, - 101 - ], - [ - 39000, - 177 - ], - [ - 39178, - 102 - ], - [ - 39300, - 177 - ], - [ - 39478, - 102 - ], - [ - 39600, - 176 - ], - [ - 39778, - 102 - ], - [ - 39900, - 176 - ], - [ - 40078, - 103 - ], - [ - 40200, - 165 - ], - [ - 40369, - 7 - ], - [ - 40378, - 103 - ], - [ - 40500, - 164 - ], - [ - 40670, - 6 - ], - [ - 40677, - 104 - ], - [ - 40800, - 164 - ], - [ - 40971, - 2 - ], - [ - 40978, - 104 - ], - [ - 41100, - 123 - ], - [ - 41253, - 12 - ], - [ - 41272, - 1 - ], - [ - 41279, - 103 - ], - [ - 41400, - 120 - ], - [ - 41556, - 10 - ], - [ - 41579, - 103 - ], - [ - 41700, - 120 - ], - [ - 41857, - 2 - ], - [ - 41862, - 5 - ], - [ - 41873, - 2 - ], - [ - 41878, - 104 - ], - [ - 42000, - 120 - ], - [ - 42157, - 3 - ], - [ - 42164, - 4 - ], - [ - 42172, - 111 - ], - [ - 42300, - 120 - ], - [ - 42457, - 5 - ], - [ - 42469, - 114 - ], - [ - 42600, - 120 - ], - [ - 42757, - 7 - ], - [ - 42770, - 1 - ], - [ - 42774, - 109 - ], - [ - 42900, - 120 - ], - [ - 43057, - 8 - ], - [ - 43072, - 2 - ], - [ - 43075, - 109 - ], - [ - 43200, - 119 - ], - [ - 43357, - 8 - ], - [ - 43372, - 3 - ], - [ - 43376, - 108 - ], - [ - 43500, - 119 - ], - [ - 43657, - 13 - ], - [ - 43671, - 3 - ], - [ - 43676, - 108 - ], - [ - 43800, - 119 - ], - [ - 43957, - 14 - ], - [ - 43975, - 110 - ], - [ - 44100, - 119 - ], - [ - 44257, - 15 - ], - [ - 44275, - 110 - ], - [ - 44400, - 119 - ], - [ - 44557, - 16 - ], - [ - 44575, - 110 - ], - [ - 44700, - 119 - ], - [ - 44857, - 16 - ], - [ - 44876, - 109 - ], - [ - 45000, - 119 - ], - [ - 45157, - 15 - ], - [ - 45178, - 108 - ], - [ - 45300, - 119 - ], - [ - 45457, - 14 - ], - [ - 45480, - 106 - ], - [ - 45600, - 119 - ], - [ - 45757, - 13 - ], - [ - 45780, - 106 - ], - [ - 45900, - 119 - ], - [ - 46057, - 12 - ], - [ - 46080, - 107 - ], - [ - 46200, - 120 - ], - [ - 46356, - 14 - ], - [ - 46379, - 108 - ], - [ - 46500, - 172 - ], - [ - 46678, - 109 - ], - [ - 46800, - 173 - ], - [ - 46977, - 111 - ], - [ - 47100, - 175 - ], - [ - 47277, - 111 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 136 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.0, - "y": 0.9009992, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.22644866, - "y": 0.38308087, - "z": 0.191088557 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.43313026, - "y": 0.09987382, - "z": -1.939096 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.29355133, - "y": 0.912007749, - "z": -0.682392836 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.22644627, - "y": 0.384007722, - "z": -0.675492644 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.26, - "y": 1.4116075, - "z": -0.238202155 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": -1.5824908, - "y": 0.7019871, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 1.12034833, - "y": 0.107203186, - "z": -2.03325725 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -0.962688, - "y": 0.6091408, - "z": 0.33764115 - }, - "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": -1.26944363, - "y": 0.6980896, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "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": 0.3098346, - "y": 0.5821944, - "z": -2.53734946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.56365979, - "y": 0.611852467, - "z": 0.61825037 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.15934157, - "y": 1.41089189, - "z": -0.5270623 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -1.20307612, - "y": 0.6091408, - "z": -0.5041878 - }, - "rotation": { - "x": 0.0, - "y": 179.999969, - "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": 0.152963251, - "y": 0.5823627, - "z": -2.48265958 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 1.17065573, - "y": 0.5050771, - "z": -1.87440848 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.45727193, - "y": 0.6990013, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.17065525, - "y": 0.5047848, - "z": -2.03875661 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3401970348, - "scene_num": 327 - }, - "task_id": "trial_T20190908_042509_028087", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A36DK84J5YJ942_39DD6S19JSSLCEDW06IUAF2FQHXZEJ", - "high_descs": [ - "move to the shelf to the left of you", - "pick up a phone from the shelf", - "move to the dresser at the foot of the bed", - "place the phone on the dresser", - "move to the bed to the left of the door", - "pick up a phone from the bed", - "move to the dresser at the foot of the bed", - "place the phone on the dresser" - ], - "task_desc": "Put two phones on the dresser at the foot of the bed.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A23HZ18KTCK2DA_3GM6G9ZBKQEN2QWABCHV1Z67EM1MTC", - "high_descs": [ - "Turn and go to the brown shelf that has three cell phones on it.", - "Grab the cell phone that is on the top shelf of the brown shelf.", - "With the cell phone in hand turn and go to the dresser.", - "Place the cell phone on the dresser to the left of the keys.", - "Turn and go to the opposite side of the bed near the door.", - "Pick up the cell phone that is in front of you.", - "With the cell phone in hand go to the dresser where the keys are.", - "Place the cell phone standing up on top of the keys that are on the dresser." - ], - "task_desc": "Move cell phones to dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PGS1Q1XAY79I_3IFS6Q0HJL00R7T41XEDZ134VV5SIH", - "high_descs": [ - "Turn to your left and walk to the shelves at the left wall of the room as one faces the window.", - "Pick up the cell phone from the top shelf.", - "Turn and walk in the direction of the window.", - "Hang a right to the dresser at the head of the bed, place the phone on the dresser to the left of the keys.", - "Turn to your right and walk to the foot of the bed.", - "Pick up the cell phone near the foot of the bed.", - "Walk to the dresser at the other end of the bed.", - "Put the cell phone down to the right of the keys on the dresser." - ], - "task_desc": "Move two cell phones at different areas of the room to the dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042553_191155/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042553_191155/traj_data.json deleted file mode 100644 index 32882ef08..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042553_191155/traj_data.json +++ /dev/null @@ -1,6288 +0,0 @@ -{ - "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": 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": 1, - "image_name": "000000028.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000029.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000030.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000031.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000032.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000033.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000034.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000035.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000036.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000037.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000039.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000040.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000041.png", - "low_idx": 5 - }, - { - "high_idx": 1, - "image_name": "000000042.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000050.png", - "low_idx": 6 - }, - { - "high_idx": 2, - "image_name": "000000051.png", - "low_idx": 6 - }, - { - "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": 8 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000060.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "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": 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": 14 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "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": 36 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 7, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000306.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000307.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000308.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000309.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000310.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000311.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000312.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000313.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000314.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000315.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000316.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000317.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000318.png", - "low_idx": 56 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|-1|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -4.81230544, - -4.81230544, - -0.89431286, - -0.89431286, - 2.447409868, - 2.447409868 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -4.848, - -4.848, - -1.064, - -1.064, - 0.08, - 0.08 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-01.20|+00.61|-00.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -4.81230544, - -4.81230544, - -0.89431286, - -0.89431286, - 2.447409868, - 2.447409868 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-01.20|+00.61|-00.22", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-2|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.905788, - 4.905788, - -1.5741292, - -1.5741292, - 3.648030996, - 3.648030996 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.079600096, - -1.079600096, - 3.6136, - 3.6136 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.23|+00.91|-00.39" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 4.905788, - 4.905788, - -1.5741292, - -1.5741292, - 3.648030996, - 3.648030996 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.23|+00.91|-00.39", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "PickupObject", - "objectId": "CellPhone|-01.20|+00.61|-00.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 141, - 146, - 168, - 157 - ], - "mask": [ - [ - 43642, - 26 - ], - [ - 43941, - 28 - ], - [ - 44241, - 28 - ], - [ - 44541, - 28 - ], - [ - 44841, - 28 - ], - [ - 45141, - 28 - ], - [ - 45441, - 28 - ], - [ - 45741, - 28 - ], - [ - 46041, - 28 - ], - [ - 46341, - 28 - ], - [ - 46641, - 28 - ], - [ - 46943, - 12 - ], - [ - 46959, - 9 - ] - ], - "point": [ - 154, - 150 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-01.20|+00.61|-00.22", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 191 - ], - [ - 25275, - 160 - ], - [ - 25436, - 30 - ], - [ - 25575, - 160 - ], - [ - 25737, - 29 - ], - [ - 25814, - 12 - ], - [ - 25875, - 160 - ], - [ - 26037, - 29 - ], - [ - 26113, - 14 - ], - [ - 26174, - 161 - ], - [ - 26337, - 30 - ], - [ - 26413, - 14 - ], - [ - 26474, - 161 - ], - [ - 26637, - 30 - ], - [ - 26713, - 15 - ], - [ - 26774, - 161 - ], - [ - 26937, - 30 - ], - [ - 27012, - 16 - ], - [ - 27074, - 161 - ], - [ - 27238, - 30 - ], - [ - 27312, - 17 - ], - [ - 27374, - 27 - ], - [ - 27413, - 123 - ], - [ - 27538, - 30 - ], - [ - 27612, - 17 - ], - [ - 27673, - 28 - ], - [ - 27713, - 123 - ], - [ - 27838, - 30 - ], - [ - 27911, - 19 - ], - [ - 27973, - 28 - ], - [ - 28013, - 123 - ], - [ - 28138, - 31 - ], - [ - 28211, - 20 - ], - [ - 28273, - 28 - ], - [ - 28313, - 26 - ], - [ - 28340, - 96 - ], - [ - 28439, - 30 - ], - [ - 28511, - 20 - ], - [ - 28573, - 28 - ], - [ - 28613, - 26 - ], - [ - 28640, - 97 - ], - [ - 28739, - 30 - ], - [ - 28810, - 22 - ], - [ - 28873, - 28 - ], - [ - 28913, - 26 - ], - [ - 28941, - 96 - ], - [ - 29039, - 30 - ], - [ - 29110, - 22 - ], - [ - 29172, - 29 - ], - [ - 29213, - 26 - ], - [ - 29241, - 96 - ], - [ - 29339, - 31 - ], - [ - 29410, - 23 - ], - [ - 29472, - 29 - ], - [ - 29513, - 26 - ], - [ - 29541, - 96 - ], - [ - 29639, - 31 - ], - [ - 29709, - 23 - ], - [ - 29772, - 28 - ], - [ - 29813, - 26 - ], - [ - 29841, - 96 - ], - [ - 29940, - 30 - ], - [ - 30009, - 23 - ], - [ - 30072, - 28 - ], - [ - 30112, - 26 - ], - [ - 30141, - 62 - ], - [ - 30219, - 19 - ], - [ - 30240, - 31 - ], - [ - 30309, - 23 - ], - [ - 30372, - 28 - ], - [ - 30412, - 26 - ], - [ - 30441, - 62 - ], - [ - 30520, - 18 - ], - [ - 30540, - 31 - ], - [ - 30608, - 23 - ], - [ - 30671, - 29 - ], - [ - 30712, - 26 - ], - [ - 30740, - 63 - ], - [ - 30821, - 17 - ], - [ - 30840, - 31 - ], - [ - 30908, - 23 - ], - [ - 30971, - 29 - ], - [ - 31012, - 26 - ], - [ - 31040, - 63 - ], - [ - 31122, - 16 - ], - [ - 31141, - 31 - ], - [ - 31207, - 24 - ], - [ - 31271, - 29 - ], - [ - 31312, - 26 - ], - [ - 31340, - 62 - ], - [ - 31422, - 17 - ], - [ - 31441, - 31 - ], - [ - 31507, - 23 - ], - [ - 31571, - 29 - ], - [ - 31612, - 26 - ], - [ - 31640, - 62 - ], - [ - 31722, - 17 - ], - [ - 31741, - 31 - ], - [ - 31807, - 23 - ], - [ - 31871, - 67 - ], - [ - 31940, - 62 - ], - [ - 32023, - 16 - ], - [ - 32041, - 31 - ], - [ - 32106, - 24 - ], - [ - 32170, - 68 - ], - [ - 32240, - 62 - ], - [ - 32323, - 16 - ], - [ - 32341, - 32 - ], - [ - 32406, - 24 - ], - [ - 32470, - 68 - ], - [ - 32540, - 62 - ], - [ - 32623, - 16 - ], - [ - 32642, - 31 - ], - [ - 32706, - 23 - ], - [ - 32770, - 68 - ], - [ - 32840, - 62 - ], - [ - 32924, - 16 - ], - [ - 32942, - 31 - ], - [ - 33005, - 24 - ], - [ - 33070, - 68 - ], - [ - 33140, - 62 - ], - [ - 33224, - 16 - ], - [ - 33242, - 32 - ], - [ - 33305, - 24 - ], - [ - 33370, - 68 - ], - [ - 33440, - 62 - ], - [ - 33524, - 16 - ], - [ - 33542, - 32 - ], - [ - 33605, - 23 - ], - [ - 33669, - 69 - ], - [ - 33740, - 62 - ], - [ - 33824, - 16 - ], - [ - 33843, - 31 - ], - [ - 33904, - 24 - ], - [ - 33969, - 69 - ], - [ - 34040, - 62 - ], - [ - 34125, - 15 - ], - [ - 34143, - 32 - ], - [ - 34204, - 24 - ], - [ - 34269, - 69 - ], - [ - 34340, - 62 - ], - [ - 34425, - 16 - ], - [ - 34443, - 32 - ], - [ - 34504, - 24 - ], - [ - 34569, - 69 - ], - [ - 34640, - 62 - ], - [ - 34725, - 16 - ], - [ - 34743, - 32 - ], - [ - 34803, - 24 - ], - [ - 34869, - 69 - ], - [ - 34940, - 62 - ], - [ - 35025, - 17 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 70 - ], - [ - 35240, - 62 - ], - [ - 35325, - 51 - ], - [ - 35403, - 24 - ], - [ - 35468, - 70 - ], - [ - 35540, - 62 - ], - [ - 35625, - 51 - ], - [ - 35702, - 31 - ], - [ - 35767, - 71 - ], - [ - 35840, - 62 - ], - [ - 35926, - 50 - ], - [ - 36002, - 136 - ], - [ - 36140, - 62 - ], - [ - 36226, - 51 - ], - [ - 36301, - 137 - ], - [ - 36440, - 62 - ], - [ - 36526, - 51 - ], - [ - 36601, - 137 - ], - [ - 36740, - 62 - ], - [ - 36826, - 51 - ], - [ - 36901, - 137 - ], - [ - 37040, - 62 - ], - [ - 37126, - 52 - ], - [ - 37200, - 138 - ], - [ - 37340, - 62 - ], - [ - 37426, - 52 - ], - [ - 37500, - 138 - ], - [ - 37640, - 63 - ], - [ - 37726, - 52 - ], - [ - 37800, - 138 - ], - [ - 37940, - 63 - ], - [ - 38027, - 52 - ], - [ - 38100, - 138 - ], - [ - 38239, - 64 - ], - [ - 38327, - 52 - ], - [ - 38400, - 138 - ], - [ - 38539, - 64 - ], - [ - 38627, - 52 - ], - [ - 38700, - 203 - ], - [ - 38927, - 52 - ], - [ - 39000, - 203 - ], - [ - 39227, - 53 - ], - [ - 39300, - 203 - ], - [ - 39527, - 53 - ], - [ - 39600, - 203 - ], - [ - 39827, - 53 - ], - [ - 39900, - 203 - ], - [ - 40127, - 54 - ], - [ - 40200, - 204 - ], - [ - 40427, - 54 - ], - [ - 40500, - 204 - ], - [ - 40727, - 54 - ], - [ - 40800, - 170 - ], - [ - 40979, - 25 - ], - [ - 41027, - 55 - ], - [ - 41100, - 168 - ], - [ - 41281, - 23 - ], - [ - 41327, - 55 - ], - [ - 41400, - 166 - ], - [ - 41583, - 21 - ], - [ - 41627, - 55 - ], - [ - 41700, - 165 - ], - [ - 41885, - 19 - ], - [ - 41927, - 55 - ], - [ - 42000, - 164 - ], - [ - 42186, - 18 - ], - [ - 42227, - 56 - ], - [ - 42300, - 163 - ], - [ - 42487, - 18 - ], - [ - 42527, - 56 - ], - [ - 42600, - 162 - ], - [ - 42787, - 18 - ], - [ - 42827, - 56 - ], - [ - 42900, - 162 - ], - [ - 43088, - 17 - ], - [ - 43127, - 57 - ], - [ - 43200, - 162 - ], - [ - 43388, - 17 - ], - [ - 43427, - 57 - ], - [ - 43500, - 161 - ], - [ - 43689, - 16 - ], - [ - 43727, - 57 - ], - [ - 43800, - 161 - ], - [ - 43973, - 4 - ], - [ - 43989, - 17 - ], - [ - 44027, - 58 - ], - [ - 44100, - 161 - ], - [ - 44273, - 4 - ], - [ - 44289, - 17 - ], - [ - 44327, - 58 - ], - [ - 44400, - 161 - ], - [ - 44573, - 4 - ], - [ - 44589, - 17 - ], - [ - 44627, - 58 - ], - [ - 44700, - 161 - ], - [ - 44874, - 2 - ], - [ - 44889, - 17 - ], - [ - 44927, - 58 - ], - [ - 45000, - 162 - ], - [ - 45189, - 18 - ], - [ - 45226, - 60 - ], - [ - 45300, - 162 - ], - [ - 45489, - 18 - ], - [ - 45526, - 60 - ], - [ - 45600, - 162 - ], - [ - 45789, - 97 - ], - [ - 45900, - 163 - ], - [ - 46088, - 99 - ], - [ - 46200, - 164 - ], - [ - 46387, - 100 - ], - [ - 46500, - 164 - ], - [ - 46687, - 100 - ], - [ - 46800, - 165 - ], - [ - 46986, - 102 - ], - [ - 47100, - 167 - ], - [ - 47285, - 103 - ], - [ - 47400, - 169 - ], - [ - 47583, - 105 - ], - [ - 47700, - 171 - ], - [ - 47881, - 107 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+01.23|+00.91|-00.39" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 101, - 105, - 128, - 144 - ], - "mask": [ - [ - 31307, - 20 - ], - [ - 31606, - 23 - ], - [ - 31905, - 24 - ], - [ - 32205, - 24 - ], - [ - 32505, - 24 - ], - [ - 32805, - 24 - ], - [ - 33105, - 24 - ], - [ - 33404, - 25 - ], - [ - 33704, - 25 - ], - [ - 34004, - 25 - ], - [ - 34304, - 25 - ], - [ - 34604, - 25 - ], - [ - 34904, - 25 - ], - [ - 35204, - 25 - ], - [ - 35504, - 25 - ], - [ - 35804, - 24 - ], - [ - 36103, - 25 - ], - [ - 36403, - 25 - ], - [ - 36703, - 25 - ], - [ - 37003, - 25 - ], - [ - 37303, - 25 - ], - [ - 37603, - 25 - ], - [ - 37903, - 25 - ], - [ - 38203, - 25 - ], - [ - 38503, - 25 - ], - [ - 38802, - 26 - ], - [ - 39102, - 26 - ], - [ - 39402, - 26 - ], - [ - 39702, - 26 - ], - [ - 40002, - 26 - ], - [ - 40302, - 25 - ], - [ - 40602, - 25 - ], - [ - 40902, - 26 - ], - [ - 41202, - 26 - ], - [ - 41502, - 25 - ], - [ - 41801, - 26 - ], - [ - 42101, - 26 - ], - [ - 42402, - 25 - ], - [ - 42702, - 25 - ], - [ - 43003, - 22 - ] - ], - "point": [ - 114, - 123 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+01.23|+00.91|-00.39", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 191 - ], - [ - 25275, - 160 - ], - [ - 25436, - 30 - ], - [ - 25575, - 160 - ], - [ - 25737, - 29 - ], - [ - 25814, - 12 - ], - [ - 25875, - 160 - ], - [ - 26037, - 29 - ], - [ - 26113, - 14 - ], - [ - 26174, - 161 - ], - [ - 26337, - 30 - ], - [ - 26413, - 14 - ], - [ - 26474, - 161 - ], - [ - 26637, - 30 - ], - [ - 26713, - 15 - ], - [ - 26774, - 161 - ], - [ - 26937, - 30 - ], - [ - 27012, - 16 - ], - [ - 27074, - 161 - ], - [ - 27238, - 30 - ], - [ - 27312, - 17 - ], - [ - 27374, - 27 - ], - [ - 27413, - 123 - ], - [ - 27538, - 30 - ], - [ - 27612, - 17 - ], - [ - 27673, - 28 - ], - [ - 27713, - 123 - ], - [ - 27838, - 30 - ], - [ - 27911, - 19 - ], - [ - 27973, - 28 - ], - [ - 28013, - 123 - ], - [ - 28138, - 31 - ], - [ - 28211, - 20 - ], - [ - 28273, - 28 - ], - [ - 28313, - 26 - ], - [ - 28340, - 96 - ], - [ - 28439, - 30 - ], - [ - 28511, - 20 - ], - [ - 28573, - 28 - ], - [ - 28613, - 26 - ], - [ - 28640, - 97 - ], - [ - 28739, - 30 - ], - [ - 28810, - 22 - ], - [ - 28873, - 28 - ], - [ - 28913, - 26 - ], - [ - 28941, - 96 - ], - [ - 29039, - 30 - ], - [ - 29110, - 22 - ], - [ - 29172, - 29 - ], - [ - 29213, - 26 - ], - [ - 29241, - 96 - ], - [ - 29339, - 31 - ], - [ - 29410, - 23 - ], - [ - 29472, - 29 - ], - [ - 29513, - 26 - ], - [ - 29541, - 96 - ], - [ - 29639, - 31 - ], - [ - 29709, - 23 - ], - [ - 29772, - 28 - ], - [ - 29813, - 26 - ], - [ - 29841, - 96 - ], - [ - 29940, - 30 - ], - [ - 30009, - 23 - ], - [ - 30072, - 28 - ], - [ - 30112, - 26 - ], - [ - 30141, - 62 - ], - [ - 30219, - 19 - ], - [ - 30240, - 31 - ], - [ - 30309, - 23 - ], - [ - 30372, - 28 - ], - [ - 30412, - 26 - ], - [ - 30441, - 62 - ], - [ - 30520, - 18 - ], - [ - 30540, - 31 - ], - [ - 30608, - 23 - ], - [ - 30671, - 29 - ], - [ - 30712, - 26 - ], - [ - 30740, - 63 - ], - [ - 30821, - 17 - ], - [ - 30840, - 31 - ], - [ - 30908, - 23 - ], - [ - 30971, - 29 - ], - [ - 31012, - 26 - ], - [ - 31040, - 63 - ], - [ - 31122, - 16 - ], - [ - 31141, - 31 - ], - [ - 31207, - 24 - ], - [ - 31271, - 29 - ], - [ - 31312, - 26 - ], - [ - 31340, - 62 - ], - [ - 31422, - 17 - ], - [ - 31441, - 31 - ], - [ - 31507, - 23 - ], - [ - 31571, - 29 - ], - [ - 31612, - 26 - ], - [ - 31640, - 62 - ], - [ - 31722, - 17 - ], - [ - 31741, - 31 - ], - [ - 31807, - 23 - ], - [ - 31871, - 67 - ], - [ - 31940, - 62 - ], - [ - 32023, - 16 - ], - [ - 32041, - 31 - ], - [ - 32106, - 24 - ], - [ - 32170, - 68 - ], - [ - 32240, - 62 - ], - [ - 32323, - 16 - ], - [ - 32341, - 32 - ], - [ - 32406, - 24 - ], - [ - 32470, - 68 - ], - [ - 32540, - 62 - ], - [ - 32623, - 16 - ], - [ - 32642, - 31 - ], - [ - 32706, - 23 - ], - [ - 32770, - 68 - ], - [ - 32840, - 62 - ], - [ - 32924, - 16 - ], - [ - 32942, - 31 - ], - [ - 33005, - 24 - ], - [ - 33070, - 68 - ], - [ - 33140, - 62 - ], - [ - 33224, - 16 - ], - [ - 33242, - 32 - ], - [ - 33305, - 24 - ], - [ - 33370, - 68 - ], - [ - 33440, - 62 - ], - [ - 33524, - 16 - ], - [ - 33542, - 32 - ], - [ - 33605, - 23 - ], - [ - 33669, - 69 - ], - [ - 33740, - 62 - ], - [ - 33824, - 16 - ], - [ - 33843, - 31 - ], - [ - 33904, - 24 - ], - [ - 33969, - 69 - ], - [ - 34040, - 62 - ], - [ - 34125, - 15 - ], - [ - 34143, - 32 - ], - [ - 34204, - 24 - ], - [ - 34269, - 69 - ], - [ - 34340, - 62 - ], - [ - 34425, - 16 - ], - [ - 34443, - 32 - ], - [ - 34504, - 24 - ], - [ - 34569, - 69 - ], - [ - 34640, - 62 - ], - [ - 34725, - 16 - ], - [ - 34743, - 32 - ], - [ - 34803, - 24 - ], - [ - 34869, - 69 - ], - [ - 34940, - 62 - ], - [ - 35025, - 17 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 70 - ], - [ - 35240, - 62 - ], - [ - 35325, - 51 - ], - [ - 35403, - 24 - ], - [ - 35468, - 70 - ], - [ - 35540, - 62 - ], - [ - 35625, - 51 - ], - [ - 35702, - 31 - ], - [ - 35767, - 71 - ], - [ - 35840, - 62 - ], - [ - 35926, - 50 - ], - [ - 36002, - 136 - ], - [ - 36140, - 62 - ], - [ - 36226, - 51 - ], - [ - 36301, - 137 - ], - [ - 36440, - 62 - ], - [ - 36526, - 51 - ], - [ - 36601, - 137 - ], - [ - 36740, - 62 - ], - [ - 36826, - 51 - ], - [ - 36901, - 137 - ], - [ - 37040, - 62 - ], - [ - 37126, - 52 - ], - [ - 37200, - 138 - ], - [ - 37340, - 62 - ], - [ - 37426, - 52 - ], - [ - 37500, - 138 - ], - [ - 37640, - 63 - ], - [ - 37726, - 52 - ], - [ - 37800, - 138 - ], - [ - 37940, - 63 - ], - [ - 38027, - 52 - ], - [ - 38100, - 138 - ], - [ - 38239, - 64 - ], - [ - 38327, - 52 - ], - [ - 38400, - 138 - ], - [ - 38539, - 64 - ], - [ - 38627, - 52 - ], - [ - 38700, - 203 - ], - [ - 38927, - 52 - ], - [ - 39000, - 203 - ], - [ - 39227, - 53 - ], - [ - 39300, - 203 - ], - [ - 39527, - 53 - ], - [ - 39600, - 203 - ], - [ - 39827, - 53 - ], - [ - 39900, - 203 - ], - [ - 40127, - 54 - ], - [ - 40200, - 204 - ], - [ - 40427, - 54 - ], - [ - 40500, - 204 - ], - [ - 40727, - 54 - ], - [ - 40800, - 170 - ], - [ - 40979, - 25 - ], - [ - 41027, - 55 - ], - [ - 41100, - 123 - ], - [ - 41253, - 15 - ], - [ - 41281, - 23 - ], - [ - 41327, - 55 - ], - [ - 41400, - 120 - ], - [ - 41556, - 10 - ], - [ - 41583, - 21 - ], - [ - 41627, - 55 - ], - [ - 41700, - 120 - ], - [ - 41857, - 8 - ], - [ - 41885, - 19 - ], - [ - 41927, - 55 - ], - [ - 42000, - 120 - ], - [ - 42157, - 7 - ], - [ - 42186, - 18 - ], - [ - 42227, - 56 - ], - [ - 42300, - 120 - ], - [ - 42457, - 6 - ], - [ - 42487, - 18 - ], - [ - 42527, - 56 - ], - [ - 42600, - 120 - ], - [ - 42757, - 5 - ], - [ - 42787, - 18 - ], - [ - 42827, - 56 - ], - [ - 42900, - 120 - ], - [ - 43057, - 5 - ], - [ - 43088, - 17 - ], - [ - 43127, - 57 - ], - [ - 43200, - 119 - ], - [ - 43357, - 5 - ], - [ - 43388, - 17 - ], - [ - 43427, - 57 - ], - [ - 43500, - 119 - ], - [ - 43657, - 4 - ], - [ - 43689, - 16 - ], - [ - 43727, - 57 - ], - [ - 43800, - 119 - ], - [ - 43957, - 4 - ], - [ - 43973, - 4 - ], - [ - 43989, - 17 - ], - [ - 44027, - 58 - ], - [ - 44100, - 119 - ], - [ - 44257, - 4 - ], - [ - 44273, - 4 - ], - [ - 44289, - 17 - ], - [ - 44327, - 58 - ], - [ - 44400, - 119 - ], - [ - 44557, - 4 - ], - [ - 44573, - 4 - ], - [ - 44589, - 17 - ], - [ - 44627, - 58 - ], - [ - 44700, - 119 - ], - [ - 44857, - 4 - ], - [ - 44874, - 2 - ], - [ - 44889, - 17 - ], - [ - 44927, - 58 - ], - [ - 45000, - 119 - ], - [ - 45157, - 5 - ], - [ - 45189, - 18 - ], - [ - 45226, - 60 - ], - [ - 45300, - 119 - ], - [ - 45457, - 5 - ], - [ - 45489, - 18 - ], - [ - 45526, - 60 - ], - [ - 45600, - 119 - ], - [ - 45757, - 5 - ], - [ - 45789, - 97 - ], - [ - 45900, - 119 - ], - [ - 46057, - 6 - ], - [ - 46088, - 99 - ], - [ - 46200, - 120 - ], - [ - 46356, - 8 - ], - [ - 46387, - 100 - ], - [ - 46500, - 164 - ], - [ - 46687, - 100 - ], - [ - 46800, - 165 - ], - [ - 46986, - 102 - ], - [ - 47100, - 167 - ], - [ - 47285, - 103 - ], - [ - 47400, - 169 - ], - [ - 47583, - 105 - ], - [ - 47700, - 171 - ], - [ - 47881, - 107 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 136 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.0, - "y": 0.9009992, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.170656, - "y": 0.5046067, - "z": -1.81962574 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": -1.45727193, - "y": 0.7021554, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.20307636, - "y": 0.611852467, - "z": -0.223578215 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.56365871, - "y": 0.611852467, - "z": -1.06540728 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": 1.15934157, - "y": 0.388780564, - "z": -0.531062365 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.51988137, - "y": 0.6964986, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.30176127, - "y": 0.1002631, - "z": -1.939096 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -1.3232708, - "y": 0.610413, - "z": 0.0570313036 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.33205307, - "y": 0.6965797, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "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": 0.93732, - "y": 0.5782969, - "z": -2.37327981 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "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": 0.466705918, - "y": 0.5821944, - "z": -2.59203935 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.226447, - "y": 0.912007749, - "z": -0.3935323 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.22644663, - "y": 0.9112921, - "z": -0.537962437 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "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": -1.51988137, - "y": 0.7050474, - "z": -1.610656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 1.19289613, - "y": 0.9113732, - "z": 0.1841886 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.26944363, - "y": 0.6961093, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 0.93732, - "y": 0.5764947, - "z": -2.53734946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1048602618, - "scene_num": 327 - }, - "task_id": "trial_T20190908_042553_191155", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AIICJA0A5J8NF_33PPUNGG3BMALII1MC2U9M1Y55MZRT", - "high_descs": [ - "Go to the bed. ", - "Pick up the phone by the book. ", - "Go to the dresser to the left of the bed. ", - "Put the phone next to the disc. ", - "Turn around, go to the shelves on the other side of the room. ", - "Pick up the phone by the credit card. ", - "Turn around, walk to the dresser. ", - "Place the phone on the disc on the dresser. " - ], - "task_desc": "Place two phones on the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1RTSS7I0P7M5G_3IJXV6UZ100OQSTRM8E89RY89S2RI6", - "high_descs": [ - "Go to the bed on the left. ", - "Pick up the phone in front of the book.", - "Turn left, walk to the end of the bed, turn to the dresser. ", - "Put the phone next to the disc on the dresser. ", - "Turn around, walk to the brown shelves across the room. ", - "Pick up the phone next to the credit card on the shelf. ", - "Turn around, walk back to the dresser. ", - "Place the phone on top of the disc on the dresser. " - ], - "task_desc": "Place two phones on the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2ALWT2BUSXD83_3WI0P0II6497IHD5UUDXIUIVHO2RDE", - "high_descs": [ - "Turn to your left and approach the bed.", - "Pick up the cellphone from the bed.", - "Turn around and walk to the nightstand.", - "place the cell phone on the nightstand.", - "Turn around and walk to the shelves by the door.", - "Pick up the cellphone from the shelves.", - "Turn around approach the nightstand.", - "Place the cellphone on the nightstand." - ], - "task_desc": "Place a cellphone on the bed and on the nightstand.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042648_141419/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042648_141419/traj_data.json deleted file mode 100644 index 8913c1d08..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-327/trial_T20190908_042648_141419/traj_data.json +++ /dev/null @@ -1,6329 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 14 - }, - { - "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": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 23 - }, - { - "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": 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": 28 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 62 - }, - { - "high_idx": 7, - "image_name": "000000354.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000355.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000356.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000357.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000358.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000359.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000360.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000361.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000362.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000363.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000364.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000365.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000366.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000367.png", - "low_idx": 63 - }, - { - "high_idx": 7, - "image_name": "000000368.png", - "low_idx": 63 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|0|1|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 5.174212, - 5.174212, - -0.37508816, - -0.37508816, - 5.64643, - 5.64643 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.036, - -1.036, - 5.61199952, - 5.61199952 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.29|+01.41|-00.09" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 5.174212, - 5.174212, - -0.37508816, - -0.37508816, - 5.64643, - 5.64643 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.29|+01.41|-00.09", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -3.850749732, - -3.850749732, - -2.016750576, - -2.016750576, - 2.447409868, - 2.447409868 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - -4.848, - -4.848, - -1.064, - -1.064, - 0.08, - 0.08 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-00.96|+00.61|-00.50" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -3.850749732, - -3.850749732, - -2.016750576, - -2.016750576, - 2.447409868, - 2.447409868 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-00.96|+00.61|-00.50", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+01.29|+01.41|-00.09" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 174, - 77, - 219, - 100 - ], - "mask": [ - [ - 22974, - 32 - ], - [ - 23274, - 33 - ], - [ - 23574, - 34 - ], - [ - 23874, - 35 - ], - [ - 24174, - 35 - ], - [ - 24474, - 36 - ], - [ - 24774, - 37 - ], - [ - 25075, - 37 - ], - [ - 25375, - 37 - ], - [ - 25675, - 38 - ], - [ - 25976, - 38 - ], - [ - 26276, - 39 - ], - [ - 26576, - 39 - ], - [ - 26877, - 39 - ], - [ - 27177, - 40 - ], - [ - 27477, - 41 - ], - [ - 27777, - 41 - ], - [ - 28078, - 41 - ], - [ - 28378, - 41 - ], - [ - 28678, - 42 - ], - [ - 28979, - 40 - ], - [ - 29279, - 40 - ], - [ - 29580, - 39 - ], - [ - 29881, - 37 - ] - ], - "point": [ - 196, - 87 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "CellPhone|+01.29|+01.41|-00.09", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 191 - ], - [ - 25275, - 32 - ], - [ - 25309, - 157 - ], - [ - 25575, - 32 - ], - [ - 25609, - 157 - ], - [ - 25814, - 12 - ], - [ - 25875, - 32 - ], - [ - 25908, - 158 - ], - [ - 26113, - 14 - ], - [ - 26174, - 33 - ], - [ - 26208, - 159 - ], - [ - 26413, - 14 - ], - [ - 26474, - 33 - ], - [ - 26508, - 159 - ], - [ - 26713, - 15 - ], - [ - 26774, - 21 - ], - [ - 26812, - 155 - ], - [ - 27012, - 16 - ], - [ - 27074, - 21 - ], - [ - 27112, - 156 - ], - [ - 27312, - 17 - ], - [ - 27374, - 20 - ], - [ - 27412, - 156 - ], - [ - 27612, - 17 - ], - [ - 27673, - 21 - ], - [ - 27712, - 156 - ], - [ - 27911, - 19 - ], - [ - 27973, - 21 - ], - [ - 28012, - 157 - ], - [ - 28211, - 20 - ], - [ - 28273, - 20 - ], - [ - 28312, - 157 - ], - [ - 28511, - 20 - ], - [ - 28573, - 20 - ], - [ - 28612, - 157 - ], - [ - 28810, - 22 - ], - [ - 28873, - 20 - ], - [ - 28912, - 157 - ], - [ - 29110, - 22 - ], - [ - 29172, - 21 - ], - [ - 29212, - 158 - ], - [ - 29410, - 23 - ], - [ - 29472, - 20 - ], - [ - 29513, - 157 - ], - [ - 29709, - 23 - ], - [ - 29772, - 20 - ], - [ - 29813, - 157 - ], - [ - 30009, - 23 - ], - [ - 30072, - 20 - ], - [ - 30113, - 158 - ], - [ - 30309, - 23 - ], - [ - 30372, - 20 - ], - [ - 30413, - 158 - ], - [ - 30608, - 23 - ], - [ - 30671, - 21 - ], - [ - 30713, - 158 - ], - [ - 30908, - 23 - ], - [ - 30971, - 21 - ], - [ - 31013, - 159 - ], - [ - 31207, - 24 - ], - [ - 31271, - 20 - ], - [ - 31312, - 160 - ], - [ - 31507, - 23 - ], - [ - 31571, - 20 - ], - [ - 31612, - 160 - ], - [ - 31807, - 23 - ], - [ - 31871, - 20 - ], - [ - 31912, - 160 - ], - [ - 32106, - 24 - ], - [ - 32170, - 21 - ], - [ - 32212, - 161 - ], - [ - 32406, - 24 - ], - [ - 32470, - 21 - ], - [ - 32512, - 161 - ], - [ - 32706, - 23 - ], - [ - 32770, - 21 - ], - [ - 32812, - 161 - ], - [ - 33005, - 24 - ], - [ - 33070, - 21 - ], - [ - 33112, - 162 - ], - [ - 33305, - 24 - ], - [ - 33370, - 21 - ], - [ - 33412, - 162 - ], - [ - 33605, - 23 - ], - [ - 33669, - 22 - ], - [ - 33712, - 162 - ], - [ - 33904, - 24 - ], - [ - 33969, - 22 - ], - [ - 34012, - 163 - ], - [ - 34204, - 24 - ], - [ - 34269, - 21 - ], - [ - 34312, - 163 - ], - [ - 34504, - 24 - ], - [ - 34569, - 21 - ], - [ - 34612, - 163 - ], - [ - 34803, - 24 - ], - [ - 34869, - 21 - ], - [ - 34912, - 130 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 22 - ], - [ - 35212, - 130 - ], - [ - 35343, - 33 - ], - [ - 35403, - 24 - ], - [ - 35468, - 22 - ], - [ - 35512, - 130 - ], - [ - 35644, - 32 - ], - [ - 35702, - 31 - ], - [ - 35767, - 23 - ], - [ - 35812, - 130 - ], - [ - 35944, - 32 - ], - [ - 36002, - 88 - ], - [ - 36112, - 130 - ], - [ - 36244, - 33 - ], - [ - 36301, - 89 - ], - [ - 36411, - 131 - ], - [ - 36545, - 32 - ], - [ - 36601, - 89 - ], - [ - 36711, - 131 - ], - [ - 36845, - 32 - ], - [ - 36901, - 89 - ], - [ - 37011, - 132 - ], - [ - 37145, - 33 - ], - [ - 37200, - 90 - ], - [ - 37311, - 132 - ], - [ - 37445, - 33 - ], - [ - 37500, - 90 - ], - [ - 37611, - 132 - ], - [ - 37745, - 33 - ], - [ - 37800, - 90 - ], - [ - 37911, - 132 - ], - [ - 38046, - 33 - ], - [ - 38100, - 90 - ], - [ - 38211, - 133 - ], - [ - 38346, - 33 - ], - [ - 38400, - 90 - ], - [ - 38511, - 102 - ], - [ - 38614, - 30 - ], - [ - 38646, - 33 - ], - [ - 38700, - 90 - ], - [ - 38810, - 103 - ], - [ - 38914, - 30 - ], - [ - 38946, - 33 - ], - [ - 39000, - 90 - ], - [ - 39110, - 102 - ], - [ - 39214, - 30 - ], - [ - 39247, - 33 - ], - [ - 39300, - 90 - ], - [ - 39410, - 102 - ], - [ - 39514, - 30 - ], - [ - 39547, - 33 - ], - [ - 39600, - 90 - ], - [ - 39710, - 102 - ], - [ - 39814, - 31 - ], - [ - 39847, - 33 - ], - [ - 39900, - 90 - ], - [ - 40010, - 92 - ], - [ - 40103, - 9 - ], - [ - 40113, - 32 - ], - [ - 40147, - 34 - ], - [ - 40200, - 91 - ], - [ - 40309, - 92 - ], - [ - 40404, - 8 - ], - [ - 40413, - 32 - ], - [ - 40447, - 34 - ], - [ - 40500, - 91 - ], - [ - 40609, - 90 - ], - [ - 40705, - 7 - ], - [ - 40713, - 32 - ], - [ - 40748, - 33 - ], - [ - 40800, - 91 - ], - [ - 40909, - 91 - ], - [ - 41007, - 2 - ], - [ - 41014, - 32 - ], - [ - 41048, - 34 - ], - [ - 41100, - 92 - ], - [ - 41208, - 93 - ], - [ - 41308, - 1 - ], - [ - 41315, - 31 - ], - [ - 41348, - 34 - ], - [ - 41400, - 97 - ], - [ - 41508, - 94 - ], - [ - 41609, - 1 - ], - [ - 41615, - 31 - ], - [ - 41648, - 34 - ], - [ - 41700, - 195 - ], - [ - 41899, - 5 - ], - [ - 41909, - 2 - ], - [ - 41914, - 32 - ], - [ - 41949, - 33 - ], - [ - 42000, - 196 - ], - [ - 42200, - 5 - ], - [ - 42208, - 5 - ], - [ - 42214, - 32 - ], - [ - 42249, - 34 - ], - [ - 42300, - 198 - ], - [ - 42505, - 42 - ], - [ - 42549, - 34 - ], - [ - 42600, - 200 - ], - [ - 42806, - 1 - ], - [ - 42811, - 2 - ], - [ - 42814, - 33 - ], - [ - 42849, - 34 - ], - [ - 42900, - 201 - ], - [ - 43109, - 2 - ], - [ - 43113, - 34 - ], - [ - 43150, - 34 - ], - [ - 43200, - 202 - ], - [ - 43407, - 40 - ], - [ - 43450, - 34 - ], - [ - 43500, - 207 - ], - [ - 43708, - 3 - ], - [ - 43712, - 35 - ], - [ - 43750, - 34 - ], - [ - 43800, - 208 - ], - [ - 44012, - 36 - ], - [ - 44050, - 35 - ], - [ - 44100, - 209 - ], - [ - 44312, - 36 - ], - [ - 44350, - 35 - ], - [ - 44400, - 209 - ], - [ - 44612, - 36 - ], - [ - 44651, - 34 - ], - [ - 44700, - 210 - ], - [ - 44913, - 35 - ], - [ - 44951, - 34 - ], - [ - 45000, - 209 - ], - [ - 45215, - 34 - ], - [ - 45251, - 35 - ], - [ - 45300, - 208 - ], - [ - 45517, - 32 - ], - [ - 45551, - 35 - ], - [ - 45600, - 207 - ], - [ - 45818, - 31 - ], - [ - 45851, - 35 - ], - [ - 45900, - 207 - ], - [ - 46117, - 33 - ], - [ - 46151, - 36 - ], - [ - 46200, - 208 - ], - [ - 46416, - 34 - ], - [ - 46451, - 36 - ], - [ - 46500, - 209 - ], - [ - 46716, - 71 - ], - [ - 46800, - 211 - ], - [ - 47015, - 73 - ], - [ - 47100, - 212 - ], - [ - 47314, - 74 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|-00.96|+00.61|-00.50" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 133, - 114, - 164, - 127 - ], - "mask": [ - [ - 34034, - 31 - ], - [ - 34333, - 32 - ], - [ - 34633, - 32 - ], - [ - 34933, - 32 - ], - [ - 35233, - 32 - ], - [ - 35533, - 32 - ], - [ - 35833, - 32 - ], - [ - 36133, - 32 - ], - [ - 36433, - 32 - ], - [ - 36733, - 32 - ], - [ - 37033, - 32 - ], - [ - 37333, - 32 - ], - [ - 37633, - 32 - ], - [ - 37933, - 32 - ] - ], - "point": [ - 148, - 119 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|-00.96|+00.61|-00.50", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 191 - ], - [ - 25275, - 32 - ], - [ - 25309, - 157 - ], - [ - 25575, - 32 - ], - [ - 25609, - 157 - ], - [ - 25814, - 12 - ], - [ - 25875, - 32 - ], - [ - 25908, - 158 - ], - [ - 26113, - 14 - ], - [ - 26174, - 33 - ], - [ - 26208, - 159 - ], - [ - 26413, - 14 - ], - [ - 26474, - 33 - ], - [ - 26508, - 159 - ], - [ - 26713, - 15 - ], - [ - 26774, - 21 - ], - [ - 26812, - 155 - ], - [ - 27012, - 16 - ], - [ - 27074, - 21 - ], - [ - 27112, - 156 - ], - [ - 27312, - 17 - ], - [ - 27374, - 20 - ], - [ - 27412, - 156 - ], - [ - 27612, - 17 - ], - [ - 27673, - 21 - ], - [ - 27712, - 156 - ], - [ - 27911, - 19 - ], - [ - 27973, - 21 - ], - [ - 28012, - 157 - ], - [ - 28211, - 20 - ], - [ - 28273, - 20 - ], - [ - 28312, - 157 - ], - [ - 28511, - 20 - ], - [ - 28573, - 20 - ], - [ - 28612, - 157 - ], - [ - 28810, - 22 - ], - [ - 28873, - 20 - ], - [ - 28912, - 157 - ], - [ - 29110, - 22 - ], - [ - 29172, - 21 - ], - [ - 29212, - 158 - ], - [ - 29410, - 23 - ], - [ - 29472, - 20 - ], - [ - 29513, - 157 - ], - [ - 29709, - 23 - ], - [ - 29772, - 20 - ], - [ - 29813, - 157 - ], - [ - 30009, - 23 - ], - [ - 30072, - 20 - ], - [ - 30113, - 158 - ], - [ - 30309, - 23 - ], - [ - 30372, - 20 - ], - [ - 30413, - 158 - ], - [ - 30608, - 23 - ], - [ - 30671, - 21 - ], - [ - 30713, - 158 - ], - [ - 30908, - 23 - ], - [ - 30971, - 21 - ], - [ - 31013, - 159 - ], - [ - 31207, - 24 - ], - [ - 31271, - 20 - ], - [ - 31312, - 160 - ], - [ - 31507, - 23 - ], - [ - 31571, - 20 - ], - [ - 31612, - 160 - ], - [ - 31807, - 23 - ], - [ - 31871, - 20 - ], - [ - 31912, - 160 - ], - [ - 32106, - 24 - ], - [ - 32170, - 21 - ], - [ - 32212, - 161 - ], - [ - 32406, - 24 - ], - [ - 32470, - 21 - ], - [ - 32512, - 161 - ], - [ - 32706, - 23 - ], - [ - 32770, - 21 - ], - [ - 32812, - 161 - ], - [ - 33005, - 24 - ], - [ - 33070, - 21 - ], - [ - 33112, - 162 - ], - [ - 33305, - 24 - ], - [ - 33370, - 21 - ], - [ - 33412, - 162 - ], - [ - 33605, - 23 - ], - [ - 33669, - 22 - ], - [ - 33712, - 162 - ], - [ - 33904, - 24 - ], - [ - 33969, - 22 - ], - [ - 34012, - 163 - ], - [ - 34204, - 24 - ], - [ - 34269, - 21 - ], - [ - 34312, - 163 - ], - [ - 34504, - 24 - ], - [ - 34569, - 21 - ], - [ - 34612, - 163 - ], - [ - 34803, - 24 - ], - [ - 34869, - 21 - ], - [ - 34912, - 130 - ], - [ - 35043, - 33 - ], - [ - 35103, - 24 - ], - [ - 35168, - 22 - ], - [ - 35212, - 130 - ], - [ - 35343, - 33 - ], - [ - 35403, - 24 - ], - [ - 35468, - 22 - ], - [ - 35512, - 130 - ], - [ - 35644, - 32 - ], - [ - 35702, - 31 - ], - [ - 35767, - 23 - ], - [ - 35812, - 130 - ], - [ - 35944, - 32 - ], - [ - 36002, - 88 - ], - [ - 36112, - 130 - ], - [ - 36244, - 33 - ], - [ - 36301, - 89 - ], - [ - 36411, - 131 - ], - [ - 36545, - 32 - ], - [ - 36601, - 89 - ], - [ - 36711, - 131 - ], - [ - 36845, - 32 - ], - [ - 36901, - 89 - ], - [ - 37011, - 132 - ], - [ - 37145, - 33 - ], - [ - 37200, - 90 - ], - [ - 37311, - 132 - ], - [ - 37445, - 33 - ], - [ - 37500, - 90 - ], - [ - 37611, - 132 - ], - [ - 37745, - 33 - ], - [ - 37800, - 90 - ], - [ - 37911, - 132 - ], - [ - 38046, - 33 - ], - [ - 38100, - 90 - ], - [ - 38211, - 133 - ], - [ - 38346, - 33 - ], - [ - 38400, - 90 - ], - [ - 38511, - 102 - ], - [ - 38614, - 30 - ], - [ - 38646, - 33 - ], - [ - 38700, - 90 - ], - [ - 38810, - 103 - ], - [ - 38914, - 30 - ], - [ - 38946, - 33 - ], - [ - 39000, - 90 - ], - [ - 39110, - 102 - ], - [ - 39214, - 30 - ], - [ - 39247, - 33 - ], - [ - 39300, - 90 - ], - [ - 39410, - 102 - ], - [ - 39514, - 30 - ], - [ - 39547, - 33 - ], - [ - 39600, - 90 - ], - [ - 39710, - 102 - ], - [ - 39814, - 31 - ], - [ - 39847, - 33 - ], - [ - 39900, - 90 - ], - [ - 40010, - 92 - ], - [ - 40103, - 9 - ], - [ - 40113, - 32 - ], - [ - 40147, - 34 - ], - [ - 40200, - 91 - ], - [ - 40309, - 92 - ], - [ - 40404, - 8 - ], - [ - 40413, - 32 - ], - [ - 40447, - 34 - ], - [ - 40500, - 91 - ], - [ - 40609, - 90 - ], - [ - 40705, - 7 - ], - [ - 40713, - 32 - ], - [ - 40748, - 33 - ], - [ - 40800, - 91 - ], - [ - 40909, - 91 - ], - [ - 41007, - 2 - ], - [ - 41014, - 32 - ], - [ - 41048, - 34 - ], - [ - 41100, - 92 - ], - [ - 41208, - 15 - ], - [ - 41253, - 48 - ], - [ - 41308, - 1 - ], - [ - 41315, - 31 - ], - [ - 41348, - 34 - ], - [ - 41400, - 97 - ], - [ - 41508, - 12 - ], - [ - 41556, - 46 - ], - [ - 41609, - 1 - ], - [ - 41615, - 31 - ], - [ - 41648, - 34 - ], - [ - 41700, - 120 - ], - [ - 41857, - 38 - ], - [ - 41899, - 5 - ], - [ - 41909, - 2 - ], - [ - 41914, - 32 - ], - [ - 41949, - 33 - ], - [ - 42000, - 120 - ], - [ - 42157, - 39 - ], - [ - 42200, - 5 - ], - [ - 42208, - 5 - ], - [ - 42214, - 32 - ], - [ - 42249, - 34 - ], - [ - 42300, - 120 - ], - [ - 42457, - 41 - ], - [ - 42505, - 42 - ], - [ - 42549, - 34 - ], - [ - 42600, - 120 - ], - [ - 42757, - 43 - ], - [ - 42806, - 1 - ], - [ - 42811, - 2 - ], - [ - 42814, - 33 - ], - [ - 42849, - 34 - ], - [ - 42900, - 120 - ], - [ - 43057, - 44 - ], - [ - 43109, - 2 - ], - [ - 43113, - 34 - ], - [ - 43150, - 34 - ], - [ - 43200, - 119 - ], - [ - 43357, - 45 - ], - [ - 43407, - 40 - ], - [ - 43450, - 34 - ], - [ - 43500, - 119 - ], - [ - 43657, - 50 - ], - [ - 43708, - 3 - ], - [ - 43712, - 35 - ], - [ - 43750, - 34 - ], - [ - 43800, - 119 - ], - [ - 43957, - 51 - ], - [ - 44012, - 36 - ], - [ - 44050, - 35 - ], - [ - 44100, - 119 - ], - [ - 44257, - 52 - ], - [ - 44312, - 36 - ], - [ - 44350, - 35 - ], - [ - 44400, - 119 - ], - [ - 44557, - 52 - ], - [ - 44612, - 36 - ], - [ - 44651, - 34 - ], - [ - 44700, - 119 - ], - [ - 44857, - 53 - ], - [ - 44913, - 35 - ], - [ - 44951, - 34 - ], - [ - 45000, - 119 - ], - [ - 45157, - 52 - ], - [ - 45215, - 34 - ], - [ - 45251, - 35 - ], - [ - 45300, - 119 - ], - [ - 45457, - 51 - ], - [ - 45517, - 32 - ], - [ - 45551, - 35 - ], - [ - 45600, - 119 - ], - [ - 45757, - 50 - ], - [ - 45818, - 31 - ], - [ - 45851, - 35 - ], - [ - 45900, - 119 - ], - [ - 46057, - 50 - ], - [ - 46117, - 33 - ], - [ - 46151, - 36 - ], - [ - 46200, - 120 - ], - [ - 46356, - 52 - ], - [ - 46416, - 34 - ], - [ - 46451, - 36 - ], - [ - 46500, - 209 - ], - [ - 46716, - 71 - ], - [ - 46800, - 211 - ], - [ - 47015, - 73 - ], - [ - 47100, - 212 - ], - [ - 47314, - 74 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 136 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.25, - "y": 0.9009992, - "z": -1.25 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.25999951, - "y": 1.41068065, - "z": -0.382632375 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": -1.33205307, - "y": 0.7021554, - "z": -1.610656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 1.17267179, - "y": 0.2439689, - "z": -1.96399939 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -0.962687433, - "y": 0.611852467, - "z": -0.504187644 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.26944363, - "y": 0.7009816, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.43313026, - "y": 0.3970478, - "z": -2.152904 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -1.08288217, - "y": 0.610413, - "z": 0.0570315421 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -1.08288252, - "y": 0.610413, - "z": 0.6182507 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 1.32964349, - "y": 0.372291923, - "z": -1.7092073 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "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": -1.51988137, - "y": 0.7048791, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.293553, - "y": 1.4116075, - "z": -0.09377204 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.54415023, - "y": 1.521792, - "z": -1.71544147 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "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": 0.7804486, - "y": 0.5823627, - "z": -2.48265958 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.3946625, - "y": 0.6994717, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.12034917, - "y": 0.237578154, - "z": -1.63994944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.31868756, - "y": 0.5047848, - "z": -2.038757 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3886659575, - "scene_num": 327 - }, - "task_id": "trial_T20190908_042648_141419", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A10AVWALIHR4UQ_30LB5CDZNFRMLOY2SZJFPQ0BWH70ZK", - "high_descs": [ - "Turn around, move towards the white door, then turn right and move to the shelves on the wall.", - "Pick up the white smartphone from the top of the shelves.", - "Turn right, move towards the desk in the corner, then turn right and move to the wooden dresser next to the foot of the bed.", - "Place the smartphone between the alarm clock and the set of keys on the edge of the dresser.", - "Move towards the white door, then turn left and face the center of the bed.", - "Pick up the white smartphone located between the blue cushion and the book from the bed.", - "Turn left and move to the dresser between the window and the bed.", - "Place the smartphone on the edge of the dresser between the smartphone already there and the set of keys." - ], - "task_desc": "Place two smartphones on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3CTOC39K3A7A3KTIVC12GBM8LX9J7R", - "high_descs": [ - "move to the shelf to the right of the bed", - "pick up a phone from the shelf", - "move to the dresser at the foot of the bed", - "put the phone on the dresser", - "move to the bed to the right", - "pick up a phone from the bed", - "move to the dresser at the foot of the bed", - "put the phone on the dresser" - ], - "task_desc": "Put two phones on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3X4JMASXCPQQ3QVMML3C38T85E6B0A", - "high_descs": [ - "Turn around and walk right to the wooden shelves.", - "Pick up the cell phone near the left side of the shelves.", - "Turn around and walk to the dresser at the foot of the bed.", - "Place the phone on the dresser to the left of the keys.", - "Turn around and walk left to the side of the bed and face it.", - "Pick up the phone on the bed.", - "Walk left and ahead back to the dresser at the foot of the bed.", - "Place the phone on the table in between the keys and the other phone." - ], - "task_desc": "Place two phones on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/traj_data.json deleted file mode 100644 index ea5b59b7b..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/traj_data.json +++ /dev/null @@ -1,6839 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 13 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 22 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 25 - }, - { - "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": 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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "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": 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": 42 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "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": 46 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 71 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 72 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 96 - }, - { - "high_idx": 7, - "image_name": "000000422.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000423.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000424.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000425.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000426.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000427.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000428.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000429.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000430.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000431.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000432.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000433.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000434.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000435.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000436.png", - "low_idx": 97 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 6.97390844, - 6.97390844, - 0.75282526, - 0.75282526, - 3.1013928, - 3.1013928 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 4.08, - 4.08, - -2.936, - -2.936, - 0.24, - 0.24 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.74|+00.78|+00.19" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 6.97390844, - 6.97390844, - 0.75282526, - 0.75282526, - 3.1013928, - 3.1013928 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.74|+00.78|+00.19", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 6.61470936, - 6.61470936, - 8.871372, - 8.871372, - 2.724840164, - 2.724840164 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 6.30523444, - 6.30523444, - 8.56312752, - 8.56312752, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.65|+00.68|+02.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 6.61470936, - 6.61470936, - 8.871372, - 8.871372, - 2.724840164, - 2.724840164 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.65|+00.68|+02.22", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "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": "CellPhone|+01.74|+00.78|+00.19" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 112, - 130, - 152, - 148 - ], - "mask": [ - [ - 38816, - 35 - ], - [ - 39114, - 39 - ], - [ - 39413, - 40 - ], - [ - 39713, - 40 - ], - [ - 40013, - 40 - ], - [ - 40313, - 40 - ], - [ - 40613, - 40 - ], - [ - 40913, - 40 - ], - [ - 41213, - 40 - ], - [ - 41513, - 40 - ], - [ - 41813, - 40 - ], - [ - 42112, - 41 - ], - [ - 42412, - 41 - ], - [ - 42712, - 41 - ], - [ - 43012, - 41 - ], - [ - 43312, - 41 - ], - [ - 43612, - 41 - ], - [ - 43912, - 41 - ], - [ - 44213, - 40 - ] - ], - "point": [ - 132, - 138 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+01.74|+00.78|+00.19", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 36 - ], - [ - 4903, - 14 - ], - [ - 4947, - 127 - ], - [ - 5134, - 36 - ], - [ - 5204, - 11 - ], - [ - 5249, - 124 - ], - [ - 5434, - 34 - ], - [ - 5504, - 9 - ], - [ - 5551, - 122 - ], - [ - 5734, - 33 - ], - [ - 5804, - 7 - ], - [ - 5853, - 120 - ], - [ - 6033, - 33 - ], - [ - 6104, - 5 - ], - [ - 6155, - 117 - ], - [ - 6333, - 32 - ], - [ - 6404, - 4 - ], - [ - 6457, - 115 - ], - [ - 6633, - 30 - ], - [ - 6704, - 3 - ], - [ - 6758, - 113 - ], - [ - 6932, - 30 - ], - [ - 7004, - 1 - ], - [ - 7059, - 112 - ], - [ - 7232, - 28 - ], - [ - 7360, - 110 - ], - [ - 7531, - 27 - ], - [ - 7596, - 2 - ], - [ - 7661, - 108 - ], - [ - 7831, - 26 - ], - [ - 7895, - 4 - ], - [ - 7962, - 107 - ], - [ - 8131, - 24 - ], - [ - 8194, - 5 - ], - [ - 8262, - 106 - ], - [ - 8430, - 24 - ], - [ - 8494, - 6 - ], - [ - 8563, - 105 - ], - [ - 8730, - 3 - ], - [ - 8739, - 14 - ], - [ - 8794, - 6 - ], - [ - 8863, - 104 - ], - [ - 9030, - 5 - ], - [ - 9041, - 10 - ], - [ - 9094, - 6 - ], - [ - 9164, - 103 - ], - [ - 9329, - 8 - ], - [ - 9342, - 8 - ], - [ - 9394, - 5 - ], - [ - 9464, - 103 - ], - [ - 9629, - 9 - ], - [ - 9644, - 5 - ], - [ - 9689, - 1 - ], - [ - 9695, - 4 - ], - [ - 9764, - 103 - ], - [ - 9929, - 10 - ], - [ - 9987, - 3 - ], - [ - 9997, - 2 - ], - [ - 10065, - 102 - ], - [ - 10228, - 13 - ], - [ - 10286, - 5 - ], - [ - 10365, - 102 - ], - [ - 10528, - 14 - ], - [ - 10584, - 7 - ], - [ - 10665, - 102 - ], - [ - 10827, - 16 - ], - [ - 10883, - 9 - ], - [ - 10966, - 101 - ], - [ - 11127, - 18 - ], - [ - 11181, - 12 - ], - [ - 11196, - 2 - ], - [ - 11267, - 100 - ], - [ - 11427, - 19 - ], - [ - 11479, - 19 - ], - [ - 11568, - 99 - ], - [ - 11726, - 20 - ], - [ - 11777, - 21 - ], - [ - 11868, - 98 - ], - [ - 12026, - 20 - ], - [ - 12075, - 22 - ], - [ - 12169, - 97 - ], - [ - 12326, - 20 - ], - [ - 12375, - 21 - ], - [ - 12469, - 97 - ], - [ - 12625, - 22 - ], - [ - 12676, - 20 - ], - [ - 12770, - 96 - ], - [ - 12925, - 22 - ], - [ - 12976, - 19 - ], - [ - 13070, - 96 - ], - [ - 13225, - 23 - ], - [ - 13275, - 20 - ], - [ - 13370, - 96 - ], - [ - 13524, - 25 - ], - [ - 13572, - 23 - ], - [ - 13670, - 96 - ], - [ - 13824, - 26 - ], - [ - 13873, - 21 - ], - [ - 13971, - 95 - ], - [ - 14123, - 28 - ], - [ - 14173, - 21 - ], - [ - 14271, - 95 - ], - [ - 14423, - 28 - ], - [ - 14472, - 22 - ], - [ - 14571, - 95 - ], - [ - 14723, - 29 - ], - [ - 14772, - 22 - ], - [ - 14871, - 95 - ], - [ - 15022, - 32 - ], - [ - 15071, - 23 - ], - [ - 15171, - 95 - ], - [ - 15322, - 35 - ], - [ - 15364, - 1 - ], - [ - 15371, - 4 - ], - [ - 15376, - 18 - ], - [ - 15472, - 94 - ], - [ - 15622, - 42 - ], - [ - 15670, - 1 - ], - [ - 15678, - 16 - ], - [ - 15772, - 94 - ], - [ - 15921, - 43 - ], - [ - 15978, - 16 - ], - [ - 16072, - 94 - ], - [ - 16221, - 43 - ], - [ - 16277, - 17 - ], - [ - 16372, - 93 - ], - [ - 16521, - 43 - ], - [ - 16572, - 3 - ], - [ - 16576, - 18 - ], - [ - 16672, - 93 - ], - [ - 16820, - 74 - ], - [ - 16972, - 93 - ], - [ - 17120, - 74 - ], - [ - 17272, - 93 - ], - [ - 17419, - 75 - ], - [ - 17573, - 92 - ], - [ - 17719, - 75 - ], - [ - 17873, - 92 - ], - [ - 18019, - 75 - ], - [ - 18173, - 92 - ], - [ - 18318, - 76 - ], - [ - 18473, - 92 - ], - [ - 18618, - 76 - ], - [ - 18773, - 92 - ], - [ - 18918, - 76 - ], - [ - 19073, - 92 - ], - [ - 19217, - 77 - ], - [ - 19373, - 92 - ], - [ - 19517, - 77 - ], - [ - 19673, - 92 - ], - [ - 19817, - 77 - ], - [ - 19972, - 93 - ], - [ - 20116, - 78 - ], - [ - 20272, - 93 - ], - [ - 20416, - 78 - ], - [ - 20572, - 93 - ], - [ - 20715, - 80 - ], - [ - 20871, - 93 - ], - [ - 21015, - 80 - ], - [ - 21171, - 93 - ], - [ - 21315, - 80 - ], - [ - 21471, - 93 - ], - [ - 21614, - 82 - ], - [ - 21771, - 93 - ], - [ - 21914, - 82 - ], - [ - 22070, - 94 - ], - [ - 22214, - 83 - ], - [ - 22370, - 94 - ], - [ - 22513, - 84 - ], - [ - 22670, - 94 - ], - [ - 22813, - 85 - ], - [ - 22969, - 95 - ], - [ - 23113, - 85 - ], - [ - 23269, - 95 - ], - [ - 23412, - 86 - ], - [ - 23569, - 95 - ], - [ - 23712, - 87 - ], - [ - 23868, - 96 - ], - [ - 24011, - 88 - ], - [ - 24168, - 96 - ], - [ - 24311, - 89 - ], - [ - 24468, - 96 - ], - [ - 24611, - 89 - ], - [ - 24768, - 96 - ], - [ - 24910, - 91 - ], - [ - 25067, - 97 - ], - [ - 25210, - 91 - ], - [ - 25367, - 97 - ], - [ - 25510, - 92 - ], - [ - 25666, - 99 - ], - [ - 25809, - 93 - ], - [ - 25966, - 100 - ], - [ - 26109, - 94 - ], - [ - 26266, - 100 - ], - [ - 26409, - 94 - ], - [ - 26565, - 102 - ], - [ - 26708, - 96 - ], - [ - 26865, - 103 - ], - [ - 27008, - 96 - ], - [ - 27164, - 105 - ], - [ - 27307, - 98 - ], - [ - 27463, - 108 - ], - [ - 27607, - 99 - ], - [ - 27763, - 109 - ], - [ - 27907, - 99 - ], - [ - 28062, - 111 - ], - [ - 28206, - 101 - ], - [ - 28361, - 113 - ], - [ - 28506, - 102 - ], - [ - 28661, - 114 - ], - [ - 28806, - 103 - ], - [ - 28960, - 117 - ], - [ - 29105, - 105 - ], - [ - 29260, - 118 - ], - [ - 29405, - 106 - ], - [ - 29559, - 120 - ], - [ - 29705, - 106 - ], - [ - 29858, - 49 - ], - [ - 29909, - 71 - ], - [ - 30004, - 108 - ], - [ - 30158, - 49 - ], - [ - 30209, - 75 - ], - [ - 30304, - 109 - ], - [ - 30457, - 50 - ], - [ - 30509, - 81 - ], - [ - 30603, - 111 - ], - [ - 30756, - 50 - ], - [ - 30808, - 87 - ], - [ - 30903, - 112 - ], - [ - 31055, - 51 - ], - [ - 31108, - 92 - ], - [ - 31203, - 113 - ], - [ - 31354, - 52 - ], - [ - 31408, - 92 - ], - [ - 31502, - 115 - ], - [ - 31653, - 53 - ], - [ - 31708, - 92 - ], - [ - 31802, - 117 - ], - [ - 31952, - 40 - ], - [ - 31994, - 12 - ], - [ - 32008, - 92 - ], - [ - 32102, - 118 - ], - [ - 32250, - 41 - ], - [ - 32296, - 10 - ], - [ - 32308, - 92 - ], - [ - 32401, - 121 - ], - [ - 32549, - 40 - ], - [ - 32597, - 9 - ], - [ - 32608, - 92 - ], - [ - 32701, - 122 - ], - [ - 32848, - 41 - ], - [ - 32898, - 4 - ], - [ - 32908, - 92 - ], - [ - 33001, - 124 - ], - [ - 33146, - 44 - ], - [ - 33199, - 3 - ], - [ - 33210, - 217 - ], - [ - 33444, - 48 - ], - [ - 33501, - 1 - ], - [ - 33510, - 221 - ], - [ - 33740, - 53 - ], - [ - 33802, - 1 - ], - [ - 33810, - 273 - ], - [ - 34086, - 8 - ], - [ - 34102, - 2 - ], - [ - 34109, - 274 - ], - [ - 34390, - 5 - ], - [ - 34401, - 6 - ], - [ - 34408, - 277 - ], - [ - 34692, - 5 - ], - [ - 34700, - 288 - ], - [ - 34997, - 2 - ], - [ - 35000, - 290 - ], - [ - 35298, - 1 - ], - [ - 35304, - 287 - ], - [ - 35598, - 1 - ], - [ - 35601, - 3 - ], - [ - 35605, - 287 - ], - [ - 35898, - 1 - ], - [ - 35900, - 1 - ], - [ - 35903, - 2 - ], - [ - 35906, - 286 - ], - [ - 36197, - 1 - ], - [ - 36200, - 5 - ], - [ - 36206, - 293 - ], - [ - 36500, - 4 - ], - [ - 36506, - 294 - ], - [ - 36806, - 296 - ], - [ - 37106, - 296 - ], - [ - 37406, - 296 - ], - [ - 37706, - 296 - ], - [ - 38007, - 295 - ], - [ - 38309, - 292 - ], - [ - 38611, - 289 - ], - [ - 38913, - 286 - ], - [ - 39214, - 285 - ], - [ - 39513, - 286 - ], - [ - 39812, - 288 - ], - [ - 40112, - 290 - ], - [ - 40411, - 292 - ], - [ - 40710, - 295 - ], - [ - 41009, - 298 - ], - [ - 41309, - 3391 - ] - ], - "point": [ - 163, - 91 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "CellPhone|+01.65|+00.68|+02.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 179, - 145, - 200, - 178 - ], - "mask": [ - [ - 43379, - 19 - ], - [ - 43679, - 19 - ], - [ - 43979, - 19 - ], - [ - 44279, - 20 - ], - [ - 44579, - 20 - ], - [ - 44879, - 20 - ], - [ - 45179, - 20 - ], - [ - 45479, - 20 - ], - [ - 45779, - 20 - ], - [ - 46079, - 20 - ], - [ - 46380, - 19 - ], - [ - 46679, - 20 - ], - [ - 46979, - 21 - ], - [ - 47280, - 20 - ], - [ - 47580, - 20 - ], - [ - 47880, - 20 - ], - [ - 48180, - 20 - ], - [ - 48480, - 20 - ], - [ - 48780, - 20 - ], - [ - 49080, - 20 - ], - [ - 49380, - 20 - ], - [ - 49680, - 20 - ], - [ - 49980, - 21 - ], - [ - 50280, - 21 - ], - [ - 50580, - 21 - ], - [ - 50880, - 21 - ], - [ - 51180, - 21 - ], - [ - 51480, - 21 - ], - [ - 51780, - 21 - ], - [ - 52081, - 20 - ], - [ - 52381, - 20 - ], - [ - 52681, - 20 - ], - [ - 52981, - 20 - ], - [ - 53282, - 18 - ] - ], - "point": [ - 189, - 160 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+01.65|+00.68|+02.22", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 36 - ], - [ - 4903, - 14 - ], - [ - 4947, - 127 - ], - [ - 5134, - 36 - ], - [ - 5204, - 11 - ], - [ - 5249, - 124 - ], - [ - 5434, - 34 - ], - [ - 5504, - 9 - ], - [ - 5551, - 122 - ], - [ - 5734, - 33 - ], - [ - 5804, - 7 - ], - [ - 5853, - 120 - ], - [ - 6033, - 33 - ], - [ - 6104, - 5 - ], - [ - 6155, - 117 - ], - [ - 6333, - 32 - ], - [ - 6404, - 4 - ], - [ - 6457, - 115 - ], - [ - 6633, - 30 - ], - [ - 6704, - 3 - ], - [ - 6758, - 113 - ], - [ - 6932, - 30 - ], - [ - 7004, - 1 - ], - [ - 7059, - 112 - ], - [ - 7232, - 28 - ], - [ - 7360, - 110 - ], - [ - 7531, - 27 - ], - [ - 7596, - 2 - ], - [ - 7661, - 108 - ], - [ - 7831, - 26 - ], - [ - 7895, - 4 - ], - [ - 7962, - 107 - ], - [ - 8131, - 24 - ], - [ - 8194, - 5 - ], - [ - 8262, - 106 - ], - [ - 8430, - 24 - ], - [ - 8494, - 6 - ], - [ - 8563, - 105 - ], - [ - 8730, - 3 - ], - [ - 8739, - 14 - ], - [ - 8794, - 6 - ], - [ - 8863, - 104 - ], - [ - 9030, - 5 - ], - [ - 9041, - 10 - ], - [ - 9094, - 6 - ], - [ - 9164, - 103 - ], - [ - 9329, - 8 - ], - [ - 9342, - 8 - ], - [ - 9394, - 5 - ], - [ - 9464, - 103 - ], - [ - 9629, - 9 - ], - [ - 9644, - 5 - ], - [ - 9689, - 1 - ], - [ - 9695, - 4 - ], - [ - 9764, - 103 - ], - [ - 9929, - 10 - ], - [ - 9987, - 3 - ], - [ - 9997, - 2 - ], - [ - 10065, - 102 - ], - [ - 10228, - 13 - ], - [ - 10286, - 5 - ], - [ - 10365, - 102 - ], - [ - 10528, - 14 - ], - [ - 10584, - 7 - ], - [ - 10665, - 102 - ], - [ - 10827, - 16 - ], - [ - 10883, - 9 - ], - [ - 10966, - 101 - ], - [ - 11127, - 18 - ], - [ - 11181, - 12 - ], - [ - 11196, - 2 - ], - [ - 11267, - 100 - ], - [ - 11427, - 19 - ], - [ - 11479, - 19 - ], - [ - 11568, - 99 - ], - [ - 11726, - 20 - ], - [ - 11777, - 21 - ], - [ - 11868, - 98 - ], - [ - 12026, - 20 - ], - [ - 12075, - 22 - ], - [ - 12169, - 97 - ], - [ - 12326, - 20 - ], - [ - 12375, - 21 - ], - [ - 12469, - 97 - ], - [ - 12625, - 22 - ], - [ - 12676, - 20 - ], - [ - 12770, - 96 - ], - [ - 12925, - 22 - ], - [ - 12976, - 19 - ], - [ - 13070, - 96 - ], - [ - 13225, - 23 - ], - [ - 13275, - 20 - ], - [ - 13370, - 96 - ], - [ - 13524, - 25 - ], - [ - 13572, - 23 - ], - [ - 13670, - 96 - ], - [ - 13824, - 26 - ], - [ - 13873, - 21 - ], - [ - 13971, - 95 - ], - [ - 14123, - 28 - ], - [ - 14173, - 21 - ], - [ - 14271, - 95 - ], - [ - 14423, - 28 - ], - [ - 14472, - 22 - ], - [ - 14571, - 95 - ], - [ - 14723, - 29 - ], - [ - 14772, - 22 - ], - [ - 14871, - 95 - ], - [ - 15022, - 32 - ], - [ - 15071, - 23 - ], - [ - 15171, - 95 - ], - [ - 15322, - 35 - ], - [ - 15364, - 1 - ], - [ - 15371, - 4 - ], - [ - 15376, - 18 - ], - [ - 15472, - 94 - ], - [ - 15622, - 42 - ], - [ - 15670, - 1 - ], - [ - 15678, - 16 - ], - [ - 15772, - 94 - ], - [ - 15921, - 43 - ], - [ - 15978, - 16 - ], - [ - 16072, - 94 - ], - [ - 16221, - 43 - ], - [ - 16277, - 17 - ], - [ - 16372, - 93 - ], - [ - 16521, - 43 - ], - [ - 16572, - 3 - ], - [ - 16576, - 18 - ], - [ - 16672, - 93 - ], - [ - 16820, - 74 - ], - [ - 16972, - 93 - ], - [ - 17120, - 74 - ], - [ - 17272, - 93 - ], - [ - 17419, - 75 - ], - [ - 17573, - 92 - ], - [ - 17719, - 75 - ], - [ - 17873, - 92 - ], - [ - 18019, - 75 - ], - [ - 18173, - 92 - ], - [ - 18318, - 76 - ], - [ - 18473, - 92 - ], - [ - 18618, - 76 - ], - [ - 18773, - 92 - ], - [ - 18918, - 76 - ], - [ - 19073, - 92 - ], - [ - 19217, - 77 - ], - [ - 19373, - 92 - ], - [ - 19517, - 77 - ], - [ - 19673, - 92 - ], - [ - 19817, - 77 - ], - [ - 19972, - 93 - ], - [ - 20116, - 78 - ], - [ - 20272, - 93 - ], - [ - 20416, - 78 - ], - [ - 20572, - 93 - ], - [ - 20715, - 80 - ], - [ - 20871, - 93 - ], - [ - 21015, - 80 - ], - [ - 21171, - 93 - ], - [ - 21315, - 80 - ], - [ - 21471, - 93 - ], - [ - 21614, - 82 - ], - [ - 21771, - 93 - ], - [ - 21914, - 82 - ], - [ - 22070, - 94 - ], - [ - 22214, - 83 - ], - [ - 22370, - 94 - ], - [ - 22513, - 84 - ], - [ - 22670, - 94 - ], - [ - 22813, - 85 - ], - [ - 22969, - 95 - ], - [ - 23113, - 85 - ], - [ - 23269, - 95 - ], - [ - 23412, - 86 - ], - [ - 23569, - 95 - ], - [ - 23712, - 87 - ], - [ - 23868, - 47 - ], - [ - 23919, - 45 - ], - [ - 24011, - 88 - ], - [ - 24168, - 47 - ], - [ - 24219, - 45 - ], - [ - 24311, - 89 - ], - [ - 24468, - 47 - ], - [ - 24520, - 44 - ], - [ - 24611, - 89 - ], - [ - 24768, - 46 - ], - [ - 24820, - 44 - ], - [ - 24910, - 91 - ], - [ - 25067, - 47 - ], - [ - 25120, - 44 - ], - [ - 25210, - 91 - ], - [ - 25367, - 47 - ], - [ - 25420, - 44 - ], - [ - 25510, - 92 - ], - [ - 25666, - 47 - ], - [ - 25720, - 45 - ], - [ - 25809, - 93 - ], - [ - 25966, - 47 - ], - [ - 26021, - 45 - ], - [ - 26109, - 94 - ], - [ - 26266, - 47 - ], - [ - 26321, - 45 - ], - [ - 26409, - 94 - ], - [ - 26565, - 47 - ], - [ - 26621, - 46 - ], - [ - 26708, - 96 - ], - [ - 26865, - 47 - ], - [ - 26921, - 47 - ], - [ - 27008, - 96 - ], - [ - 27164, - 48 - ], - [ - 27221, - 48 - ], - [ - 27307, - 98 - ], - [ - 27463, - 49 - ], - [ - 27521, - 50 - ], - [ - 27607, - 99 - ], - [ - 27763, - 48 - ], - [ - 27822, - 50 - ], - [ - 27907, - 99 - ], - [ - 28062, - 49 - ], - [ - 28122, - 51 - ], - [ - 28206, - 101 - ], - [ - 28361, - 50 - ], - [ - 28422, - 52 - ], - [ - 28506, - 102 - ], - [ - 28661, - 49 - ], - [ - 28720, - 1 - ], - [ - 28722, - 53 - ], - [ - 28806, - 103 - ], - [ - 28960, - 46 - ], - [ - 29007, - 3 - ], - [ - 29020, - 1 - ], - [ - 29022, - 55 - ], - [ - 29105, - 105 - ], - [ - 29260, - 46 - ], - [ - 29307, - 3 - ], - [ - 29323, - 55 - ], - [ - 29405, - 106 - ], - [ - 29559, - 47 - ], - [ - 29607, - 2 - ], - [ - 29623, - 56 - ], - [ - 29705, - 106 - ], - [ - 29858, - 47 - ], - [ - 29907, - 2 - ], - [ - 29923, - 57 - ], - [ - 30004, - 108 - ], - [ - 30158, - 47 - ], - [ - 30207, - 2 - ], - [ - 30223, - 61 - ], - [ - 30304, - 109 - ], - [ - 30457, - 48 - ], - [ - 30507, - 2 - ], - [ - 30523, - 67 - ], - [ - 30603, - 111 - ], - [ - 30756, - 49 - ], - [ - 30807, - 1 - ], - [ - 30823, - 72 - ], - [ - 30903, - 112 - ], - [ - 31055, - 50 - ], - [ - 31107, - 1 - ], - [ - 31123, - 77 - ], - [ - 31203, - 113 - ], - [ - 31354, - 51 - ], - [ - 31407, - 1 - ], - [ - 31422, - 78 - ], - [ - 31502, - 115 - ], - [ - 31653, - 52 - ], - [ - 31722, - 78 - ], - [ - 31802, - 117 - ], - [ - 31952, - 39 - ], - [ - 31994, - 10 - ], - [ - 32022, - 78 - ], - [ - 32102, - 118 - ], - [ - 32250, - 40 - ], - [ - 32295, - 7 - ], - [ - 32321, - 79 - ], - [ - 32401, - 121 - ], - [ - 32549, - 39 - ], - [ - 32597, - 4 - ], - [ - 32621, - 79 - ], - [ - 32701, - 122 - ], - [ - 32848, - 39 - ], - [ - 32898, - 3 - ], - [ - 32920, - 80 - ], - [ - 33001, - 124 - ], - [ - 33146, - 43 - ], - [ - 33199, - 2 - ], - [ - 33220, - 207 - ], - [ - 33444, - 46 - ], - [ - 33501, - 1 - ], - [ - 33520, - 211 - ], - [ - 33740, - 51 - ], - [ - 33801, - 3 - ], - [ - 33819, - 274 - ], - [ - 34100, - 5 - ], - [ - 34119, - 264 - ], - [ - 34385, - 9 - ], - [ - 34399, - 6 - ], - [ - 34419, - 263 - ], - [ - 34689, - 7 - ], - [ - 34699, - 6 - ], - [ - 34718, - 265 - ], - [ - 34996, - 2 - ], - [ - 34999, - 1 - ], - [ - 35003, - 2 - ], - [ - 35018, - 268 - ], - [ - 35297, - 1 - ], - [ - 35300, - 3 - ], - [ - 35317, - 272 - ], - [ - 35597, - 1 - ], - [ - 35600, - 4 - ], - [ - 35617, - 273 - ], - [ - 35897, - 1 - ], - [ - 35900, - 4 - ], - [ - 35917, - 273 - ], - [ - 36196, - 1 - ], - [ - 36199, - 5 - ], - [ - 36205, - 1 - ], - [ - 36216, - 276 - ], - [ - 36495, - 3 - ], - [ - 36505, - 1 - ], - [ - 36516, - 283 - ], - [ - 36805, - 1 - ], - [ - 36816, - 285 - ], - [ - 37105, - 1 - ], - [ - 37115, - 286 - ], - [ - 37405, - 1 - ], - [ - 37415, - 287 - ], - [ - 37714, - 288 - ], - [ - 38014, - 287 - ], - [ - 38314, - 286 - ], - [ - 38613, - 287 - ], - [ - 38913, - 286 - ], - [ - 39213, - 285 - ], - [ - 39512, - 286 - ], - [ - 39812, - 286 - ], - [ - 40111, - 289 - ], - [ - 40411, - 292 - ], - [ - 40709, - 296 - ], - [ - 41009, - 298 - ], - [ - 41308, - 3392 - ] - ], - "point": [ - 163, - 91 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.5, - "y": 0.9009992, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.69949913, - "y": 1.15641856, - "z": -1.959406 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 2.593874, - "y": 0.4326067, - "z": 1.66882873 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 1.65367734, - "y": 0.681210041, - "z": 2.217843 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 2.38098717, - "y": 0.3798362, - "z": -1.615931 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.80463767, - "y": 0.972299635, - "z": 0.2632293 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.4361521, - "y": 0.972387, - "z": -0.3399284 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.60551214, - "y": 1.63940215, - "z": -2.18742919 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.6074214, - "y": 0.0353132375, - "z": 0.256140232 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.60869884, - "y": 0.4095774, - "z": -0.351453662 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.74347711, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.26115906, - "y": 0.773138165, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.55246973, - "y": 0.604777455, - "z": -0.6289025 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.65724456, - "y": 0.973890662, - "z": 0.464282572 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": 1.576309, - "y": 0.680819631, - "z": 2.17273641 - }, - "rotation": { - "x": 0.0, - "y": 270.000671, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 0.537682, - "y": 0.836844742, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.66250467, - "y": 1.626018, - "z": -1.79132915 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": -1.628, - "y": 0.965303659, - "z": 0.084 - }, - "rotation": { - "x": 0.0, - "y": 104.999794, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.50984848, - "y": 0.9759595, - "z": -0.540981352 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.69950318, - "y": 1.15183914, - "z": -2.41545153 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.72064722, - "y": 0.1716693, - "z": -2.28084731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.73093879, - "y": 0.9764528, - "z": -0.5409819 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 1.74347711, - "y": 0.7753482, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 2.134798, - "y": 0.439041, - "z": 2.01465821 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.68482971, - "y": 1.13501811, - "z": -2.30082417 - }, - "rotation": { - "x": 0.0, - "y": 346.9008, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.764, - "y": 0.9653037, - "z": -0.758 - }, - "rotation": { - "x": 0.0, - "y": 59.7189941, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3604200515, - "scene_num": 330 - }, - "task_id": "trial_T20190909_060750_241366", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3F7G1FSFWQPLE_3OUYGIZWRAP0S9IU1YAUZEIZG7K0PU", - "high_descs": [ - "Turn left and walk towards the wall, then turn right and walk up to the far side of the bed.", - "Pick up the phone closest to the end of the bed.", - "Walk around to the other side of the bed and walk up to the black dresser under the mirror on the wall.", - "Put the phone on the left side of the dresser.", - "Turn right and walk towards the door, then turn right and walk across the room, hang a left and walk up to the small black dresser to the left of the chair.", - "Pick up the phone off of the dresser.", - "Turn left and walk to the black dresser that is against the wall under the mirror.", - "Put the phone on the front left corner of the dresser." - ], - "task_desc": "Move two phones to a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AFU00NU09CFXE_3SBEHTYCWQU58IRBWBVJI9B765WIYR", - "high_descs": [ - "Turn left, move across the room to the chair in the corner, then turn right to stand facing the foot of the bed with the chair on your right.", - "Pick up the cell phone from the foot of the bed.", - "Turn right to move around the bed to stand in front of the vase on the dresser.", - "Place the phone on the dresser next to the keys.", - "Turn right to move to the white door, then head right again and stop facing the small black end table with the lamp on top.", - "Pick up the cell phone from the end table. ", - "Turn left to move back to the end of the dresser where you left the other phone.", - "Place the cell phone on the front left corner of the dresser." - ], - "task_desc": "Move two cell phones to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3X3OR7WPZ2RSJD8Z4AU2BCFXUVF8LB", - "high_descs": [ - "Go left and then right and then turn to face the computers on the bed.", - "Pick the phone up from the bed.", - "Cross the room to face the brown dresser.", - "Put the phone on the dresser.", - "Turn around and cross the room and turn to the left to face the small table with the lamp.", - "Pick the phone on the right up from the table.", - "Cross the room to face the dresser.", - "Put the phone down on the dresser." - ], - "task_desc": "Put two phones on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060924_095249/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060924_095249/traj_data.json deleted file mode 100644 index a7e66b97d..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060924_095249/traj_data.json +++ /dev/null @@ -1,5679 +0,0 @@ -{ - "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": 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": 4 - }, - { - "high_idx": 0, - "image_name": "000000020.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000021.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 4 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 4 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 24 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 25 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 50 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 67 - }, - { - "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": 4, - "image_name": "000000276.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000390.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000391.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000392.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000393.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000394.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000395.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000396.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000397.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000398.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000399.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000400.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000401.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000402.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000403.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000404.png", - "low_idx": 90 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|5|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 9.62846, - 9.62846, - 6.34659816, - 6.34659816, - 1.73284006, - 1.73284006 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.648, - 9.648, - 7.98, - 7.98, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.41|+00.43|+01.59" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 9.62846, - 9.62846, - 6.34659816, - 6.34659816, - 1.73284006, - 1.73284006 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.41|+00.43|+01.59", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "bed" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|5|3|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 5.04463624, - 5.04463624, - 0.75282526, - 0.75282526, - 3.1013928, - 3.1013928 - ] - ], - "coordinateReceptacleObjectId": [ - "Bed", - [ - 4.08, - 4.08, - -2.936, - -2.936, - 0.24, - 0.24 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.26|+00.78|+00.19" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 5.04463624, - 5.04463624, - 0.75282526, - 0.75282526, - 3.1013928, - 3.1013928 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+01.26|+00.78|+00.19", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+02.41|+00.43|+01.59" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 112, - 205, - 145, - 221 - ], - "mask": [ - [ - 61314, - 31 - ], - [ - 61613, - 33 - ], - [ - 61913, - 33 - ], - [ - 62213, - 33 - ], - [ - 62513, - 33 - ], - [ - 62813, - 33 - ], - [ - 63113, - 33 - ], - [ - 63413, - 33 - ], - [ - 63712, - 34 - ], - [ - 64012, - 34 - ], - [ - 64312, - 34 - ], - [ - 64612, - 34 - ], - [ - 64912, - 34 - ], - [ - 65212, - 34 - ], - [ - 65512, - 33 - ], - [ - 65812, - 33 - ], - [ - 66113, - 32 - ] - ], - "point": [ - 128, - 212 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+02.41|+00.43|+01.59", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 36 - ], - [ - 4903, - 171 - ], - [ - 5134, - 36 - ], - [ - 5204, - 169 - ], - [ - 5434, - 34 - ], - [ - 5504, - 169 - ], - [ - 5734, - 33 - ], - [ - 5804, - 169 - ], - [ - 6033, - 33 - ], - [ - 6104, - 168 - ], - [ - 6333, - 32 - ], - [ - 6404, - 168 - ], - [ - 6633, - 30 - ], - [ - 6704, - 167 - ], - [ - 6932, - 30 - ], - [ - 7004, - 167 - ], - [ - 7232, - 28 - ], - [ - 7304, - 166 - ], - [ - 7531, - 27 - ], - [ - 7596, - 2 - ], - [ - 7604, - 165 - ], - [ - 7831, - 26 - ], - [ - 7895, - 4 - ], - [ - 7905, - 164 - ], - [ - 8131, - 24 - ], - [ - 8194, - 5 - ], - [ - 8208, - 160 - ], - [ - 8430, - 24 - ], - [ - 8494, - 6 - ], - [ - 8512, - 156 - ], - [ - 8730, - 3 - ], - [ - 8739, - 14 - ], - [ - 8794, - 7 - ], - [ - 8817, - 150 - ], - [ - 9030, - 5 - ], - [ - 9041, - 10 - ], - [ - 9094, - 9 - ], - [ - 9118, - 149 - ], - [ - 9329, - 8 - ], - [ - 9342, - 8 - ], - [ - 9394, - 13 - ], - [ - 9419, - 148 - ], - [ - 9629, - 9 - ], - [ - 9644, - 5 - ], - [ - 9689, - 1 - ], - [ - 9695, - 16 - ], - [ - 9719, - 148 - ], - [ - 9929, - 10 - ], - [ - 9987, - 3 - ], - [ - 9997, - 16 - ], - [ - 10019, - 148 - ], - [ - 10228, - 13 - ], - [ - 10286, - 5 - ], - [ - 10298, - 15 - ], - [ - 10319, - 148 - ], - [ - 10528, - 14 - ], - [ - 10584, - 7 - ], - [ - 10598, - 169 - ], - [ - 10827, - 16 - ], - [ - 10883, - 9 - ], - [ - 10898, - 169 - ], - [ - 11127, - 18 - ], - [ - 11181, - 12 - ], - [ - 11196, - 171 - ], - [ - 11427, - 19 - ], - [ - 11479, - 188 - ], - [ - 11726, - 20 - ], - [ - 11777, - 189 - ], - [ - 12026, - 20 - ], - [ - 12075, - 191 - ], - [ - 12326, - 20 - ], - [ - 12375, - 191 - ], - [ - 12625, - 22 - ], - [ - 12676, - 190 - ], - [ - 12925, - 22 - ], - [ - 12976, - 190 - ], - [ - 13225, - 23 - ], - [ - 13275, - 191 - ], - [ - 13524, - 25 - ], - [ - 13572, - 194 - ], - [ - 13824, - 26 - ], - [ - 13873, - 193 - ], - [ - 14123, - 28 - ], - [ - 14173, - 193 - ], - [ - 14423, - 28 - ], - [ - 14472, - 194 - ], - [ - 14723, - 29 - ], - [ - 14772, - 70 - ], - [ - 14843, - 123 - ], - [ - 15022, - 32 - ], - [ - 15071, - 71 - ], - [ - 15143, - 123 - ], - [ - 15322, - 35 - ], - [ - 15364, - 1 - ], - [ - 15371, - 4 - ], - [ - 15376, - 65 - ], - [ - 15443, - 123 - ], - [ - 15622, - 42 - ], - [ - 15670, - 1 - ], - [ - 15678, - 63 - ], - [ - 15743, - 123 - ], - [ - 15921, - 43 - ], - [ - 15978, - 63 - ], - [ - 16043, - 123 - ], - [ - 16221, - 43 - ], - [ - 16277, - 63 - ], - [ - 16342, - 123 - ], - [ - 16521, - 43 - ], - [ - 16572, - 3 - ], - [ - 16576, - 53 - ], - [ - 16630, - 10 - ], - [ - 16642, - 123 - ], - [ - 16820, - 107 - ], - [ - 16931, - 9 - ], - [ - 16942, - 123 - ], - [ - 17120, - 105 - ], - [ - 17232, - 4 - ], - [ - 17241, - 124 - ], - [ - 17419, - 107 - ], - [ - 17533, - 3 - ], - [ - 17542, - 123 - ], - [ - 17719, - 108 - ], - [ - 17835, - 1 - ], - [ - 17843, - 122 - ], - [ - 18019, - 100 - ], - [ - 18122, - 6 - ], - [ - 18143, - 122 - ], - [ - 18318, - 101 - ], - [ - 18423, - 1 - ], - [ - 18425, - 4 - ], - [ - 18436, - 3 - ], - [ - 18441, - 124 - ], - [ - 18618, - 103 - ], - [ - 18727, - 4 - ], - [ - 18734, - 6 - ], - [ - 18741, - 124 - ], - [ - 18918, - 105 - ], - [ - 19031, - 134 - ], - [ - 19217, - 108 - ], - [ - 19331, - 2 - ], - [ - 19337, - 2 - ], - [ - 19340, - 125 - ], - [ - 19517, - 109 - ], - [ - 19631, - 1 - ], - [ - 19634, - 3 - ], - [ - 19638, - 127 - ], - [ - 19817, - 109 - ], - [ - 19933, - 5 - ], - [ - 19939, - 126 - ], - [ - 20116, - 116 - ], - [ - 20233, - 1 - ], - [ - 20238, - 127 - ], - [ - 20416, - 117 - ], - [ - 20537, - 128 - ], - [ - 20715, - 119 - ], - [ - 20838, - 126 - ], - [ - 21015, - 119 - ], - [ - 21138, - 126 - ], - [ - 21315, - 119 - ], - [ - 21439, - 125 - ], - [ - 21614, - 119 - ], - [ - 21741, - 123 - ], - [ - 21914, - 118 - ], - [ - 22043, - 121 - ], - [ - 22214, - 117 - ], - [ - 22343, - 121 - ], - [ - 22513, - 117 - ], - [ - 22642, - 122 - ], - [ - 22813, - 118 - ], - [ - 22941, - 123 - ], - [ - 23113, - 120 - ], - [ - 23240, - 124 - ], - [ - 23412, - 123 - ], - [ - 23539, - 125 - ], - [ - 23712, - 124 - ], - [ - 23838, - 126 - ], - [ - 24011, - 253 - ], - [ - 24311, - 253 - ], - [ - 24611, - 253 - ], - [ - 24910, - 254 - ], - [ - 25210, - 254 - ], - [ - 25510, - 255 - ], - [ - 25809, - 257 - ], - [ - 26109, - 257 - ], - [ - 26409, - 258 - ], - [ - 26708, - 260 - ], - [ - 27008, - 261 - ], - [ - 27307, - 264 - ], - [ - 27607, - 265 - ], - [ - 27907, - 266 - ], - [ - 28206, - 268 - ], - [ - 28506, - 269 - ], - [ - 28806, - 271 - ], - [ - 29105, - 273 - ], - [ - 29405, - 274 - ], - [ - 29705, - 275 - ], - [ - 30004, - 280 - ], - [ - 30304, - 286 - ], - [ - 30603, - 292 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 299 - ], - [ - 33001, - 11699 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "CellPhone|+01.26|+00.78|+00.19" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 136, - 111, - 157, - 143 - ], - "mask": [ - [ - 33138, - 18 - ], - [ - 33437, - 20 - ], - [ - 33737, - 20 - ], - [ - 34037, - 20 - ], - [ - 34337, - 20 - ], - [ - 34637, - 20 - ], - [ - 34937, - 20 - ], - [ - 35237, - 20 - ], - [ - 35537, - 20 - ], - [ - 35837, - 20 - ], - [ - 36137, - 20 - ], - [ - 36437, - 20 - ], - [ - 36737, - 20 - ], - [ - 37037, - 20 - ], - [ - 37337, - 20 - ], - [ - 37637, - 20 - ], - [ - 37937, - 20 - ], - [ - 38237, - 20 - ], - [ - 38537, - 20 - ], - [ - 38837, - 20 - ], - [ - 39136, - 21 - ], - [ - 39436, - 21 - ], - [ - 39736, - 21 - ], - [ - 40036, - 21 - ], - [ - 40336, - 22 - ], - [ - 40636, - 22 - ], - [ - 40936, - 22 - ], - [ - 41236, - 22 - ], - [ - 41536, - 22 - ], - [ - 41836, - 22 - ], - [ - 42136, - 22 - ], - [ - 42436, - 21 - ], - [ - 42737, - 20 - ] - ], - "point": [ - 146, - 126 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+01.26|+00.78|+00.19", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 36 - ], - [ - 4903, - 171 - ], - [ - 5134, - 36 - ], - [ - 5204, - 169 - ], - [ - 5434, - 34 - ], - [ - 5504, - 169 - ], - [ - 5734, - 33 - ], - [ - 5804, - 169 - ], - [ - 6033, - 33 - ], - [ - 6104, - 168 - ], - [ - 6333, - 32 - ], - [ - 6404, - 168 - ], - [ - 6633, - 30 - ], - [ - 6704, - 167 - ], - [ - 6932, - 30 - ], - [ - 7004, - 167 - ], - [ - 7232, - 28 - ], - [ - 7304, - 166 - ], - [ - 7531, - 27 - ], - [ - 7596, - 2 - ], - [ - 7604, - 165 - ], - [ - 7831, - 26 - ], - [ - 7895, - 4 - ], - [ - 7905, - 164 - ], - [ - 8131, - 24 - ], - [ - 8194, - 5 - ], - [ - 8208, - 160 - ], - [ - 8430, - 24 - ], - [ - 8494, - 6 - ], - [ - 8512, - 156 - ], - [ - 8730, - 3 - ], - [ - 8739, - 14 - ], - [ - 8794, - 7 - ], - [ - 8817, - 150 - ], - [ - 9030, - 5 - ], - [ - 9041, - 10 - ], - [ - 9094, - 9 - ], - [ - 9118, - 149 - ], - [ - 9329, - 8 - ], - [ - 9342, - 8 - ], - [ - 9394, - 13 - ], - [ - 9419, - 148 - ], - [ - 9629, - 9 - ], - [ - 9644, - 5 - ], - [ - 9689, - 1 - ], - [ - 9695, - 16 - ], - [ - 9719, - 148 - ], - [ - 9929, - 10 - ], - [ - 9987, - 3 - ], - [ - 9997, - 16 - ], - [ - 10019, - 148 - ], - [ - 10228, - 13 - ], - [ - 10286, - 5 - ], - [ - 10298, - 15 - ], - [ - 10319, - 148 - ], - [ - 10528, - 14 - ], - [ - 10584, - 7 - ], - [ - 10598, - 169 - ], - [ - 10827, - 16 - ], - [ - 10883, - 9 - ], - [ - 10898, - 169 - ], - [ - 11127, - 18 - ], - [ - 11181, - 12 - ], - [ - 11196, - 171 - ], - [ - 11427, - 19 - ], - [ - 11479, - 188 - ], - [ - 11726, - 20 - ], - [ - 11777, - 189 - ], - [ - 12026, - 20 - ], - [ - 12075, - 191 - ], - [ - 12326, - 20 - ], - [ - 12375, - 191 - ], - [ - 12625, - 22 - ], - [ - 12676, - 190 - ], - [ - 12925, - 22 - ], - [ - 12976, - 190 - ], - [ - 13225, - 23 - ], - [ - 13275, - 191 - ], - [ - 13524, - 25 - ], - [ - 13572, - 194 - ], - [ - 13824, - 26 - ], - [ - 13873, - 193 - ], - [ - 14123, - 28 - ], - [ - 14173, - 193 - ], - [ - 14423, - 28 - ], - [ - 14472, - 194 - ], - [ - 14723, - 29 - ], - [ - 14772, - 70 - ], - [ - 14843, - 123 - ], - [ - 15022, - 32 - ], - [ - 15071, - 71 - ], - [ - 15143, - 123 - ], - [ - 15322, - 35 - ], - [ - 15364, - 1 - ], - [ - 15371, - 4 - ], - [ - 15376, - 65 - ], - [ - 15443, - 123 - ], - [ - 15622, - 42 - ], - [ - 15670, - 1 - ], - [ - 15678, - 63 - ], - [ - 15743, - 123 - ], - [ - 15921, - 43 - ], - [ - 15978, - 63 - ], - [ - 16043, - 123 - ], - [ - 16221, - 43 - ], - [ - 16277, - 63 - ], - [ - 16342, - 123 - ], - [ - 16521, - 43 - ], - [ - 16572, - 3 - ], - [ - 16576, - 53 - ], - [ - 16630, - 10 - ], - [ - 16642, - 123 - ], - [ - 16820, - 107 - ], - [ - 16931, - 9 - ], - [ - 16942, - 123 - ], - [ - 17120, - 105 - ], - [ - 17232, - 4 - ], - [ - 17241, - 124 - ], - [ - 17419, - 107 - ], - [ - 17533, - 3 - ], - [ - 17542, - 123 - ], - [ - 17719, - 108 - ], - [ - 17835, - 1 - ], - [ - 17843, - 122 - ], - [ - 18019, - 100 - ], - [ - 18122, - 6 - ], - [ - 18143, - 122 - ], - [ - 18318, - 101 - ], - [ - 18423, - 1 - ], - [ - 18425, - 4 - ], - [ - 18436, - 3 - ], - [ - 18441, - 124 - ], - [ - 18618, - 103 - ], - [ - 18727, - 4 - ], - [ - 18734, - 6 - ], - [ - 18741, - 124 - ], - [ - 18918, - 105 - ], - [ - 19031, - 134 - ], - [ - 19217, - 108 - ], - [ - 19331, - 2 - ], - [ - 19337, - 2 - ], - [ - 19340, - 125 - ], - [ - 19517, - 109 - ], - [ - 19631, - 1 - ], - [ - 19634, - 3 - ], - [ - 19638, - 127 - ], - [ - 19817, - 109 - ], - [ - 19933, - 5 - ], - [ - 19939, - 126 - ], - [ - 20116, - 116 - ], - [ - 20233, - 1 - ], - [ - 20238, - 127 - ], - [ - 20416, - 117 - ], - [ - 20537, - 128 - ], - [ - 20715, - 119 - ], - [ - 20838, - 126 - ], - [ - 21015, - 119 - ], - [ - 21138, - 126 - ], - [ - 21315, - 119 - ], - [ - 21439, - 125 - ], - [ - 21614, - 119 - ], - [ - 21741, - 123 - ], - [ - 21914, - 118 - ], - [ - 22043, - 121 - ], - [ - 22214, - 117 - ], - [ - 22343, - 121 - ], - [ - 22513, - 117 - ], - [ - 22642, - 122 - ], - [ - 22813, - 118 - ], - [ - 22941, - 123 - ], - [ - 23113, - 120 - ], - [ - 23240, - 124 - ], - [ - 23412, - 123 - ], - [ - 23539, - 125 - ], - [ - 23712, - 124 - ], - [ - 23838, - 126 - ], - [ - 24011, - 253 - ], - [ - 24311, - 253 - ], - [ - 24611, - 253 - ], - [ - 24910, - 254 - ], - [ - 25210, - 254 - ], - [ - 25510, - 255 - ], - [ - 25809, - 257 - ], - [ - 26109, - 257 - ], - [ - 26409, - 258 - ], - [ - 26708, - 260 - ], - [ - 27008, - 261 - ], - [ - 27307, - 264 - ], - [ - 27607, - 265 - ], - [ - 27907, - 266 - ], - [ - 28206, - 268 - ], - [ - 28506, - 269 - ], - [ - 28806, - 271 - ], - [ - 29105, - 273 - ], - [ - 29405, - 274 - ], - [ - 29705, - 275 - ], - [ - 30004, - 280 - ], - [ - 30304, - 286 - ], - [ - 30603, - 292 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 299 - ], - [ - 33001, - 411 - ], - [ - 33459, - 252 - ], - [ - 33761, - 250 - ], - [ - 34061, - 249 - ], - [ - 34361, - 249 - ], - [ - 34661, - 249 - ], - [ - 34961, - 249 - ], - [ - 35261, - 249 - ], - [ - 35561, - 249 - ], - [ - 35861, - 249 - ], - [ - 36161, - 249 - ], - [ - 36461, - 249 - ], - [ - 36761, - 248 - ], - [ - 37061, - 248 - ], - [ - 37362, - 247 - ], - [ - 37662, - 247 - ], - [ - 37962, - 247 - ], - [ - 38262, - 247 - ], - [ - 38562, - 247 - ], - [ - 38862, - 247 - ], - [ - 39162, - 247 - ], - [ - 39462, - 247 - ], - [ - 39761, - 249 - ], - [ - 40061, - 4639 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.5, - "y": 0.9009992, - "z": 2.0 - }, - "object_poses": [ - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.69950008, - "y": 1.14646983, - "z": -2.07341766 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 1.26115906, - "y": 0.7753482, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.407115, - "y": 0.433210015, - "z": 1.58664954 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.74347711, - "y": 0.773138165, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.02, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 0.296522975, - "y": 0.774509549, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.65724206, - "y": 0.973890662, - "z": -0.5409817 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.73082709, - "y": 1.14617419, - "z": -1.73138285 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 0.296522975, - "y": 0.836844742, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.69950318, - "y": 1.14705348, - "z": -2.41545153 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": -1.628, - "y": 0.965303659, - "z": 0.084 - }, - "rotation": { - "x": 0.0, - "y": 104.999794, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.69949913, - "y": 1.64297473, - "z": -1.95940673 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.668169, - "y": 1.15183914, - "z": -1.95940626 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.43615413, - "y": 0.970796, - "z": 0.464283049 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 1.7310462, - "y": 0.686652839, - "z": 2.30805779 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.69146633, - "y": 0.438050777, - "z": 2.0067606 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.6086998, - "y": 0.605412841, - "z": 0.07277423 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": 1.576309, - "y": 0.68111527, - "z": 2.17273641 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.764, - "y": 0.9653037, - "z": -0.758 - }, - "rotation": { - "x": 0.0, - "y": 59.7189941, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3950005216, - "scene_num": 330 - }, - "task_id": "trial_T20190909_060924_095249", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1OWHPMKE7YAGL_32EYX73OY301K8APCXS3TG6LXEORUS", - "high_descs": [ - "Go forward to the dresser, hang a left and go to the wall, turn to the right to face the chair.", - "Pick up the cell phone that is closest to you on the chair. ", - "Turn to the left, go to the end of the bed and hang a left, go to the dresser that is on the right. ", - "Put the cell phone down on the dresser in front of the set of keys.", - "Turn to the right, go forward, hang a right and go to the foot of the bed where the computers are.", - "Pick up the cell phone that is on the bed. ", - "Turn to the right, go to the end of the bed, hang a left and go to the dresser that is on the right.", - "Put the cell phone down on the dresser to the right of the other cell phone." - ], - "task_desc": "Put two cell phones on a dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3A1PQ49WVK88MH5OE46P4AZIZ8ZH1S", - "high_descs": [ - "Turn left and walk to the chair on the left. ", - "Pick up the cell phone on the front edge of the cushion. ", - "Turn left and walk to the dresser to the right of the bed. ", - "Put the cell phone down in front of the keys on the dresser. ", - "Walk over to face the foot of the bed. ", - "Pick up the cell phone from the foot of the bed. ", - "Walk back over to the dresser to the right of the bed. ", - "Put the cell phone down on the dresser to the right of the first one. " - ], - "task_desc": "To move two cell phones to the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3QY7M81QHADDZTLY95QVIC6NUB47KK", - "high_descs": [ - "walk to face brown corner chair", - "pick up phone from chair", - "walk over to face the bureau", - "put the phone on top of bureau", - "walk to face bed edge", - "pick up phone from bed", - "walk over to face the bureau", - "put the phone on top of bureau" - ], - "task_desc": "put two phones on top of bureau", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/traj_data.json deleted file mode 100644 index 200b4cc1a..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/traj_data.json +++ /dev/null @@ -1,6077 +0,0 @@ -{ - "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": 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": 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": 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": 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": 20 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 1, - "image_name": "000000093.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "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": 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": 25 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 25 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 35 - }, - { - "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": 3, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "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": 39 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000401.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000402.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000403.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000404.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000405.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000406.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000407.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000408.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000409.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000410.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000411.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000412.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000413.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000414.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000415.png", - "low_idx": 91 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CellPhone", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-8|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - -6.672676, - -6.672676, - -7.83762504, - -7.83762504, - 4.5862584, - 4.5862584 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.798, - -6.798, - -8.228, - -8.228, - 4.5512, - 4.5512 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-01.67|+01.15|-01.96" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - -6.672676, - -6.672676, - -7.83762504, - -7.83762504, - 4.5862584, - 4.5862584 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|-01.67|+01.15|-01.96", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|5|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cellphone" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CellPhone", - [ - 10.375496, - 10.375496, - 6.67531492, - 6.67531492, - 1.73284006, - 1.73284006 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.648, - 9.648, - 7.98, - 7.98, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.59|+00.43|+01.67" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cellphone", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CellPhone", - [ - 10.375496, - 10.375496, - 6.67531492, - 6.67531492, - 1.73284006, - 1.73284006 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CellPhone|+02.59|+00.43|+01.67", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "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": "PickupObject", - "objectId": "CellPhone|-01.67|+01.15|-01.96" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 151, - 131, - 186, - 178 - ], - "mask": [ - [ - 39152, - 29 - ], - [ - 39451, - 31 - ], - [ - 39751, - 31 - ], - [ - 40051, - 31 - ], - [ - 40351, - 31 - ], - [ - 40651, - 32 - ], - [ - 40951, - 32 - ], - [ - 41251, - 32 - ], - [ - 41551, - 32 - ], - [ - 41851, - 32 - ], - [ - 42151, - 32 - ], - [ - 42451, - 32 - ], - [ - 42751, - 33 - ], - [ - 43051, - 33 - ], - [ - 43351, - 33 - ], - [ - 43651, - 33 - ], - [ - 43951, - 33 - ], - [ - 44251, - 33 - ], - [ - 44551, - 33 - ], - [ - 44851, - 33 - ], - [ - 45151, - 34 - ], - [ - 45451, - 34 - ], - [ - 45751, - 34 - ], - [ - 46051, - 34 - ], - [ - 46351, - 34 - ], - [ - 46651, - 34 - ], - [ - 46951, - 34 - ], - [ - 47251, - 35 - ], - [ - 47551, - 35 - ], - [ - 47851, - 35 - ], - [ - 48151, - 35 - ], - [ - 48451, - 34 - ], - [ - 48751, - 35 - ], - [ - 49051, - 35 - ], - [ - 49351, - 35 - ], - [ - 49651, - 36 - ], - [ - 49951, - 36 - ], - [ - 50251, - 36 - ], - [ - 50551, - 36 - ], - [ - 50851, - 36 - ], - [ - 51151, - 36 - ], - [ - 51451, - 36 - ], - [ - 51751, - 36 - ], - [ - 52051, - 36 - ], - [ - 52351, - 36 - ], - [ - 52652, - 35 - ], - [ - 52952, - 34 - ], - [ - 53255, - 28 - ] - ], - "point": [ - 168, - 153 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "CellPhone|-01.67|+01.15|-01.96", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4897, - 133 - ], - [ - 5048, - 19 - ], - [ - 5072, - 13 - ], - [ - 5092, - 8 - ], - [ - 5197, - 133 - ], - [ - 5350, - 17 - ], - [ - 5373, - 13 - ], - [ - 5394, - 6 - ], - [ - 5497, - 134 - ], - [ - 5650, - 17 - ], - [ - 5673, - 14 - ], - [ - 5695, - 5 - ], - [ - 5797, - 135 - ], - [ - 5950, - 17 - ], - [ - 5973, - 15 - ], - [ - 5996, - 4 - ], - [ - 6097, - 137 - ], - [ - 6249, - 20 - ], - [ - 6272, - 18 - ], - [ - 6296, - 4 - ], - [ - 6397, - 139 - ], - [ - 6548, - 42 - ], - [ - 6596, - 4 - ], - [ - 6697, - 142 - ], - [ - 6847, - 43 - ], - [ - 6896, - 4 - ], - [ - 6997, - 140 - ], - [ - 7145, - 46 - ], - [ - 7196, - 4 - ], - [ - 7297, - 42 - ], - [ - 7340, - 96 - ], - [ - 7443, - 51 - ], - [ - 7496, - 4 - ], - [ - 7597, - 41 - ], - [ - 7640, - 96 - ], - [ - 7744, - 56 - ], - [ - 7897, - 41 - ], - [ - 7940, - 96 - ], - [ - 8048, - 52 - ], - [ - 8197, - 41 - ], - [ - 8240, - 99 - ], - [ - 8349, - 51 - ], - [ - 8497, - 41 - ], - [ - 8540, - 103 - ], - [ - 8649, - 51 - ], - [ - 8797, - 41 - ], - [ - 8840, - 105 - ], - [ - 8948, - 52 - ], - [ - 9098, - 40 - ], - [ - 9140, - 160 - ], - [ - 9398, - 40 - ], - [ - 9440, - 160 - ], - [ - 9698, - 40 - ], - [ - 9740, - 160 - ], - [ - 9998, - 39 - ], - [ - 10040, - 159 - ], - [ - 10298, - 39 - ], - [ - 10340, - 159 - ], - [ - 10598, - 39 - ], - [ - 10640, - 159 - ], - [ - 10827, - 1 - ], - [ - 10898, - 39 - ], - [ - 10940, - 159 - ], - [ - 11127, - 2 - ], - [ - 11198, - 39 - ], - [ - 11240, - 159 - ], - [ - 11427, - 2 - ], - [ - 11498, - 39 - ], - [ - 11540, - 159 - ], - [ - 11726, - 4 - ], - [ - 11798, - 39 - ], - [ - 11840, - 159 - ], - [ - 12026, - 5 - ], - [ - 12098, - 39 - ], - [ - 12140, - 159 - ], - [ - 12326, - 5 - ], - [ - 12398, - 39 - ], - [ - 12440, - 160 - ], - [ - 12625, - 7 - ], - [ - 12697, - 40 - ], - [ - 12740, - 160 - ], - [ - 12925, - 8 - ], - [ - 12997, - 40 - ], - [ - 13040, - 160 - ], - [ - 13225, - 9 - ], - [ - 13297, - 40 - ], - [ - 13340, - 160 - ], - [ - 13524, - 10 - ], - [ - 13597, - 40 - ], - [ - 13640, - 160 - ], - [ - 13824, - 11 - ], - [ - 13897, - 40 - ], - [ - 13940, - 160 - ], - [ - 14123, - 13 - ], - [ - 14196, - 41 - ], - [ - 14240, - 160 - ], - [ - 14423, - 13 - ], - [ - 14496, - 41 - ], - [ - 14539, - 161 - ], - [ - 14723, - 14 - ], - [ - 14796, - 41 - ], - [ - 14839, - 161 - ], - [ - 15022, - 16 - ], - [ - 15096, - 41 - ], - [ - 15139, - 161 - ], - [ - 15322, - 16 - ], - [ - 15396, - 41 - ], - [ - 15439, - 161 - ], - [ - 15622, - 17 - ], - [ - 15695, - 42 - ], - [ - 15739, - 161 - ], - [ - 15921, - 19 - ], - [ - 15995, - 42 - ], - [ - 16039, - 161 - ], - [ - 16221, - 20 - ], - [ - 16295, - 42 - ], - [ - 16339, - 161 - ], - [ - 16521, - 21 - ], - [ - 16595, - 42 - ], - [ - 16639, - 161 - ], - [ - 16820, - 23 - ], - [ - 16895, - 42 - ], - [ - 16939, - 161 - ], - [ - 17120, - 24 - ], - [ - 17194, - 43 - ], - [ - 17239, - 161 - ], - [ - 17419, - 26 - ], - [ - 17494, - 43 - ], - [ - 17538, - 162 - ], - [ - 17719, - 27 - ], - [ - 17793, - 207 - ], - [ - 18019, - 28 - ], - [ - 18093, - 207 - ], - [ - 18318, - 30 - ], - [ - 18392, - 208 - ], - [ - 18618, - 31 - ], - [ - 18692, - 208 - ], - [ - 18918, - 32 - ], - [ - 18991, - 209 - ], - [ - 19217, - 34 - ], - [ - 19291, - 209 - ], - [ - 19517, - 35 - ], - [ - 19590, - 210 - ], - [ - 19817, - 36 - ], - [ - 19890, - 210 - ], - [ - 20116, - 38 - ], - [ - 20189, - 211 - ], - [ - 20416, - 40 - ], - [ - 20488, - 212 - ], - [ - 20715, - 42 - ], - [ - 20787, - 213 - ], - [ - 21015, - 44 - ], - [ - 21086, - 214 - ], - [ - 21315, - 45 - ], - [ - 21385, - 215 - ], - [ - 21614, - 48 - ], - [ - 21684, - 216 - ], - [ - 21914, - 50 - ], - [ - 21982, - 218 - ], - [ - 22214, - 54 - ], - [ - 22280, - 220 - ], - [ - 22513, - 60 - ], - [ - 22574, - 226 - ], - [ - 22813, - 287 - ], - [ - 23113, - 287 - ], - [ - 23412, - 288 - ], - [ - 23712, - 288 - ], - [ - 24011, - 289 - ], - [ - 24311, - 289 - ], - [ - 24611, - 289 - ], - [ - 24910, - 290 - ], - [ - 25210, - 290 - ], - [ - 25510, - 290 - ], - [ - 25809, - 291 - ], - [ - 26109, - 291 - ], - [ - 26409, - 291 - ], - [ - 26708, - 292 - ], - [ - 27008, - 193 - ], - [ - 27202, - 98 - ], - [ - 27307, - 188 - ], - [ - 27508, - 92 - ], - [ - 27607, - 186 - ], - [ - 27811, - 89 - ], - [ - 27907, - 184 - ], - [ - 28113, - 87 - ], - [ - 28206, - 183 - ], - [ - 28415, - 85 - ], - [ - 28506, - 182 - ], - [ - 28716, - 84 - ], - [ - 28806, - 181 - ], - [ - 29017, - 83 - ], - [ - 29105, - 182 - ], - [ - 29318, - 82 - ], - [ - 29405, - 181 - ], - [ - 29619, - 81 - ], - [ - 29705, - 180 - ], - [ - 29920, - 80 - ], - [ - 30004, - 181 - ], - [ - 30220, - 80 - ], - [ - 30304, - 181 - ], - [ - 30521, - 79 - ], - [ - 30603, - 182 - ], - [ - 30802, - 2 - ], - [ - 30821, - 79 - ], - [ - 30903, - 182 - ], - [ - 31100, - 6 - ], - [ - 31121, - 79 - ], - [ - 31203, - 182 - ], - [ - 31400, - 6 - ], - [ - 31422, - 78 - ], - [ - 31502, - 183 - ], - [ - 31701, - 5 - ], - [ - 31722, - 78 - ], - [ - 31802, - 183 - ], - [ - 32002, - 3 - ], - [ - 32022, - 78 - ], - [ - 32102, - 184 - ], - [ - 32322, - 78 - ], - [ - 32401, - 185 - ], - [ - 32621, - 79 - ], - [ - 32701, - 185 - ], - [ - 32921, - 79 - ], - [ - 33001, - 186 - ], - [ - 33221, - 267 - ], - [ - 33520, - 269 - ], - [ - 33820, - 269 - ], - [ - 34119, - 271 - ], - [ - 34418, - 274 - ], - [ - 34717, - 277 - ], - [ - 35016, - 280 - ], - [ - 35314, - 284 - ], - [ - 35612, - 292 - ], - [ - 35905, - 8795 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CellPhone|+02.59|+00.43|+01.67" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 154, - 188, - 186, - 203 - ], - "mask": [ - [ - 56262, - 23 - ], - [ - 56561, - 25 - ], - [ - 56859, - 27 - ], - [ - 57158, - 28 - ], - [ - 57456, - 30 - ], - [ - 57755, - 31 - ], - [ - 58054, - 32 - ], - [ - 58354, - 32 - ], - [ - 58654, - 32 - ], - [ - 58954, - 33 - ], - [ - 59254, - 33 - ], - [ - 59554, - 33 - ], - [ - 59854, - 33 - ], - [ - 60154, - 33 - ], - [ - 60455, - 32 - ], - [ - 60755, - 31 - ] - ], - "point": [ - 170, - 194 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CellPhone|+02.59|+00.43|+01.67", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4897, - 133 - ], - [ - 5048, - 19 - ], - [ - 5072, - 13 - ], - [ - 5092, - 8 - ], - [ - 5197, - 133 - ], - [ - 5350, - 17 - ], - [ - 5373, - 13 - ], - [ - 5394, - 6 - ], - [ - 5497, - 134 - ], - [ - 5650, - 17 - ], - [ - 5673, - 14 - ], - [ - 5695, - 5 - ], - [ - 5797, - 135 - ], - [ - 5950, - 17 - ], - [ - 5973, - 15 - ], - [ - 5996, - 4 - ], - [ - 6097, - 137 - ], - [ - 6249, - 20 - ], - [ - 6272, - 18 - ], - [ - 6296, - 4 - ], - [ - 6397, - 139 - ], - [ - 6548, - 42 - ], - [ - 6596, - 4 - ], - [ - 6697, - 142 - ], - [ - 6847, - 43 - ], - [ - 6896, - 4 - ], - [ - 6997, - 140 - ], - [ - 7145, - 46 - ], - [ - 7196, - 4 - ], - [ - 7297, - 42 - ], - [ - 7340, - 96 - ], - [ - 7443, - 51 - ], - [ - 7496, - 4 - ], - [ - 7597, - 41 - ], - [ - 7640, - 96 - ], - [ - 7744, - 56 - ], - [ - 7897, - 41 - ], - [ - 7940, - 96 - ], - [ - 8048, - 52 - ], - [ - 8197, - 41 - ], - [ - 8240, - 99 - ], - [ - 8349, - 51 - ], - [ - 8497, - 41 - ], - [ - 8540, - 103 - ], - [ - 8649, - 51 - ], - [ - 8797, - 41 - ], - [ - 8840, - 105 - ], - [ - 8948, - 52 - ], - [ - 9098, - 40 - ], - [ - 9140, - 160 - ], - [ - 9398, - 40 - ], - [ - 9440, - 160 - ], - [ - 9698, - 40 - ], - [ - 9740, - 160 - ], - [ - 9998, - 39 - ], - [ - 10040, - 159 - ], - [ - 10298, - 39 - ], - [ - 10340, - 159 - ], - [ - 10598, - 39 - ], - [ - 10640, - 159 - ], - [ - 10827, - 1 - ], - [ - 10898, - 39 - ], - [ - 10940, - 159 - ], - [ - 11127, - 2 - ], - [ - 11198, - 39 - ], - [ - 11240, - 159 - ], - [ - 11427, - 2 - ], - [ - 11498, - 39 - ], - [ - 11540, - 159 - ], - [ - 11726, - 4 - ], - [ - 11798, - 39 - ], - [ - 11840, - 159 - ], - [ - 12026, - 5 - ], - [ - 12098, - 39 - ], - [ - 12140, - 159 - ], - [ - 12326, - 5 - ], - [ - 12398, - 39 - ], - [ - 12440, - 160 - ], - [ - 12625, - 7 - ], - [ - 12697, - 40 - ], - [ - 12740, - 160 - ], - [ - 12925, - 8 - ], - [ - 12997, - 40 - ], - [ - 13040, - 160 - ], - [ - 13225, - 9 - ], - [ - 13297, - 40 - ], - [ - 13340, - 160 - ], - [ - 13524, - 10 - ], - [ - 13597, - 40 - ], - [ - 13640, - 160 - ], - [ - 13824, - 11 - ], - [ - 13897, - 40 - ], - [ - 13940, - 160 - ], - [ - 14123, - 13 - ], - [ - 14196, - 41 - ], - [ - 14240, - 160 - ], - [ - 14423, - 13 - ], - [ - 14496, - 41 - ], - [ - 14539, - 161 - ], - [ - 14723, - 14 - ], - [ - 14796, - 41 - ], - [ - 14839, - 161 - ], - [ - 15022, - 16 - ], - [ - 15096, - 41 - ], - [ - 15139, - 161 - ], - [ - 15322, - 16 - ], - [ - 15396, - 41 - ], - [ - 15439, - 161 - ], - [ - 15622, - 17 - ], - [ - 15695, - 42 - ], - [ - 15739, - 161 - ], - [ - 15921, - 19 - ], - [ - 15995, - 42 - ], - [ - 16039, - 161 - ], - [ - 16221, - 20 - ], - [ - 16295, - 42 - ], - [ - 16339, - 161 - ], - [ - 16521, - 21 - ], - [ - 16595, - 42 - ], - [ - 16639, - 161 - ], - [ - 16820, - 23 - ], - [ - 16895, - 42 - ], - [ - 16939, - 161 - ], - [ - 17120, - 24 - ], - [ - 17194, - 43 - ], - [ - 17239, - 161 - ], - [ - 17419, - 26 - ], - [ - 17494, - 43 - ], - [ - 17538, - 162 - ], - [ - 17719, - 27 - ], - [ - 17793, - 207 - ], - [ - 18019, - 28 - ], - [ - 18093, - 207 - ], - [ - 18318, - 30 - ], - [ - 18392, - 208 - ], - [ - 18618, - 31 - ], - [ - 18692, - 208 - ], - [ - 18918, - 32 - ], - [ - 18991, - 209 - ], - [ - 19217, - 34 - ], - [ - 19291, - 209 - ], - [ - 19517, - 35 - ], - [ - 19590, - 210 - ], - [ - 19817, - 36 - ], - [ - 19890, - 210 - ], - [ - 20116, - 38 - ], - [ - 20189, - 211 - ], - [ - 20416, - 40 - ], - [ - 20488, - 212 - ], - [ - 20715, - 42 - ], - [ - 20787, - 213 - ], - [ - 21015, - 44 - ], - [ - 21086, - 214 - ], - [ - 21315, - 45 - ], - [ - 21385, - 215 - ], - [ - 21614, - 48 - ], - [ - 21684, - 216 - ], - [ - 21914, - 50 - ], - [ - 21982, - 218 - ], - [ - 22214, - 54 - ], - [ - 22280, - 220 - ], - [ - 22513, - 60 - ], - [ - 22574, - 226 - ], - [ - 22813, - 287 - ], - [ - 23113, - 287 - ], - [ - 23412, - 288 - ], - [ - 23712, - 288 - ], - [ - 24011, - 289 - ], - [ - 24311, - 289 - ], - [ - 24611, - 289 - ], - [ - 24910, - 290 - ], - [ - 25210, - 290 - ], - [ - 25510, - 290 - ], - [ - 25809, - 291 - ], - [ - 26109, - 291 - ], - [ - 26409, - 291 - ], - [ - 26708, - 292 - ], - [ - 27008, - 193 - ], - [ - 27202, - 98 - ], - [ - 27307, - 188 - ], - [ - 27508, - 92 - ], - [ - 27607, - 186 - ], - [ - 27811, - 89 - ], - [ - 27907, - 184 - ], - [ - 28113, - 87 - ], - [ - 28206, - 183 - ], - [ - 28415, - 85 - ], - [ - 28506, - 182 - ], - [ - 28716, - 84 - ], - [ - 28806, - 181 - ], - [ - 29017, - 83 - ], - [ - 29105, - 182 - ], - [ - 29318, - 82 - ], - [ - 29405, - 181 - ], - [ - 29619, - 81 - ], - [ - 29705, - 180 - ], - [ - 29920, - 80 - ], - [ - 30004, - 181 - ], - [ - 30220, - 80 - ], - [ - 30304, - 181 - ], - [ - 30521, - 79 - ], - [ - 30603, - 182 - ], - [ - 30802, - 2 - ], - [ - 30821, - 79 - ], - [ - 30903, - 182 - ], - [ - 31100, - 6 - ], - [ - 31121, - 79 - ], - [ - 31203, - 182 - ], - [ - 31400, - 6 - ], - [ - 31422, - 78 - ], - [ - 31502, - 183 - ], - [ - 31701, - 5 - ], - [ - 31722, - 78 - ], - [ - 31802, - 183 - ], - [ - 32002, - 3 - ], - [ - 32022, - 78 - ], - [ - 32102, - 184 - ], - [ - 32322, - 78 - ], - [ - 32401, - 185 - ], - [ - 32621, - 79 - ], - [ - 32701, - 185 - ], - [ - 32921, - 79 - ], - [ - 33001, - 186 - ], - [ - 33221, - 191 - ], - [ - 33459, - 29 - ], - [ - 33520, - 191 - ], - [ - 33761, - 28 - ], - [ - 33820, - 191 - ], - [ - 34061, - 28 - ], - [ - 34119, - 191 - ], - [ - 34361, - 29 - ], - [ - 34418, - 192 - ], - [ - 34661, - 31 - ], - [ - 34717, - 193 - ], - [ - 34961, - 33 - ], - [ - 35016, - 194 - ], - [ - 35261, - 35 - ], - [ - 35314, - 196 - ], - [ - 35561, - 37 - ], - [ - 35612, - 198 - ], - [ - 35861, - 43 - ], - [ - 35905, - 205 - ], - [ - 36161, - 249 - ], - [ - 36461, - 249 - ], - [ - 36761, - 248 - ], - [ - 37061, - 248 - ], - [ - 37362, - 247 - ], - [ - 37662, - 247 - ], - [ - 37962, - 247 - ], - [ - 38262, - 247 - ], - [ - 38562, - 247 - ], - [ - 38862, - 247 - ], - [ - 39162, - 247 - ], - [ - 39462, - 247 - ], - [ - 39761, - 249 - ], - [ - 40061, - 4639 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.5, - "y": 0.9009992, - "z": 1.0 - }, - "object_poses": [ - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.65724361, - "y": 0.970915258, - "z": 0.0621768236 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": 1.7310462, - "y": 0.6816989, - "z": 2.30805779 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.87833357, - "y": 0.9808639, - "z": -0.138876557 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.43615413, - "y": 0.971910357, - "z": 0.464283049 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 2.20589733, - "y": 0.6806067, - "z": -1.58171964 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.593874, - "y": 0.433210015, - "z": 1.66882873 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 2.360633, - "y": 0.686652839, - "z": -1.58172143 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.73082876, - "y": 1.63940215, - "z": -1.9594065 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.60869789, - "y": 0.604777455, - "z": -0.7213856 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.80463767, - "y": 0.9706196, - "z": 0.2632293 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.664927, - "y": 0.4095774, - "z": -0.443936765 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 2.128781, - "y": 0.434587, - "z": 1.5905987 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.65724409, - "y": 0.972123265, - "z": 0.263229668 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 2.410725, - "y": 0.5136745, - "z": 1.84108567 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": 1.65367627, - "y": 0.6816989, - "z": 2.12762761 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.02, - "y": 0.773138165, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65724158, - "y": 0.9774631, - "z": -0.742034554 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.66445374, - "y": 0.222420111, - "z": -0.8155019 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.69146633, - "y": 0.437836736, - "z": 2.0067606 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.80463564, - "y": 0.9764528, - "z": -0.540982068 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": -1.668169, - "y": 1.1465646, - "z": -1.95940626 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.509849, - "y": 0.971910357, - "z": -0.339928567 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.69950318, - "y": 1.63793039, - "z": -2.41544962 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.699498, - "y": 1.15641856, - "z": -1.84539437 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2617004638, - "scene_num": 330 - }, - "task_id": "trial_T20190909_061014_837929", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1HKHM4NVAO98H_36PW28KO42NSWVRMKMRCU8V8BM1EAL", - "high_descs": [ - "turn around and walk past the foot of the bed on your left, then turn left and walk to the end of the room, then turn right to face the tall black cabinet", - "grab the cellphone off of the cabinet", - "turn right and walk over to the shorter dresser on the left side just up ahead", - "place the cellphone down on top of the dresser there", - "turn around and walk over to the chair in the left side corner of the room", - "grab the cellphone off of the chair there", - "turn left and walk back over to the shorter dresser at the end of the room now on the left", - "place the cellphone down on top of the dresser" - ], - "task_desc": "place two cellphones on top of the black dresser", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3OS4RQUCRC6PLJWALBBE710E555FB3", - "high_descs": [ - "walk to face bureau", - "pick up red phone from top of bureau", - "move to the right to face shorter bureau", - "put phone on top of bureau", - "move to face plush brown chair", - "pick up phone from chair", - "move to face shorter bureau", - "put phone on top of bureau" - ], - "task_desc": "put two phones on top of bureau", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3K5TEWLKGY2O4OW6R08ZBA7DOPPVIS", - "high_descs": [ - "Turn around and go past the bed and turn to your right, go to the window then turn to your right again and go to the dresser across from you. ", - "Pick up the cell phone to the left of the golden dog. ", - "Turn to your right and go to the left side of the dresser to your left. ", - "Place the cell phone on the dresser, above the first drawer, on the left. ", - "Turn to your right and go past the bed, then turn to your right again and go to the arm chair across the room, to your left. ", - "Pick up the cell phone on the right side of the chair. ", - "Turn to your left and go across the room, then make a left after the bed and go back to the left end of the dresser on your right. ", - "Place the cell phone on the CD to the right of the other cell phone. " - ], - "task_desc": "Put two phones on the dresser. ", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_043229_211174/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_043229_211174/traj_data.json deleted file mode 100644 index ec1550c64..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_043229_211174/traj_data.json +++ /dev/null @@ -1,5591 +0,0 @@ -{ - "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": 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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 23 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 24 - }, - { - "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": 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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 29 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 67 - }, - { - "high_idx": 7, - "image_name": "000000355.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000356.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000357.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000358.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000359.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000360.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000361.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000362.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000363.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000364.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000365.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000366.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000367.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000368.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000369.png", - "low_idx": 68 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Cloth", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "cloth" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -5.15217064, - -5.15217064, - -7.74618912, - -7.74618912, - 0.0037065148, - 0.0037065148 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.29|+00.00|-01.94" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -5.15217064, - -5.15217064, - -7.74618912, - -7.74618912, - 0.0037065148, - 0.0037065148 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.29|+00.00|-01.94", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "cloth" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -4.58410452, - -4.58410452, - -8.4944668, - -8.4944668, - 0.0037065148, - 0.0037065148 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.15|+00.00|-02.12" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -4.58410452, - -4.58410452, - -8.4944668, - -8.4944668, - 0.0037065148, - 0.0037065148 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.15|+00.00|-02.12", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|-01.29|+00.00|-01.94" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 138, - 245, - 176, - 280 - ], - "mask": [ - [ - 73361, - 2 - ], - [ - 73649, - 3 - ], - [ - 73661, - 3 - ], - [ - 73947, - 6 - ], - [ - 73960, - 5 - ], - [ - 74245, - 8 - ], - [ - 74259, - 6 - ], - [ - 74544, - 8 - ], - [ - 74558, - 8 - ], - [ - 74843, - 8 - ], - [ - 74857, - 10 - ], - [ - 75142, - 10 - ], - [ - 75154, - 1 - ], - [ - 75157, - 10 - ], - [ - 75441, - 11 - ], - [ - 75454, - 1 - ], - [ - 75456, - 12 - ], - [ - 75741, - 12 - ], - [ - 75754, - 1 - ], - [ - 75756, - 12 - ], - [ - 76041, - 13 - ], - [ - 76055, - 14 - ], - [ - 76343, - 11 - ], - [ - 76355, - 13 - ], - [ - 76645, - 23 - ], - [ - 76946, - 21 - ], - [ - 77247, - 19 - ], - [ - 77547, - 18 - ], - [ - 77848, - 16 - ], - [ - 78149, - 16 - ], - [ - 78450, - 15 - ], - [ - 78469, - 4 - ], - [ - 78749, - 16 - ], - [ - 78766, - 8 - ], - [ - 79045, - 1 - ], - [ - 79048, - 27 - ], - [ - 79342, - 34 - ], - [ - 79641, - 35 - ], - [ - 79940, - 37 - ], - [ - 80240, - 37 - ], - [ - 80539, - 37 - ], - [ - 80838, - 37 - ], - [ - 81138, - 36 - ], - [ - 81438, - 16 - ], - [ - 81455, - 18 - ], - [ - 81738, - 15 - ], - [ - 81755, - 17 - ], - [ - 82040, - 13 - ], - [ - 82055, - 15 - ], - [ - 82341, - 11 - ], - [ - 82355, - 13 - ], - [ - 82643, - 9 - ], - [ - 82655, - 3 - ], - [ - 82660, - 6 - ], - [ - 82944, - 8 - ], - [ - 82956, - 1 - ], - [ - 83245, - 7 - ], - [ - 83547, - 5 - ], - [ - 83848, - 4 - ] - ], - "point": [ - 157, - 261 - ] - } - }, - "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": "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": "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": "Cloth|-01.29|+00.00|-01.94", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 256 - ], - [ - 3009, - 255 - ], - [ - 3308, - 256 - ], - [ - 3608, - 256 - ], - [ - 3907, - 256 - ], - [ - 4207, - 256 - ], - [ - 4507, - 256 - ], - [ - 4806, - 256 - ], - [ - 5106, - 256 - ], - [ - 5405, - 257 - ], - [ - 5705, - 257 - ], - [ - 6004, - 257 - ], - [ - 6304, - 257 - ], - [ - 6603, - 258 - ], - [ - 6903, - 258 - ], - [ - 7202, - 259 - ], - [ - 7502, - 259 - ], - [ - 7802, - 259 - ], - [ - 8101, - 260 - ], - [ - 8401, - 52 - ], - [ - 8454, - 207 - ], - [ - 8700, - 53 - ], - [ - 8754, - 207 - ], - [ - 9000, - 52 - ], - [ - 9055, - 206 - ], - [ - 9300, - 52 - ], - [ - 9355, - 206 - ], - [ - 9600, - 51 - ], - [ - 9655, - 206 - ], - [ - 9900, - 51 - ], - [ - 9954, - 207 - ], - [ - 10200, - 51 - ], - [ - 10254, - 208 - ], - [ - 10500, - 50 - ], - [ - 10554, - 208 - ], - [ - 10800, - 50 - ], - [ - 10854, - 208 - ], - [ - 11100, - 50 - ], - [ - 11153, - 209 - ], - [ - 11400, - 50 - ], - [ - 11453, - 210 - ], - [ - 11700, - 49 - ], - [ - 11752, - 211 - ], - [ - 12000, - 49 - ], - [ - 12052, - 211 - ], - [ - 12300, - 49 - ], - [ - 12352, - 167 - ], - [ - 12521, - 43 - ], - [ - 12600, - 48 - ], - [ - 12651, - 168 - ], - [ - 12821, - 43 - ], - [ - 12900, - 48 - ], - [ - 12951, - 168 - ], - [ - 13122, - 42 - ], - [ - 13200, - 48 - ], - [ - 13251, - 108 - ], - [ - 13373, - 47 - ], - [ - 13422, - 43 - ], - [ - 13500, - 47 - ], - [ - 13550, - 104 - ], - [ - 13678, - 42 - ], - [ - 13722, - 43 - ], - [ - 13800, - 47 - ], - [ - 13850, - 100 - ], - [ - 13982, - 38 - ], - [ - 14022, - 43 - ], - [ - 14100, - 47 - ], - [ - 14150, - 97 - ], - [ - 14285, - 35 - ], - [ - 14322, - 44 - ], - [ - 14400, - 47 - ], - [ - 14450, - 95 - ], - [ - 14587, - 33 - ], - [ - 14623, - 43 - ], - [ - 14700, - 46 - ], - [ - 14749, - 94 - ], - [ - 14889, - 32 - ], - [ - 14923, - 43 - ], - [ - 15000, - 46 - ], - [ - 15049, - 92 - ], - [ - 15191, - 30 - ], - [ - 15223, - 44 - ], - [ - 15300, - 46 - ], - [ - 15349, - 90 - ], - [ - 15493, - 28 - ], - [ - 15523, - 44 - ], - [ - 15600, - 45 - ], - [ - 15648, - 90 - ], - [ - 15794, - 27 - ], - [ - 15823, - 44 - ], - [ - 15900, - 45 - ], - [ - 15948, - 89 - ], - [ - 16096, - 25 - ], - [ - 16124, - 44 - ], - [ - 16200, - 45 - ], - [ - 16248, - 88 - ], - [ - 16397, - 25 - ], - [ - 16424, - 44 - ], - [ - 16500, - 44 - ], - [ - 16547, - 88 - ], - [ - 16698, - 24 - ], - [ - 16724, - 45 - ], - [ - 16800, - 44 - ], - [ - 16847, - 87 - ], - [ - 16999, - 23 - ], - [ - 17024, - 45 - ], - [ - 17100, - 44 - ], - [ - 17147, - 86 - ], - [ - 17300, - 22 - ], - [ - 17325, - 46 - ], - [ - 17400, - 44 - ], - [ - 17447, - 85 - ], - [ - 17601, - 21 - ], - [ - 17625, - 118 - ], - [ - 17746, - 85 - ], - [ - 17902, - 21 - ], - [ - 17925, - 118 - ], - [ - 18046, - 85 - ], - [ - 18203, - 20 - ], - [ - 18225, - 118 - ], - [ - 18346, - 84 - ], - [ - 18503, - 20 - ], - [ - 18525, - 118 - ], - [ - 18645, - 85 - ], - [ - 18804, - 19 - ], - [ - 18826, - 117 - ], - [ - 18944, - 85 - ], - [ - 19104, - 19 - ], - [ - 19126, - 117 - ], - [ - 19244, - 85 - ], - [ - 19405, - 19 - ], - [ - 19426, - 202 - ], - [ - 19706, - 18 - ], - [ - 19726, - 202 - ], - [ - 20006, - 11 - ], - [ - 20033, - 195 - ], - [ - 20306, - 11 - ], - [ - 20333, - 195 - ], - [ - 20606, - 11 - ], - [ - 20634, - 193 - ], - [ - 20907, - 11 - ], - [ - 20934, - 193 - ], - [ - 21207, - 11 - ], - [ - 21234, - 193 - ], - [ - 21507, - 11 - ], - [ - 21534, - 193 - ], - [ - 21807, - 11 - ], - [ - 21834, - 193 - ], - [ - 22107, - 11 - ], - [ - 22135, - 192 - ], - [ - 22407, - 11 - ], - [ - 22435, - 192 - ], - [ - 22707, - 12 - ], - [ - 22735, - 193 - ], - [ - 23007, - 12 - ], - [ - 23035, - 193 - ], - [ - 23307, - 12 - ], - [ - 23336, - 192 - ], - [ - 23607, - 12 - ], - [ - 23636, - 193 - ], - [ - 23906, - 13 - ], - [ - 23936, - 193 - ], - [ - 24206, - 14 - ], - [ - 24236, - 193 - ], - [ - 24506, - 14 - ], - [ - 24536, - 194 - ], - [ - 24806, - 14 - ], - [ - 24837, - 193 - ], - [ - 25105, - 15 - ], - [ - 25137, - 194 - ], - [ - 25404, - 17 - ], - [ - 25437, - 195 - ], - [ - 25704, - 228 - ], - [ - 26003, - 230 - ], - [ - 26303, - 230 - ], - [ - 26602, - 232 - ], - [ - 26901, - 234 - ], - [ - 27200, - 235 - ], - [ - 27499, - 237 - ], - [ - 27798, - 239 - ], - [ - 28098, - 239 - ], - [ - 28397, - 241 - ], - [ - 28696, - 242 - ], - [ - 28995, - 244 - ], - [ - 29294, - 246 - ], - [ - 29593, - 247 - ], - [ - 29892, - 249 - ], - [ - 30192, - 250 - ], - [ - 30491, - 251 - ], - [ - 30790, - 253 - ], - [ - 31089, - 255 - ], - [ - 31388, - 257 - ], - [ - 31687, - 260 - ], - [ - 31986, - 262 - ], - [ - 32284, - 266 - ], - [ - 32583, - 269 - ], - [ - 32881, - 273 - ], - [ - 33179, - 279 - ], - [ - 33475, - 289 - ], - [ - 33769, - 6431 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 134, - 55 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "PickupObject", - "objectId": "Cloth|-01.15|+00.00|-02.12" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 116, - 217, - 148, - 246 - ], - "mask": [ - [ - 64941, - 1 - ], - [ - 65224, - 3 - ], - [ - 65241, - 2 - ], - [ - 65522, - 5 - ], - [ - 65540, - 2 - ], - [ - 65821, - 7 - ], - [ - 65837, - 5 - ], - [ - 66120, - 10 - ], - [ - 66135, - 7 - ], - [ - 66419, - 15 - ], - [ - 66435, - 6 - ], - [ - 66719, - 14 - ], - [ - 66735, - 9 - ], - [ - 66746, - 2 - ], - [ - 67018, - 16 - ], - [ - 67035, - 9 - ], - [ - 67045, - 4 - ], - [ - 67319, - 29 - ], - [ - 67619, - 1 - ], - [ - 67622, - 26 - ], - [ - 67921, - 26 - ], - [ - 68221, - 25 - ], - [ - 68521, - 2 - ], - [ - 68524, - 22 - ], - [ - 68823, - 23 - ], - [ - 69122, - 2 - ], - [ - 69125, - 20 - ], - [ - 69421, - 3 - ], - [ - 69425, - 19 - ], - [ - 69720, - 3 - ], - [ - 69726, - 18 - ], - [ - 70017, - 26 - ], - [ - 70317, - 25 - ], - [ - 70616, - 25 - ], - [ - 70916, - 25 - ], - [ - 71217, - 23 - ], - [ - 71517, - 22 - ], - [ - 71817, - 21 - ], - [ - 72116, - 21 - ], - [ - 72416, - 20 - ], - [ - 72718, - 16 - ], - [ - 73021, - 12 - ], - [ - 73323, - 9 - ], - [ - 73626, - 6 - ] - ], - "point": [ - 132, - 230 - ] - } - }, - "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": "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": "PutObject", - "forceAction": true, - "objectId": "Cloth|-01.15|+00.00|-02.12", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 256 - ], - [ - 3009, - 255 - ], - [ - 3308, - 256 - ], - [ - 3608, - 256 - ], - [ - 3907, - 256 - ], - [ - 4207, - 256 - ], - [ - 4507, - 256 - ], - [ - 4806, - 256 - ], - [ - 5106, - 256 - ], - [ - 5405, - 257 - ], - [ - 5705, - 257 - ], - [ - 6004, - 257 - ], - [ - 6304, - 257 - ], - [ - 6603, - 258 - ], - [ - 6903, - 258 - ], - [ - 7202, - 259 - ], - [ - 7502, - 259 - ], - [ - 7802, - 259 - ], - [ - 8101, - 260 - ], - [ - 8401, - 52 - ], - [ - 8454, - 207 - ], - [ - 8700, - 53 - ], - [ - 8754, - 207 - ], - [ - 9000, - 52 - ], - [ - 9055, - 206 - ], - [ - 9300, - 52 - ], - [ - 9355, - 206 - ], - [ - 9600, - 51 - ], - [ - 9655, - 206 - ], - [ - 9900, - 51 - ], - [ - 9954, - 207 - ], - [ - 10200, - 51 - ], - [ - 10254, - 208 - ], - [ - 10500, - 50 - ], - [ - 10554, - 208 - ], - [ - 10800, - 50 - ], - [ - 10854, - 208 - ], - [ - 11100, - 50 - ], - [ - 11153, - 209 - ], - [ - 11400, - 50 - ], - [ - 11453, - 210 - ], - [ - 11700, - 49 - ], - [ - 11752, - 211 - ], - [ - 12000, - 49 - ], - [ - 12052, - 211 - ], - [ - 12300, - 49 - ], - [ - 12352, - 167 - ], - [ - 12521, - 43 - ], - [ - 12600, - 48 - ], - [ - 12651, - 168 - ], - [ - 12821, - 43 - ], - [ - 12900, - 48 - ], - [ - 12951, - 168 - ], - [ - 13122, - 42 - ], - [ - 13200, - 48 - ], - [ - 13251, - 108 - ], - [ - 13373, - 47 - ], - [ - 13422, - 43 - ], - [ - 13500, - 47 - ], - [ - 13550, - 104 - ], - [ - 13678, - 42 - ], - [ - 13722, - 43 - ], - [ - 13800, - 47 - ], - [ - 13850, - 100 - ], - [ - 13982, - 38 - ], - [ - 14022, - 43 - ], - [ - 14100, - 47 - ], - [ - 14150, - 97 - ], - [ - 14285, - 35 - ], - [ - 14322, - 44 - ], - [ - 14400, - 47 - ], - [ - 14450, - 95 - ], - [ - 14587, - 33 - ], - [ - 14623, - 43 - ], - [ - 14700, - 46 - ], - [ - 14749, - 94 - ], - [ - 14889, - 32 - ], - [ - 14923, - 43 - ], - [ - 15000, - 46 - ], - [ - 15049, - 92 - ], - [ - 15191, - 30 - ], - [ - 15223, - 44 - ], - [ - 15300, - 46 - ], - [ - 15349, - 90 - ], - [ - 15493, - 28 - ], - [ - 15523, - 44 - ], - [ - 15600, - 45 - ], - [ - 15648, - 90 - ], - [ - 15794, - 27 - ], - [ - 15823, - 44 - ], - [ - 15900, - 45 - ], - [ - 15948, - 89 - ], - [ - 16096, - 25 - ], - [ - 16124, - 44 - ], - [ - 16200, - 45 - ], - [ - 16248, - 88 - ], - [ - 16397, - 25 - ], - [ - 16424, - 44 - ], - [ - 16500, - 44 - ], - [ - 16547, - 88 - ], - [ - 16698, - 24 - ], - [ - 16724, - 45 - ], - [ - 16800, - 44 - ], - [ - 16847, - 87 - ], - [ - 16999, - 23 - ], - [ - 17024, - 45 - ], - [ - 17100, - 44 - ], - [ - 17147, - 86 - ], - [ - 17300, - 22 - ], - [ - 17325, - 46 - ], - [ - 17400, - 44 - ], - [ - 17447, - 85 - ], - [ - 17601, - 21 - ], - [ - 17625, - 118 - ], - [ - 17746, - 85 - ], - [ - 17902, - 21 - ], - [ - 17925, - 118 - ], - [ - 18046, - 85 - ], - [ - 18203, - 20 - ], - [ - 18225, - 118 - ], - [ - 18346, - 84 - ], - [ - 18503, - 20 - ], - [ - 18525, - 118 - ], - [ - 18645, - 85 - ], - [ - 18804, - 19 - ], - [ - 18826, - 117 - ], - [ - 18944, - 85 - ], - [ - 19104, - 19 - ], - [ - 19126, - 117 - ], - [ - 19244, - 85 - ], - [ - 19405, - 19 - ], - [ - 19426, - 202 - ], - [ - 19706, - 18 - ], - [ - 19726, - 202 - ], - [ - 20006, - 11 - ], - [ - 20033, - 195 - ], - [ - 20306, - 11 - ], - [ - 20333, - 154 - ], - [ - 20491, - 37 - ], - [ - 20606, - 11 - ], - [ - 20634, - 150 - ], - [ - 20795, - 17 - ], - [ - 20816, - 11 - ], - [ - 20907, - 11 - ], - [ - 20934, - 147 - ], - [ - 21097, - 13 - ], - [ - 21117, - 10 - ], - [ - 21207, - 11 - ], - [ - 21234, - 146 - ], - [ - 21398, - 10 - ], - [ - 21418, - 9 - ], - [ - 21507, - 11 - ], - [ - 21534, - 144 - ], - [ - 21698, - 8 - ], - [ - 21719, - 8 - ], - [ - 21807, - 11 - ], - [ - 21834, - 142 - ], - [ - 21999, - 4 - ], - [ - 22020, - 7 - ], - [ - 22107, - 11 - ], - [ - 22135, - 140 - ], - [ - 22300, - 2 - ], - [ - 22321, - 6 - ], - [ - 22407, - 11 - ], - [ - 22435, - 139 - ], - [ - 22600, - 2 - ], - [ - 22621, - 6 - ], - [ - 22707, - 12 - ], - [ - 22735, - 139 - ], - [ - 22922, - 6 - ], - [ - 23007, - 12 - ], - [ - 23035, - 137 - ], - [ - 23222, - 6 - ], - [ - 23307, - 12 - ], - [ - 23336, - 135 - ], - [ - 23523, - 5 - ], - [ - 23607, - 12 - ], - [ - 23636, - 135 - ], - [ - 23823, - 6 - ], - [ - 23906, - 13 - ], - [ - 23936, - 135 - ], - [ - 24123, - 6 - ], - [ - 24206, - 14 - ], - [ - 24236, - 135 - ], - [ - 24423, - 6 - ], - [ - 24506, - 14 - ], - [ - 24536, - 135 - ], - [ - 24723, - 7 - ], - [ - 24806, - 14 - ], - [ - 24837, - 134 - ], - [ - 25022, - 8 - ], - [ - 25105, - 15 - ], - [ - 25137, - 134 - ], - [ - 25320, - 11 - ], - [ - 25404, - 17 - ], - [ - 25437, - 134 - ], - [ - 25619, - 13 - ], - [ - 25704, - 167 - ], - [ - 25917, - 15 - ], - [ - 26003, - 168 - ], - [ - 26215, - 18 - ], - [ - 26303, - 168 - ], - [ - 26515, - 18 - ], - [ - 26602, - 169 - ], - [ - 26815, - 19 - ], - [ - 26901, - 170 - ], - [ - 27124, - 11 - ], - [ - 27200, - 171 - ], - [ - 27429, - 6 - ], - [ - 27499, - 171 - ], - [ - 27731, - 5 - ], - [ - 27798, - 171 - ], - [ - 28032, - 5 - ], - [ - 28098, - 170 - ], - [ - 28333, - 4 - ], - [ - 28397, - 170 - ], - [ - 28634, - 4 - ], - [ - 28696, - 169 - ], - [ - 28935, - 3 - ], - [ - 28995, - 169 - ], - [ - 29235, - 4 - ], - [ - 29294, - 169 - ], - [ - 29536, - 4 - ], - [ - 29593, - 169 - ], - [ - 29836, - 4 - ], - [ - 29892, - 169 - ], - [ - 30134, - 7 - ], - [ - 30192, - 169 - ], - [ - 30433, - 9 - ], - [ - 30491, - 172 - ], - [ - 30731, - 11 - ], - [ - 30790, - 175 - ], - [ - 31029, - 14 - ], - [ - 31089, - 178 - ], - [ - 31327, - 17 - ], - [ - 31388, - 180 - ], - [ - 31625, - 20 - ], - [ - 31687, - 183 - ], - [ - 31923, - 24 - ], - [ - 31986, - 186 - ], - [ - 32221, - 27 - ], - [ - 32284, - 189 - ], - [ - 32499, - 4 - ], - [ - 32518, - 32 - ], - [ - 32583, - 192 - ], - [ - 32797, - 11 - ], - [ - 32813, - 39 - ], - [ - 32881, - 195 - ], - [ - 33096, - 58 - ], - [ - 33179, - 199 - ], - [ - 33395, - 63 - ], - [ - 33475, - 204 - ], - [ - 33693, - 71 - ], - [ - 33769, - 212 - ], - [ - 33990, - 6210 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 134, - 55 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 2.0, - "y": 0.90192616, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": -0.300606638, - "y": 0.0361987166, - "z": -1.76846719 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.887896, - "y": 0.418882281, - "z": 0.585646749 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 1.645133, - "y": 0.043796692, - "z": -2.025958 - }, - "rotation": { - "x": 0.0, - "y": 88.07522, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -2.17149734, - "y": 0.0582625, - "z": -1.780549 - }, - "rotation": { - "x": 0.0, - "y": 77.6645, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": -0.40122962, - "y": 0.970796, - "z": -1.77894 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.0008761799, - "y": 0.970796, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": -0.48666808, - "y": 0.217771366, - "z": -1.60020411 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 1.6403091, - "y": 0.4174855, - "z": -0.4136466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": -0.200176746, - "y": 0.972896039, - "z": -1.77894 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": -0.6022825, - "y": 0.9713921, - "z": -1.85263681 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.39272177, - "y": 0.413577348, - "z": -0.08054888 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": -0.6022826, - "y": 0.972708166, - "z": -1.55784965 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 0.897547364, - "y": 0.418882281, - "z": 0.585646749 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 0.000876187347, - "y": 0.9759007, - "z": -1.70524311 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": -0.4012297, - "y": 0.9713921, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.305937529, - "y": 0.605402052, - "z": -1.82538414 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": -0.487674445, - "y": 0.8014382, - "z": -1.71194363 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 0.897547364, - "y": 0.413577348, - "z": 0.2525489 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.201929182, - "y": 0.9737445, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 0.11781875, - "y": 0.0361987166, - "z": -1.54237342 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.60403496, - "y": 0.9764528, - "z": -1.77893984 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 647833219, - "scene_num": 317 - }, - "task_id": "trial_T20190908_043229_211174", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1OWHPMKE7YAGL_33C7UALJVOF78HIXFSN2QBMH27Y18P", - "high_descs": [ - "Turn to the left and go to the brown basket at the other end of the room.", - "Pick up the white rag that is on the floor to the left of the basket. ", - "Turn around and go right to the dresser where the bowl is. ", - "Put the white rag on the dresser to the left of the bowl. ", - "Turn to the right and go to the brown basket at the other end of the room.", - "Pick up the green rag that is on the floor to the left of the basket. ", - "Turn around and go right to the dresser where the bowl is. ", - "Put the green rag down on the dresser to the right of the bowl. " - ], - "task_desc": "Put two rags on a dresser. ", - "votes": [ - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2871R3LEPWMMK_3GGAI1SQEYF6G9UZPQM5CP63RG5CMK", - "high_descs": [ - "Turn left at the bed and hang a left just before the wall to face the window.", - "Pick up the white towel on the floor in between the green towel and the brown container.", - "Turn around, hang a right around the dresser and turn right at the edge of the bed to face the dresser.", - "Put the white towel on top of the dresser next to the clear bowl.", - "Turn right and hang a left just before the wall to face the window.", - "Pick up the green towel on the floor to the left of the brown container.", - "Turn around, hang a right around the dresser and turn right at the edge of the bed to face the dresser.", - "Put the green towel on top of the dresser to the right of the clear bowl." - ], - "task_desc": "Place two towels on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2AXP68AJJ3B94_3FIUS151DYJJ5BEIG9KTPB7LSFUGGK", - "high_descs": [ - "Turn around and move to the hamper on the left", - "Pick up the white towel on the floor", - "Turn around and move to the dresser on the right", - "Place the towel on the dresser", - "Turn around and move to the dresser on the left", - "Pick up the green shirt on the floor", - "Turn around and move to the dresser on the right", - "Place the shirt on the dresser" - ], - "task_desc": "Move the laundry on the floor onto the dresser", - "votes": [ - 0, - 1, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_043257_624123/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_043257_624123/traj_data.json deleted file mode 100644 index 6939f4c65..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_043257_624123/traj_data.json +++ /dev/null @@ -1,5757 +0,0 @@ -{ - "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": 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": 1, - "image_name": "000000024.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000025.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000026.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000027.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000028.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000029.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000030.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000031.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000032.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000033.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000034.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000035.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000036.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000037.png", - "low_idx": 3 - }, - { - "high_idx": 1, - "image_name": "000000038.png", - "low_idx": 3 - }, - { - "high_idx": 2, - "image_name": "000000039.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000040.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000041.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000042.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000043.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000044.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000045.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000046.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000047.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000048.png", - "low_idx": 4 - }, - { - "high_idx": 2, - "image_name": "000000049.png", - "low_idx": 4 - }, - { - "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": 5 - }, - { - "high_idx": 2, - "image_name": "000000053.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000054.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000055.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000056.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000057.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000058.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "image_name": "000000059.png", - "low_idx": 5 - }, - { - "high_idx": 2, - "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": 8 - }, - { - "high_idx": 2, - "image_name": "000000075.png", - "low_idx": 8 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 16 - }, - { - "high_idx": 2, - "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": 3, - "image_name": "000000123.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 19 - }, - { - "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": 19 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 19 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 20 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 26 - }, - { - "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": 28 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 28 - }, - { - "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": 28 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000224.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000299.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000300.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000301.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000302.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000303.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000304.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000305.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000306.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000307.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000308.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000309.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000310.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000311.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000312.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000313.png", - "low_idx": 49 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Cloth", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "cloth" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -5.15217064, - -5.15217064, - -7.74618912, - -7.74618912, - 0.0037065148, - 0.0037065148 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.29|+00.00|-01.94" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -5.15217064, - -5.15217064, - -7.74618912, - -7.74618912, - 0.0037065148, - 0.0037065148 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.29|+00.00|-01.94", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "cloth" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -4.58410452, - -4.58410452, - -8.4944668, - -8.4944668, - 0.0037065148, - 0.0037065148 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.15|+00.00|-02.12" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -4.58410452, - -4.58410452, - -8.4944668, - -8.4944668, - 0.0037065148, - 0.0037065148 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.15|+00.00|-02.12", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "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": "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": "Cloth|-01.29|+00.00|-01.94" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 138, - 245, - 176, - 280 - ], - "mask": [ - [ - 73361, - 2 - ], - [ - 73649, - 3 - ], - [ - 73661, - 3 - ], - [ - 73947, - 6 - ], - [ - 73960, - 5 - ], - [ - 74245, - 8 - ], - [ - 74259, - 6 - ], - [ - 74544, - 8 - ], - [ - 74558, - 8 - ], - [ - 74843, - 8 - ], - [ - 74857, - 10 - ], - [ - 75142, - 10 - ], - [ - 75154, - 1 - ], - [ - 75157, - 10 - ], - [ - 75441, - 11 - ], - [ - 75454, - 1 - ], - [ - 75456, - 12 - ], - [ - 75741, - 12 - ], - [ - 75754, - 1 - ], - [ - 75756, - 12 - ], - [ - 76041, - 13 - ], - [ - 76055, - 14 - ], - [ - 76343, - 11 - ], - [ - 76355, - 13 - ], - [ - 76645, - 23 - ], - [ - 76946, - 21 - ], - [ - 77247, - 19 - ], - [ - 77547, - 18 - ], - [ - 77848, - 16 - ], - [ - 78149, - 16 - ], - [ - 78450, - 15 - ], - [ - 78469, - 4 - ], - [ - 78749, - 16 - ], - [ - 78766, - 8 - ], - [ - 79045, - 1 - ], - [ - 79048, - 27 - ], - [ - 79342, - 34 - ], - [ - 79641, - 35 - ], - [ - 79940, - 37 - ], - [ - 80240, - 37 - ], - [ - 80539, - 37 - ], - [ - 80838, - 37 - ], - [ - 81138, - 36 - ], - [ - 81438, - 16 - ], - [ - 81455, - 18 - ], - [ - 81738, - 15 - ], - [ - 81755, - 17 - ], - [ - 82040, - 13 - ], - [ - 82055, - 15 - ], - [ - 82341, - 11 - ], - [ - 82355, - 13 - ], - [ - 82643, - 9 - ], - [ - 82655, - 3 - ], - [ - 82660, - 6 - ], - [ - 82944, - 8 - ], - [ - 82956, - 1 - ], - [ - 83245, - 7 - ], - [ - 83547, - 5 - ], - [ - 83848, - 4 - ] - ], - "point": [ - 157, - 261 - ] - } - }, - "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": "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": "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": "Cloth|-01.29|+00.00|-01.94", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 182 - ], - [ - 3608, - 44 - ], - [ - 3718, - 182 - ], - [ - 3907, - 45 - ], - [ - 4017, - 183 - ], - [ - 4207, - 45 - ], - [ - 4317, - 183 - ], - [ - 4507, - 45 - ], - [ - 4617, - 182 - ], - [ - 4806, - 46 - ], - [ - 4917, - 182 - ], - [ - 5106, - 46 - ], - [ - 5216, - 24 - ], - [ - 5283, - 116 - ], - [ - 5405, - 48 - ], - [ - 5516, - 20 - ], - [ - 5586, - 113 - ], - [ - 5705, - 48 - ], - [ - 5816, - 23 - ], - [ - 5883, - 115 - ], - [ - 6004, - 50 - ], - [ - 6116, - 182 - ], - [ - 6304, - 50 - ], - [ - 6415, - 183 - ], - [ - 6603, - 52 - ], - [ - 6715, - 183 - ], - [ - 6903, - 53 - ], - [ - 7015, - 182 - ], - [ - 7202, - 55 - ], - [ - 7315, - 182 - ], - [ - 7502, - 55 - ], - [ - 7614, - 183 - ], - [ - 7802, - 56 - ], - [ - 7914, - 183 - ], - [ - 8101, - 58 - ], - [ - 8214, - 182 - ], - [ - 8401, - 59 - ], - [ - 8514, - 182 - ], - [ - 8700, - 60 - ], - [ - 8813, - 183 - ], - [ - 9000, - 61 - ], - [ - 9113, - 183 - ], - [ - 9300, - 62 - ], - [ - 9413, - 182 - ], - [ - 9600, - 63 - ], - [ - 9713, - 182 - ], - [ - 9900, - 64 - ], - [ - 10012, - 183 - ], - [ - 10200, - 64 - ], - [ - 10312, - 182 - ], - [ - 10500, - 65 - ], - [ - 10611, - 183 - ], - [ - 10800, - 66 - ], - [ - 10911, - 183 - ], - [ - 11100, - 67 - ], - [ - 11210, - 184 - ], - [ - 11400, - 68 - ], - [ - 11509, - 184 - ], - [ - 11700, - 68 - ], - [ - 11808, - 185 - ], - [ - 12000, - 69 - ], - [ - 12107, - 186 - ], - [ - 12300, - 70 - ], - [ - 12406, - 187 - ], - [ - 12600, - 72 - ], - [ - 12704, - 188 - ], - [ - 12900, - 73 - ], - [ - 13002, - 190 - ], - [ - 13200, - 75 - ], - [ - 13300, - 119 - ], - [ - 13450, - 42 - ], - [ - 13500, - 78 - ], - [ - 13597, - 121 - ], - [ - 13753, - 39 - ], - [ - 13800, - 82 - ], - [ - 13892, - 126 - ], - [ - 14054, - 37 - ], - [ - 14100, - 217 - ], - [ - 14354, - 37 - ], - [ - 14400, - 217 - ], - [ - 14655, - 36 - ], - [ - 14700, - 216 - ], - [ - 14955, - 35 - ], - [ - 15000, - 216 - ], - [ - 15255, - 35 - ], - [ - 15300, - 216 - ], - [ - 15556, - 34 - ], - [ - 15600, - 215 - ], - [ - 15856, - 34 - ], - [ - 15900, - 215 - ], - [ - 16156, - 33 - ], - [ - 16200, - 215 - ], - [ - 16457, - 32 - ], - [ - 16500, - 215 - ], - [ - 16757, - 32 - ], - [ - 16800, - 214 - ], - [ - 17057, - 32 - ], - [ - 17100, - 214 - ], - [ - 17358, - 30 - ], - [ - 17400, - 214 - ], - [ - 17658, - 30 - ], - [ - 17700, - 214 - ], - [ - 17958, - 30 - ], - [ - 18000, - 214 - ], - [ - 18259, - 29 - ], - [ - 18300, - 214 - ], - [ - 18559, - 28 - ], - [ - 18600, - 213 - ], - [ - 18859, - 28 - ], - [ - 18900, - 213 - ], - [ - 19159, - 28 - ], - [ - 19200, - 213 - ], - [ - 19460, - 27 - ], - [ - 19500, - 213 - ], - [ - 19760, - 26 - ], - [ - 19800, - 213 - ], - [ - 20060, - 26 - ], - [ - 20100, - 213 - ], - [ - 20361, - 25 - ], - [ - 20400, - 213 - ], - [ - 20661, - 25 - ], - [ - 20700, - 213 - ], - [ - 20961, - 27 - ], - [ - 21000, - 213 - ], - [ - 21262, - 30 - ], - [ - 21300, - 213 - ], - [ - 21562, - 33 - ], - [ - 21600, - 213 - ], - [ - 21862, - 37 - ], - [ - 21900, - 213 - ], - [ - 22162, - 251 - ], - [ - 22463, - 250 - ], - [ - 22763, - 250 - ], - [ - 23063, - 250 - ], - [ - 23363, - 250 - ], - [ - 23664, - 249 - ], - [ - 23964, - 250 - ], - [ - 24264, - 250 - ], - [ - 24564, - 250 - ], - [ - 24864, - 250 - ], - [ - 25164, - 250 - ], - [ - 25464, - 250 - ], - [ - 25764, - 94 - ], - [ - 25859, - 155 - ], - [ - 26064, - 82 - ], - [ - 26160, - 52 - ], - [ - 26213, - 102 - ], - [ - 26364, - 64 - ], - [ - 26444, - 1 - ], - [ - 26459, - 52 - ], - [ - 26515, - 100 - ], - [ - 26664, - 63 - ], - [ - 26728, - 10 - ], - [ - 26741, - 2 - ], - [ - 26744, - 1 - ], - [ - 26752, - 58 - ], - [ - 26814, - 101 - ], - [ - 26964, - 62 - ], - [ - 27028, - 9 - ], - [ - 27040, - 2 - ], - [ - 27050, - 59 - ], - [ - 27113, - 102 - ], - [ - 27264, - 62 - ], - [ - 27327, - 10 - ], - [ - 27338, - 1 - ], - [ - 27340, - 1 - ], - [ - 27342, - 1 - ], - [ - 27345, - 1 - ], - [ - 27351, - 57 - ], - [ - 27412, - 103 - ], - [ - 27564, - 62 - ], - [ - 27627, - 11 - ], - [ - 27640, - 1 - ], - [ - 27644, - 2 - ], - [ - 27647, - 4 - ], - [ - 27653, - 52 - ], - [ - 27711, - 104 - ], - [ - 27864, - 61 - ], - [ - 27927, - 10 - ], - [ - 27946, - 6 - ], - [ - 27954, - 50 - ], - [ - 28010, - 106 - ], - [ - 28163, - 62 - ], - [ - 28227, - 5 - ], - [ - 28239, - 14 - ], - [ - 28254, - 38 - ], - [ - 28295, - 8 - ], - [ - 28310, - 106 - ], - [ - 28463, - 63 - ], - [ - 28529, - 6 - ], - [ - 28536, - 1 - ], - [ - 28538, - 15 - ], - [ - 28559, - 33 - ], - [ - 28595, - 8 - ], - [ - 28610, - 106 - ], - [ - 28763, - 70 - ], - [ - 28839, - 14 - ], - [ - 28859, - 33 - ], - [ - 28895, - 8 - ], - [ - 28909, - 107 - ], - [ - 29063, - 68 - ], - [ - 29140, - 12 - ], - [ - 29159, - 33 - ], - [ - 29195, - 6 - ], - [ - 29203, - 113 - ], - [ - 29362, - 68 - ], - [ - 29440, - 13 - ], - [ - 29460, - 32 - ], - [ - 29496, - 3 - ], - [ - 29501, - 115 - ], - [ - 29662, - 68 - ], - [ - 29741, - 13 - ], - [ - 29762, - 31 - ], - [ - 29796, - 3 - ], - [ - 29800, - 117 - ], - [ - 29962, - 67 - ], - [ - 30040, - 19 - ], - [ - 30064, - 29 - ], - [ - 30099, - 118 - ], - [ - 30261, - 69 - ], - [ - 30340, - 19 - ], - [ - 30365, - 27 - ], - [ - 30399, - 118 - ], - [ - 30561, - 69 - ], - [ - 30639, - 23 - ], - [ - 30665, - 27 - ], - [ - 30701, - 116 - ], - [ - 30860, - 71 - ], - [ - 30937, - 55 - ], - [ - 30998, - 3 - ], - [ - 31002, - 115 - ], - [ - 31160, - 134 - ], - [ - 31299, - 2 - ], - [ - 31302, - 116 - ], - [ - 31459, - 135 - ], - [ - 31595, - 1 - ], - [ - 31597, - 2 - ], - [ - 31601, - 117 - ], - [ - 31759, - 134 - ], - [ - 31894, - 3 - ], - [ - 31901, - 6 - ], - [ - 31911, - 107 - ], - [ - 32058, - 135 - ], - [ - 32202, - 3 - ], - [ - 32213, - 105 - ], - [ - 32357, - 137 - ], - [ - 32496, - 3 - ], - [ - 32502, - 1 - ], - [ - 32513, - 106 - ], - [ - 32656, - 137 - ], - [ - 32799, - 1 - ], - [ - 32802, - 1 - ], - [ - 32814, - 105 - ], - [ - 32955, - 138 - ], - [ - 33094, - 7 - ], - [ - 33102, - 1 - ], - [ - 33114, - 106 - ], - [ - 33254, - 139 - ], - [ - 33394, - 7 - ], - [ - 33402, - 1 - ], - [ - 33414, - 278 - ], - [ - 33694, - 7 - ], - [ - 33702, - 1 - ], - [ - 33713, - 279 - ], - [ - 33993, - 8 - ], - [ - 34002, - 2 - ], - [ - 34012, - 280 - ], - [ - 34293, - 13 - ], - [ - 34311, - 281 - ], - [ - 34593, - 298 - ], - [ - 34893, - 8 - ], - [ - 34903, - 288 - ], - [ - 35193, - 8 - ], - [ - 35203, - 288 - ], - [ - 35496, - 1 - ], - [ - 35502, - 292 - ], - [ - 35799, - 4401 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "PickupObject", - "objectId": "Cloth|-01.15|+00.00|-02.12" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 116, - 217, - 148, - 246 - ], - "mask": [ - [ - 64941, - 1 - ], - [ - 65224, - 3 - ], - [ - 65241, - 2 - ], - [ - 65522, - 5 - ], - [ - 65540, - 2 - ], - [ - 65821, - 7 - ], - [ - 65837, - 5 - ], - [ - 66120, - 10 - ], - [ - 66135, - 7 - ], - [ - 66419, - 15 - ], - [ - 66435, - 6 - ], - [ - 66719, - 14 - ], - [ - 66735, - 9 - ], - [ - 66746, - 2 - ], - [ - 67018, - 16 - ], - [ - 67035, - 9 - ], - [ - 67045, - 4 - ], - [ - 67319, - 29 - ], - [ - 67619, - 1 - ], - [ - 67622, - 26 - ], - [ - 67921, - 26 - ], - [ - 68221, - 25 - ], - [ - 68521, - 2 - ], - [ - 68524, - 22 - ], - [ - 68823, - 23 - ], - [ - 69122, - 2 - ], - [ - 69125, - 20 - ], - [ - 69421, - 3 - ], - [ - 69425, - 19 - ], - [ - 69720, - 3 - ], - [ - 69726, - 18 - ], - [ - 70017, - 26 - ], - [ - 70317, - 25 - ], - [ - 70616, - 25 - ], - [ - 70916, - 25 - ], - [ - 71217, - 23 - ], - [ - 71517, - 22 - ], - [ - 71817, - 21 - ], - [ - 72116, - 21 - ], - [ - 72416, - 20 - ], - [ - 72718, - 16 - ], - [ - 73021, - 12 - ], - [ - 73323, - 9 - ], - [ - 73626, - 6 - ] - ], - "point": [ - 132, - 230 - ] - } - }, - "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": "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": "PutObject", - "forceAction": true, - "objectId": "Cloth|-01.15|+00.00|-02.12", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 182 - ], - [ - 3608, - 44 - ], - [ - 3718, - 182 - ], - [ - 3907, - 45 - ], - [ - 4017, - 183 - ], - [ - 4207, - 45 - ], - [ - 4317, - 183 - ], - [ - 4507, - 45 - ], - [ - 4617, - 182 - ], - [ - 4806, - 46 - ], - [ - 4917, - 182 - ], - [ - 5106, - 46 - ], - [ - 5216, - 24 - ], - [ - 5283, - 116 - ], - [ - 5405, - 48 - ], - [ - 5516, - 20 - ], - [ - 5586, - 113 - ], - [ - 5705, - 48 - ], - [ - 5816, - 23 - ], - [ - 5883, - 115 - ], - [ - 6004, - 50 - ], - [ - 6116, - 182 - ], - [ - 6304, - 50 - ], - [ - 6415, - 183 - ], - [ - 6603, - 52 - ], - [ - 6715, - 183 - ], - [ - 6903, - 53 - ], - [ - 7015, - 182 - ], - [ - 7202, - 55 - ], - [ - 7315, - 182 - ], - [ - 7502, - 55 - ], - [ - 7614, - 183 - ], - [ - 7802, - 56 - ], - [ - 7914, - 183 - ], - [ - 8101, - 58 - ], - [ - 8214, - 182 - ], - [ - 8401, - 59 - ], - [ - 8514, - 182 - ], - [ - 8700, - 60 - ], - [ - 8813, - 183 - ], - [ - 9000, - 61 - ], - [ - 9113, - 183 - ], - [ - 9300, - 62 - ], - [ - 9413, - 182 - ], - [ - 9600, - 63 - ], - [ - 9713, - 182 - ], - [ - 9900, - 64 - ], - [ - 10012, - 183 - ], - [ - 10200, - 64 - ], - [ - 10312, - 182 - ], - [ - 10500, - 65 - ], - [ - 10611, - 183 - ], - [ - 10800, - 66 - ], - [ - 10911, - 183 - ], - [ - 11100, - 67 - ], - [ - 11210, - 184 - ], - [ - 11400, - 68 - ], - [ - 11509, - 184 - ], - [ - 11700, - 68 - ], - [ - 11808, - 185 - ], - [ - 12000, - 69 - ], - [ - 12107, - 186 - ], - [ - 12300, - 70 - ], - [ - 12406, - 187 - ], - [ - 12600, - 72 - ], - [ - 12704, - 188 - ], - [ - 12900, - 73 - ], - [ - 13002, - 190 - ], - [ - 13200, - 75 - ], - [ - 13300, - 119 - ], - [ - 13450, - 42 - ], - [ - 13500, - 78 - ], - [ - 13597, - 121 - ], - [ - 13753, - 39 - ], - [ - 13800, - 82 - ], - [ - 13892, - 126 - ], - [ - 14054, - 37 - ], - [ - 14100, - 217 - ], - [ - 14354, - 37 - ], - [ - 14400, - 217 - ], - [ - 14655, - 36 - ], - [ - 14700, - 216 - ], - [ - 14955, - 35 - ], - [ - 15000, - 216 - ], - [ - 15255, - 35 - ], - [ - 15300, - 216 - ], - [ - 15556, - 34 - ], - [ - 15600, - 215 - ], - [ - 15856, - 34 - ], - [ - 15900, - 215 - ], - [ - 16156, - 33 - ], - [ - 16200, - 215 - ], - [ - 16457, - 32 - ], - [ - 16500, - 215 - ], - [ - 16757, - 32 - ], - [ - 16800, - 214 - ], - [ - 17057, - 32 - ], - [ - 17100, - 214 - ], - [ - 17358, - 30 - ], - [ - 17400, - 214 - ], - [ - 17658, - 30 - ], - [ - 17700, - 214 - ], - [ - 17958, - 30 - ], - [ - 18000, - 214 - ], - [ - 18259, - 29 - ], - [ - 18300, - 214 - ], - [ - 18559, - 28 - ], - [ - 18600, - 213 - ], - [ - 18859, - 28 - ], - [ - 18900, - 213 - ], - [ - 19159, - 28 - ], - [ - 19200, - 213 - ], - [ - 19460, - 27 - ], - [ - 19500, - 173 - ], - [ - 19676, - 37 - ], - [ - 19760, - 26 - ], - [ - 19800, - 171 - ], - [ - 19977, - 36 - ], - [ - 20060, - 26 - ], - [ - 20100, - 170 - ], - [ - 20278, - 35 - ], - [ - 20361, - 25 - ], - [ - 20400, - 168 - ], - [ - 20579, - 34 - ], - [ - 20661, - 25 - ], - [ - 20700, - 166 - ], - [ - 20880, - 33 - ], - [ - 20961, - 27 - ], - [ - 21000, - 165 - ], - [ - 21181, - 32 - ], - [ - 21262, - 30 - ], - [ - 21300, - 165 - ], - [ - 21482, - 31 - ], - [ - 21562, - 33 - ], - [ - 21600, - 166 - ], - [ - 21783, - 30 - ], - [ - 21862, - 37 - ], - [ - 21900, - 147 - ], - [ - 22053, - 13 - ], - [ - 22084, - 29 - ], - [ - 22162, - 183 - ], - [ - 22356, - 10 - ], - [ - 22385, - 28 - ], - [ - 22463, - 180 - ], - [ - 22658, - 9 - ], - [ - 22686, - 27 - ], - [ - 22763, - 179 - ], - [ - 22962, - 6 - ], - [ - 22987, - 26 - ], - [ - 23063, - 177 - ], - [ - 23264, - 5 - ], - [ - 23287, - 26 - ], - [ - 23363, - 176 - ], - [ - 23566, - 4 - ], - [ - 23588, - 25 - ], - [ - 23664, - 174 - ], - [ - 23868, - 2 - ], - [ - 23888, - 25 - ], - [ - 23964, - 173 - ], - [ - 24189, - 25 - ], - [ - 24264, - 172 - ], - [ - 24489, - 25 - ], - [ - 24564, - 172 - ], - [ - 24789, - 25 - ], - [ - 24864, - 174 - ], - [ - 25089, - 25 - ], - [ - 25164, - 178 - ], - [ - 25389, - 25 - ], - [ - 25464, - 179 - ], - [ - 25689, - 25 - ], - [ - 25764, - 94 - ], - [ - 25859, - 85 - ], - [ - 25989, - 25 - ], - [ - 26064, - 82 - ], - [ - 26160, - 52 - ], - [ - 26213, - 32 - ], - [ - 26289, - 26 - ], - [ - 26364, - 64 - ], - [ - 26444, - 1 - ], - [ - 26459, - 52 - ], - [ - 26515, - 32 - ], - [ - 26589, - 26 - ], - [ - 26664, - 63 - ], - [ - 26728, - 10 - ], - [ - 26741, - 2 - ], - [ - 26744, - 1 - ], - [ - 26752, - 58 - ], - [ - 26814, - 34 - ], - [ - 26889, - 26 - ], - [ - 26964, - 62 - ], - [ - 27028, - 9 - ], - [ - 27040, - 2 - ], - [ - 27050, - 59 - ], - [ - 27113, - 39 - ], - [ - 27190, - 25 - ], - [ - 27264, - 62 - ], - [ - 27327, - 10 - ], - [ - 27338, - 1 - ], - [ - 27340, - 1 - ], - [ - 27342, - 1 - ], - [ - 27345, - 1 - ], - [ - 27351, - 57 - ], - [ - 27412, - 38 - ], - [ - 27491, - 24 - ], - [ - 27564, - 62 - ], - [ - 27627, - 11 - ], - [ - 27640, - 1 - ], - [ - 27644, - 2 - ], - [ - 27647, - 4 - ], - [ - 27653, - 52 - ], - [ - 27711, - 33 - ], - [ - 27792, - 23 - ], - [ - 27864, - 61 - ], - [ - 27927, - 10 - ], - [ - 27946, - 6 - ], - [ - 27954, - 50 - ], - [ - 28010, - 31 - ], - [ - 28093, - 23 - ], - [ - 28163, - 62 - ], - [ - 28227, - 5 - ], - [ - 28239, - 14 - ], - [ - 28254, - 38 - ], - [ - 28295, - 8 - ], - [ - 28310, - 29 - ], - [ - 28394, - 22 - ], - [ - 28463, - 63 - ], - [ - 28529, - 6 - ], - [ - 28536, - 1 - ], - [ - 28538, - 15 - ], - [ - 28559, - 33 - ], - [ - 28595, - 8 - ], - [ - 28610, - 27 - ], - [ - 28695, - 21 - ], - [ - 28763, - 70 - ], - [ - 28839, - 14 - ], - [ - 28859, - 33 - ], - [ - 28895, - 8 - ], - [ - 28909, - 27 - ], - [ - 28996, - 20 - ], - [ - 29063, - 68 - ], - [ - 29140, - 12 - ], - [ - 29159, - 33 - ], - [ - 29195, - 6 - ], - [ - 29203, - 33 - ], - [ - 29296, - 20 - ], - [ - 29362, - 68 - ], - [ - 29440, - 13 - ], - [ - 29460, - 32 - ], - [ - 29496, - 3 - ], - [ - 29501, - 35 - ], - [ - 29596, - 20 - ], - [ - 29662, - 68 - ], - [ - 29741, - 13 - ], - [ - 29762, - 31 - ], - [ - 29796, - 3 - ], - [ - 29800, - 37 - ], - [ - 29897, - 20 - ], - [ - 29962, - 67 - ], - [ - 30040, - 19 - ], - [ - 30064, - 29 - ], - [ - 30099, - 38 - ], - [ - 30197, - 20 - ], - [ - 30261, - 69 - ], - [ - 30340, - 19 - ], - [ - 30365, - 27 - ], - [ - 30399, - 39 - ], - [ - 30497, - 20 - ], - [ - 30561, - 69 - ], - [ - 30639, - 23 - ], - [ - 30665, - 27 - ], - [ - 30701, - 38 - ], - [ - 30796, - 21 - ], - [ - 30860, - 71 - ], - [ - 30937, - 55 - ], - [ - 30998, - 3 - ], - [ - 31002, - 38 - ], - [ - 31095, - 22 - ], - [ - 31160, - 134 - ], - [ - 31299, - 2 - ], - [ - 31302, - 38 - ], - [ - 31394, - 24 - ], - [ - 31459, - 135 - ], - [ - 31595, - 1 - ], - [ - 31597, - 2 - ], - [ - 31601, - 40 - ], - [ - 31693, - 25 - ], - [ - 31759, - 134 - ], - [ - 31894, - 3 - ], - [ - 31901, - 6 - ], - [ - 31911, - 30 - ], - [ - 31993, - 25 - ], - [ - 32058, - 135 - ], - [ - 32202, - 3 - ], - [ - 32213, - 29 - ], - [ - 32292, - 26 - ], - [ - 32357, - 137 - ], - [ - 32496, - 3 - ], - [ - 32502, - 1 - ], - [ - 32513, - 30 - ], - [ - 32591, - 28 - ], - [ - 32656, - 137 - ], - [ - 32799, - 1 - ], - [ - 32802, - 1 - ], - [ - 32814, - 30 - ], - [ - 32890, - 29 - ], - [ - 32955, - 138 - ], - [ - 33094, - 7 - ], - [ - 33102, - 1 - ], - [ - 33114, - 30 - ], - [ - 33189, - 31 - ], - [ - 33254, - 139 - ], - [ - 33394, - 7 - ], - [ - 33402, - 1 - ], - [ - 33414, - 31 - ], - [ - 33489, - 203 - ], - [ - 33694, - 7 - ], - [ - 33702, - 1 - ], - [ - 33713, - 33 - ], - [ - 33770, - 3 - ], - [ - 33788, - 204 - ], - [ - 33993, - 8 - ], - [ - 34002, - 2 - ], - [ - 34012, - 35 - ], - [ - 34068, - 6 - ], - [ - 34087, - 205 - ], - [ - 34293, - 13 - ], - [ - 34311, - 36 - ], - [ - 34364, - 12 - ], - [ - 34386, - 206 - ], - [ - 34593, - 55 - ], - [ - 34656, - 21 - ], - [ - 34686, - 205 - ], - [ - 34893, - 8 - ], - [ - 34903, - 74 - ], - [ - 34985, - 206 - ], - [ - 35193, - 8 - ], - [ - 35203, - 75 - ], - [ - 35284, - 207 - ], - [ - 35496, - 1 - ], - [ - 35502, - 78 - ], - [ - 35583, - 211 - ], - [ - 35799, - 4401 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.25, - "y": 0.90192616, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": -0.207072735, - "y": 0.799559, - "z": -1.71194351 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": -0.394140571, - "y": 0.0398969464, - "z": -1.5988971 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.3957406, - "y": 0.611458957, - "z": -1.5442425 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.201929212, - "y": 0.9764528, - "z": -1.92633355 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": 2.16048551, - "y": 0.5705785, - "z": 1.51220083 - }, - "rotation": { - "x": -0.00359399267, - "y": 180.0, - "z": -0.000167372767 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 2.06845665, - "y": 0.5728469, - "z": 1.45777392 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 0.584475458, - "y": 0.217771366, - "z": -1.76858068 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 0.60403496, - "y": 0.9731397, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.64030886, - "y": 0.413577348, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": 0.3984206, - "y": 0.03850017, - "z": -1.71194363 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 0.212365657, - "y": 0.220240548, - "z": -1.600204 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.487674445, - "y": 0.803549051, - "z": -1.54237342 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 0.0008761799, - "y": 0.972896039, - "z": -1.55784941 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 2.34454322, - "y": 0.570296, - "z": 1.24006689 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 0.402982, - "y": 0.971635759, - "z": -1.48415256 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 0.649960339, - "y": 0.477432, - "z": 0.0860000253 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 2.15, - "y": 0.433, - "z": -0.241 - }, - "rotation": { - "x": 0.0, - "y": 282.078857, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": -0.5, - "y": 0.965303957, - "z": -1.715 - }, - "rotation": { - "x": 0.0, - "y": 24.1564865, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": -0.303257585, - "y": 0.605412841, - "z": -1.54424262 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.487674445, - "y": 0.8056051, - "z": -1.71194363 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 86870324, - "scene_num": 317 - }, - "task_id": "trial_T20190908_043257_624123", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AU34T9OMHN4Z4_3IAS3U3I0IXXZ0Y0187QMWMN2LMB28", - "high_descs": [ - "Move forward slightly to the trash ", - "Pick up the white rag below the green rag", - "Move to the left and go to the front of the dresser", - "Put the rag on the counter", - "Turn to the right and go to the window", - "Pick up the green rag from the floor", - "Turn left and move around to the front of the dresser", - "Put the green rag down to the left of the white rag and on top of the keys" - ], - "task_desc": "Moving two rags from the floor to the dresser", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3SUWZRL0M1UJO4TLY1LJDH9KLM06EH", - "high_descs": [ - "Walk up to the window and look down.", - "Pick up the white rag off of the ground in front of you.", - "Turn around and walk forward, then hang a right and walk over to the left side of the wooden dresser.", - "Put the white rag on the dresser to the left of the silver clock.", - "Turn right and walk forward, hang a left and walk up to the window then look down.", - "Pick up the green rag off of the ground in front of you.", - "Walk back over to the left side of the dresser.", - "Put the green rag on the dresser to the left of the white rag." - ], - "task_desc": "Move two rags to a dresser.", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AVBRJBJONL47I_33PPUNGG3BMALII1MC2U9M1Y6LERZA", - "high_descs": [ - "Look down at the floor in front of the window.", - "Pick up the white rag from the floor.", - "Turn and walk to the dresser.", - "Place the white rag on the dresser to the right of the earrings.", - "Walk back to the window.", - "Pick up the green rag on the floor in front of the window.", - "Walk back to the dresser.", - "Place the green rag on the dresser to the left of the white rag." - ], - "task_desc": "Pick the rags up off the floor and place them on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_102018_685821/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_102018_685821/traj_data.json deleted file mode 100644 index c724b9e28..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Cloth-None-Dresser-317/trial_T20190908_102018_685821/traj_data.json +++ /dev/null @@ -1,5713 +0,0 @@ -{ - "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": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 1, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 27 - }, - { - "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": 3, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 32 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000346.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000347.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000348.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000349.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000350.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000351.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000352.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000353.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000354.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000355.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000356.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000357.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000358.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000359.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000360.png", - "low_idx": 59 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Cloth", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "cloth" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -4.58410452, - -4.58410452, - -8.4944668, - -8.4944668, - 0.0037065148, - 0.0037065148 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.15|+00.00|-02.12" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -4.58410452, - -4.58410452, - -8.4944668, - -8.4944668, - 0.0037065148, - 0.0037065148 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.15|+00.00|-02.12", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "cloth" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "cloth" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Cloth", - [ - -5.15217064, - -5.15217064, - -7.74618912, - -7.74618912, - 0.0037065148, - 0.0037065148 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.29|+00.00|-01.94" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "cloth", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Cloth", - [ - -5.15217064, - -5.15217064, - -7.74618912, - -7.74618912, - 0.0037065148, - 0.0037065148 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.044, - 0.044, - -7.18, - -7.18, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Cloth|-01.29|+00.00|-01.94", - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Cloth|-01.15|+00.00|-02.12" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 116, - 217, - 148, - 246 - ], - "mask": [ - [ - 64941, - 1 - ], - [ - 65224, - 3 - ], - [ - 65241, - 2 - ], - [ - 65522, - 5 - ], - [ - 65540, - 2 - ], - [ - 65821, - 7 - ], - [ - 65837, - 5 - ], - [ - 66120, - 10 - ], - [ - 66135, - 7 - ], - [ - 66419, - 15 - ], - [ - 66435, - 6 - ], - [ - 66719, - 14 - ], - [ - 66735, - 9 - ], - [ - 66746, - 2 - ], - [ - 67018, - 16 - ], - [ - 67035, - 9 - ], - [ - 67045, - 4 - ], - [ - 67319, - 29 - ], - [ - 67619, - 1 - ], - [ - 67622, - 26 - ], - [ - 67921, - 26 - ], - [ - 68221, - 25 - ], - [ - 68521, - 2 - ], - [ - 68524, - 22 - ], - [ - 68823, - 23 - ], - [ - 69122, - 2 - ], - [ - 69125, - 20 - ], - [ - 69421, - 3 - ], - [ - 69425, - 19 - ], - [ - 69720, - 3 - ], - [ - 69726, - 18 - ], - [ - 70017, - 26 - ], - [ - 70317, - 25 - ], - [ - 70616, - 25 - ], - [ - 70916, - 25 - ], - [ - 71217, - 23 - ], - [ - 71517, - 22 - ], - [ - 71817, - 21 - ], - [ - 72116, - 21 - ], - [ - 72416, - 20 - ], - [ - 72718, - 16 - ], - [ - 73021, - 12 - ], - [ - 73323, - 9 - ], - [ - 73626, - 6 - ] - ], - "point": [ - 132, - 230 - ] - } - }, - "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": "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": "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": "Cloth|-01.15|+00.00|-02.12", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 182 - ], - [ - 3608, - 44 - ], - [ - 3718, - 182 - ], - [ - 3907, - 45 - ], - [ - 4017, - 183 - ], - [ - 4207, - 45 - ], - [ - 4317, - 183 - ], - [ - 4507, - 45 - ], - [ - 4617, - 183 - ], - [ - 4806, - 46 - ], - [ - 4917, - 183 - ], - [ - 5106, - 46 - ], - [ - 5216, - 184 - ], - [ - 5405, - 48 - ], - [ - 5516, - 184 - ], - [ - 5705, - 48 - ], - [ - 5816, - 184 - ], - [ - 6004, - 50 - ], - [ - 6116, - 184 - ], - [ - 6304, - 50 - ], - [ - 6415, - 185 - ], - [ - 6603, - 52 - ], - [ - 6715, - 185 - ], - [ - 6903, - 53 - ], - [ - 7015, - 185 - ], - [ - 7202, - 55 - ], - [ - 7315, - 185 - ], - [ - 7502, - 55 - ], - [ - 7614, - 186 - ], - [ - 7802, - 56 - ], - [ - 7914, - 186 - ], - [ - 8101, - 58 - ], - [ - 8214, - 186 - ], - [ - 8401, - 59 - ], - [ - 8514, - 102 - ], - [ - 8646, - 114 - ], - [ - 8813, - 102 - ], - [ - 8948, - 113 - ], - [ - 9113, - 102 - ], - [ - 9249, - 113 - ], - [ - 9413, - 101 - ], - [ - 9549, - 114 - ], - [ - 9713, - 101 - ], - [ - 9850, - 114 - ], - [ - 10012, - 101 - ], - [ - 10150, - 114 - ], - [ - 10312, - 101 - ], - [ - 10451, - 114 - ], - [ - 10611, - 102 - ], - [ - 10751, - 115 - ], - [ - 10911, - 102 - ], - [ - 11051, - 116 - ], - [ - 11210, - 102 - ], - [ - 11352, - 116 - ], - [ - 11509, - 103 - ], - [ - 11652, - 116 - ], - [ - 11808, - 104 - ], - [ - 11952, - 117 - ], - [ - 12107, - 105 - ], - [ - 12253, - 117 - ], - [ - 12406, - 106 - ], - [ - 12553, - 119 - ], - [ - 12704, - 107 - ], - [ - 12853, - 120 - ], - [ - 13002, - 109 - ], - [ - 13153, - 122 - ], - [ - 13300, - 111 - ], - [ - 13454, - 124 - ], - [ - 13597, - 114 - ], - [ - 13754, - 128 - ], - [ - 13892, - 119 - ], - [ - 14054, - 257 - ], - [ - 14355, - 256 - ], - [ - 14655, - 255 - ], - [ - 14955, - 84 - ], - [ - 15055, - 155 - ], - [ - 15256, - 83 - ], - [ - 15355, - 155 - ], - [ - 15556, - 83 - ], - [ - 15654, - 156 - ], - [ - 15856, - 82 - ], - [ - 15954, - 156 - ], - [ - 16156, - 82 - ], - [ - 16254, - 156 - ], - [ - 16457, - 81 - ], - [ - 16554, - 50 - ], - [ - 16605, - 105 - ], - [ - 16757, - 81 - ], - [ - 16853, - 51 - ], - [ - 16905, - 105 - ], - [ - 17057, - 80 - ], - [ - 17153, - 51 - ], - [ - 17205, - 105 - ], - [ - 17357, - 80 - ], - [ - 17453, - 50 - ], - [ - 17506, - 104 - ], - [ - 17658, - 79 - ], - [ - 17753, - 50 - ], - [ - 17806, - 104 - ], - [ - 17958, - 78 - ], - [ - 18052, - 51 - ], - [ - 18106, - 104 - ], - [ - 18258, - 78 - ], - [ - 18352, - 51 - ], - [ - 18406, - 104 - ], - [ - 18558, - 78 - ], - [ - 18652, - 51 - ], - [ - 18706, - 105 - ], - [ - 18858, - 77 - ], - [ - 18951, - 52 - ], - [ - 19006, - 105 - ], - [ - 19158, - 77 - ], - [ - 19251, - 51 - ], - [ - 19306, - 105 - ], - [ - 19458, - 77 - ], - [ - 19551, - 51 - ], - [ - 19606, - 105 - ], - [ - 19758, - 76 - ], - [ - 19851, - 51 - ], - [ - 19906, - 105 - ], - [ - 20058, - 144 - ], - [ - 20205, - 106 - ], - [ - 20358, - 144 - ], - [ - 20505, - 106 - ], - [ - 20658, - 144 - ], - [ - 20805, - 107 - ], - [ - 20958, - 144 - ], - [ - 21104, - 108 - ], - [ - 21258, - 144 - ], - [ - 21404, - 108 - ], - [ - 21558, - 143 - ], - [ - 21704, - 108 - ], - [ - 21858, - 143 - ], - [ - 22004, - 108 - ], - [ - 22158, - 143 - ], - [ - 22304, - 108 - ], - [ - 22457, - 144 - ], - [ - 22604, - 109 - ], - [ - 22757, - 144 - ], - [ - 22904, - 109 - ], - [ - 23057, - 144 - ], - [ - 23204, - 109 - ], - [ - 23356, - 145 - ], - [ - 23503, - 110 - ], - [ - 23656, - 145 - ], - [ - 23803, - 110 - ], - [ - 23956, - 144 - ], - [ - 24103, - 110 - ], - [ - 24255, - 145 - ], - [ - 24403, - 111 - ], - [ - 24555, - 145 - ], - [ - 24703, - 111 - ], - [ - 24855, - 145 - ], - [ - 25003, - 111 - ], - [ - 25154, - 146 - ], - [ - 25303, - 111 - ], - [ - 25454, - 146 - ], - [ - 25603, - 111 - ], - [ - 25753, - 147 - ], - [ - 25902, - 113 - ], - [ - 26053, - 146 - ], - [ - 26202, - 113 - ], - [ - 26352, - 147 - ], - [ - 26502, - 113 - ], - [ - 26651, - 148 - ], - [ - 26802, - 113 - ], - [ - 26950, - 149 - ], - [ - 27102, - 114 - ], - [ - 27249, - 150 - ], - [ - 27402, - 115 - ], - [ - 27542, - 1 - ], - [ - 27546, - 153 - ], - [ - 27702, - 297 - ], - [ - 28002, - 297 - ], - [ - 28301, - 298 - ], - [ - 28601, - 298 - ], - [ - 28901, - 298 - ], - [ - 29200, - 299 - ], - [ - 29500, - 174 - ], - [ - 29700, - 157 - ], - [ - 29875, - 99 - ], - [ - 30000, - 157 - ], - [ - 30175, - 98 - ], - [ - 30300, - 157 - ], - [ - 30475, - 99 - ], - [ - 30600, - 157 - ], - [ - 30775, - 99 - ], - [ - 30900, - 157 - ], - [ - 31075, - 99 - ], - [ - 31200, - 157 - ], - [ - 31375, - 100 - ], - [ - 31500, - 157 - ], - [ - 31675, - 100 - ], - [ - 31800, - 157 - ], - [ - 31975, - 100 - ], - [ - 32100, - 157 - ], - [ - 32275, - 100 - ], - [ - 32400, - 157 - ], - [ - 32575, - 101 - ], - [ - 32700, - 157 - ], - [ - 32875, - 101 - ], - [ - 33000, - 157 - ], - [ - 33175, - 101 - ], - [ - 33300, - 157 - ], - [ - 33476, - 101 - ], - [ - 33600, - 157 - ], - [ - 33776, - 101 - ], - [ - 33900, - 157 - ], - [ - 34076, - 101 - ], - [ - 34200, - 157 - ], - [ - 34376, - 102 - ], - [ - 34500, - 157 - ], - [ - 34676, - 102 - ], - [ - 34800, - 157 - ], - [ - 34976, - 102 - ], - [ - 35100, - 157 - ], - [ - 35276, - 103 - ], - [ - 35400, - 157 - ], - [ - 35576, - 103 - ], - [ - 35700, - 157 - ], - [ - 35876, - 103 - ], - [ - 36000, - 157 - ], - [ - 36176, - 4024 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "PickupObject", - "objectId": "Cloth|-01.29|+00.00|-01.94" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 138, - 245, - 176, - 280 - ], - "mask": [ - [ - 73361, - 2 - ], - [ - 73649, - 3 - ], - [ - 73661, - 3 - ], - [ - 73947, - 6 - ], - [ - 73960, - 5 - ], - [ - 74245, - 8 - ], - [ - 74259, - 6 - ], - [ - 74544, - 8 - ], - [ - 74558, - 8 - ], - [ - 74843, - 8 - ], - [ - 74857, - 10 - ], - [ - 75142, - 10 - ], - [ - 75154, - 1 - ], - [ - 75157, - 10 - ], - [ - 75441, - 11 - ], - [ - 75454, - 1 - ], - [ - 75456, - 12 - ], - [ - 75741, - 12 - ], - [ - 75754, - 1 - ], - [ - 75756, - 12 - ], - [ - 76041, - 13 - ], - [ - 76055, - 14 - ], - [ - 76343, - 11 - ], - [ - 76355, - 13 - ], - [ - 76645, - 23 - ], - [ - 76946, - 21 - ], - [ - 77247, - 19 - ], - [ - 77547, - 18 - ], - [ - 77848, - 16 - ], - [ - 78149, - 16 - ], - [ - 78450, - 15 - ], - [ - 78469, - 4 - ], - [ - 78749, - 16 - ], - [ - 78766, - 8 - ], - [ - 79045, - 1 - ], - [ - 79048, - 27 - ], - [ - 79342, - 34 - ], - [ - 79641, - 35 - ], - [ - 79940, - 37 - ], - [ - 80240, - 37 - ], - [ - 80539, - 37 - ], - [ - 80838, - 37 - ], - [ - 81138, - 36 - ], - [ - 81438, - 16 - ], - [ - 81455, - 18 - ], - [ - 81738, - 15 - ], - [ - 81755, - 17 - ], - [ - 82040, - 13 - ], - [ - 82055, - 15 - ], - [ - 82341, - 11 - ], - [ - 82355, - 13 - ], - [ - 82643, - 9 - ], - [ - 82655, - 3 - ], - [ - 82660, - 6 - ], - [ - 82944, - 8 - ], - [ - 82956, - 1 - ], - [ - 83245, - 7 - ], - [ - 83547, - 5 - ], - [ - 83848, - 4 - ] - ], - "point": [ - 157, - 261 - ] - } - }, - "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": "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": "PutObject", - "forceAction": true, - "objectId": "Cloth|-01.29|+00.00|-01.94", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.01|+00.00|-01.80" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 10, - 299, - 135 - ], - "mask": [ - [ - 2709, - 43 - ], - [ - 2818, - 182 - ], - [ - 3009, - 43 - ], - [ - 3118, - 182 - ], - [ - 3308, - 44 - ], - [ - 3418, - 182 - ], - [ - 3608, - 44 - ], - [ - 3718, - 182 - ], - [ - 3907, - 45 - ], - [ - 4017, - 183 - ], - [ - 4207, - 45 - ], - [ - 4317, - 183 - ], - [ - 4507, - 45 - ], - [ - 4617, - 183 - ], - [ - 4806, - 46 - ], - [ - 4917, - 183 - ], - [ - 5106, - 46 - ], - [ - 5216, - 53 - ], - [ - 5270, - 130 - ], - [ - 5405, - 48 - ], - [ - 5516, - 53 - ], - [ - 5570, - 130 - ], - [ - 5705, - 48 - ], - [ - 5816, - 53 - ], - [ - 5870, - 130 - ], - [ - 6004, - 50 - ], - [ - 6116, - 53 - ], - [ - 6170, - 130 - ], - [ - 6304, - 50 - ], - [ - 6415, - 54 - ], - [ - 6470, - 130 - ], - [ - 6603, - 52 - ], - [ - 6715, - 54 - ], - [ - 6770, - 130 - ], - [ - 6903, - 53 - ], - [ - 7015, - 53 - ], - [ - 7070, - 130 - ], - [ - 7202, - 55 - ], - [ - 7315, - 53 - ], - [ - 7370, - 130 - ], - [ - 7502, - 55 - ], - [ - 7614, - 54 - ], - [ - 7670, - 130 - ], - [ - 7802, - 56 - ], - [ - 7914, - 54 - ], - [ - 7970, - 130 - ], - [ - 8101, - 58 - ], - [ - 8214, - 54 - ], - [ - 8270, - 130 - ], - [ - 8401, - 59 - ], - [ - 8514, - 54 - ], - [ - 8570, - 46 - ], - [ - 8646, - 114 - ], - [ - 8813, - 55 - ], - [ - 8870, - 45 - ], - [ - 8948, - 113 - ], - [ - 9113, - 55 - ], - [ - 9171, - 44 - ], - [ - 9249, - 113 - ], - [ - 9413, - 54 - ], - [ - 9472, - 42 - ], - [ - 9549, - 114 - ], - [ - 9713, - 54 - ], - [ - 9773, - 41 - ], - [ - 9850, - 114 - ], - [ - 10012, - 55 - ], - [ - 10073, - 40 - ], - [ - 10150, - 114 - ], - [ - 10312, - 55 - ], - [ - 10373, - 40 - ], - [ - 10451, - 114 - ], - [ - 10611, - 56 - ], - [ - 10673, - 40 - ], - [ - 10751, - 115 - ], - [ - 10911, - 56 - ], - [ - 10972, - 41 - ], - [ - 11051, - 116 - ], - [ - 11210, - 56 - ], - [ - 11272, - 40 - ], - [ - 11352, - 116 - ], - [ - 11509, - 57 - ], - [ - 11572, - 40 - ], - [ - 11652, - 116 - ], - [ - 11808, - 58 - ], - [ - 11872, - 40 - ], - [ - 11952, - 117 - ], - [ - 12107, - 59 - ], - [ - 12173, - 39 - ], - [ - 12253, - 117 - ], - [ - 12406, - 60 - ], - [ - 12474, - 38 - ], - [ - 12553, - 119 - ], - [ - 12704, - 62 - ], - [ - 12774, - 37 - ], - [ - 12853, - 120 - ], - [ - 13002, - 64 - ], - [ - 13074, - 37 - ], - [ - 13153, - 122 - ], - [ - 13300, - 66 - ], - [ - 13375, - 36 - ], - [ - 13454, - 124 - ], - [ - 13597, - 69 - ], - [ - 13675, - 36 - ], - [ - 13754, - 128 - ], - [ - 13892, - 74 - ], - [ - 13975, - 36 - ], - [ - 14054, - 212 - ], - [ - 14275, - 36 - ], - [ - 14355, - 211 - ], - [ - 14575, - 36 - ], - [ - 14655, - 211 - ], - [ - 14875, - 35 - ], - [ - 14955, - 84 - ], - [ - 15055, - 111 - ], - [ - 15174, - 36 - ], - [ - 15256, - 83 - ], - [ - 15355, - 111 - ], - [ - 15474, - 36 - ], - [ - 15556, - 83 - ], - [ - 15654, - 112 - ], - [ - 15774, - 36 - ], - [ - 15856, - 82 - ], - [ - 15954, - 112 - ], - [ - 16074, - 36 - ], - [ - 16156, - 82 - ], - [ - 16254, - 112 - ], - [ - 16374, - 36 - ], - [ - 16457, - 81 - ], - [ - 16554, - 50 - ], - [ - 16605, - 61 - ], - [ - 16674, - 36 - ], - [ - 16757, - 81 - ], - [ - 16853, - 51 - ], - [ - 16905, - 61 - ], - [ - 16974, - 36 - ], - [ - 17057, - 80 - ], - [ - 17153, - 51 - ], - [ - 17205, - 61 - ], - [ - 17274, - 36 - ], - [ - 17357, - 80 - ], - [ - 17453, - 50 - ], - [ - 17506, - 60 - ], - [ - 17574, - 36 - ], - [ - 17658, - 79 - ], - [ - 17753, - 50 - ], - [ - 17806, - 60 - ], - [ - 17874, - 36 - ], - [ - 17958, - 78 - ], - [ - 18052, - 51 - ], - [ - 18106, - 60 - ], - [ - 18174, - 36 - ], - [ - 18258, - 78 - ], - [ - 18352, - 51 - ], - [ - 18406, - 60 - ], - [ - 18475, - 35 - ], - [ - 18558, - 78 - ], - [ - 18652, - 51 - ], - [ - 18706, - 60 - ], - [ - 18775, - 36 - ], - [ - 18858, - 77 - ], - [ - 18951, - 52 - ], - [ - 19006, - 60 - ], - [ - 19075, - 36 - ], - [ - 19158, - 77 - ], - [ - 19251, - 51 - ], - [ - 19306, - 60 - ], - [ - 19375, - 36 - ], - [ - 19458, - 77 - ], - [ - 19551, - 51 - ], - [ - 19606, - 60 - ], - [ - 19675, - 36 - ], - [ - 19758, - 76 - ], - [ - 19851, - 51 - ], - [ - 19906, - 60 - ], - [ - 19975, - 36 - ], - [ - 20058, - 144 - ], - [ - 20205, - 61 - ], - [ - 20275, - 36 - ], - [ - 20358, - 144 - ], - [ - 20505, - 61 - ], - [ - 20576, - 35 - ], - [ - 20658, - 144 - ], - [ - 20805, - 61 - ], - [ - 20876, - 36 - ], - [ - 20958, - 144 - ], - [ - 21104, - 62 - ], - [ - 21176, - 36 - ], - [ - 21258, - 144 - ], - [ - 21404, - 62 - ], - [ - 21476, - 36 - ], - [ - 21558, - 143 - ], - [ - 21704, - 62 - ], - [ - 21776, - 36 - ], - [ - 21858, - 143 - ], - [ - 22004, - 62 - ], - [ - 22076, - 36 - ], - [ - 22158, - 143 - ], - [ - 22304, - 62 - ], - [ - 22375, - 37 - ], - [ - 22457, - 144 - ], - [ - 22604, - 62 - ], - [ - 22675, - 38 - ], - [ - 22757, - 144 - ], - [ - 22904, - 62 - ], - [ - 22974, - 39 - ], - [ - 23057, - 144 - ], - [ - 23204, - 61 - ], - [ - 23274, - 39 - ], - [ - 23356, - 145 - ], - [ - 23503, - 62 - ], - [ - 23574, - 39 - ], - [ - 23656, - 145 - ], - [ - 23803, - 62 - ], - [ - 23873, - 40 - ], - [ - 23956, - 144 - ], - [ - 24103, - 62 - ], - [ - 24173, - 40 - ], - [ - 24255, - 145 - ], - [ - 24403, - 62 - ], - [ - 24472, - 42 - ], - [ - 24555, - 145 - ], - [ - 24703, - 62 - ], - [ - 24772, - 42 - ], - [ - 24855, - 145 - ], - [ - 25003, - 62 - ], - [ - 25072, - 42 - ], - [ - 25154, - 146 - ], - [ - 25303, - 62 - ], - [ - 25371, - 43 - ], - [ - 25454, - 146 - ], - [ - 25603, - 62 - ], - [ - 25671, - 43 - ], - [ - 25753, - 147 - ], - [ - 25902, - 63 - ], - [ - 25970, - 45 - ], - [ - 26053, - 146 - ], - [ - 26202, - 63 - ], - [ - 26270, - 45 - ], - [ - 26352, - 147 - ], - [ - 26502, - 63 - ], - [ - 26570, - 45 - ], - [ - 26651, - 148 - ], - [ - 26802, - 63 - ], - [ - 26871, - 44 - ], - [ - 26950, - 149 - ], - [ - 27102, - 63 - ], - [ - 27172, - 44 - ], - [ - 27249, - 150 - ], - [ - 27402, - 63 - ], - [ - 27472, - 45 - ], - [ - 27542, - 1 - ], - [ - 27546, - 153 - ], - [ - 27702, - 63 - ], - [ - 27773, - 226 - ], - [ - 28002, - 64 - ], - [ - 28073, - 226 - ], - [ - 28301, - 65 - ], - [ - 28373, - 226 - ], - [ - 28601, - 65 - ], - [ - 28673, - 226 - ], - [ - 28901, - 65 - ], - [ - 28973, - 226 - ], - [ - 29200, - 66 - ], - [ - 29273, - 226 - ], - [ - 29500, - 66 - ], - [ - 29572, - 102 - ], - [ - 29700, - 157 - ], - [ - 29875, - 99 - ], - [ - 30000, - 157 - ], - [ - 30175, - 98 - ], - [ - 30300, - 157 - ], - [ - 30475, - 99 - ], - [ - 30600, - 157 - ], - [ - 30775, - 99 - ], - [ - 30900, - 157 - ], - [ - 31075, - 99 - ], - [ - 31200, - 157 - ], - [ - 31375, - 100 - ], - [ - 31500, - 157 - ], - [ - 31675, - 100 - ], - [ - 31800, - 157 - ], - [ - 31975, - 100 - ], - [ - 32100, - 157 - ], - [ - 32275, - 100 - ], - [ - 32400, - 157 - ], - [ - 32575, - 101 - ], - [ - 32700, - 157 - ], - [ - 32875, - 101 - ], - [ - 33000, - 157 - ], - [ - 33175, - 101 - ], - [ - 33300, - 157 - ], - [ - 33476, - 101 - ], - [ - 33600, - 157 - ], - [ - 33776, - 101 - ], - [ - 33900, - 157 - ], - [ - 34076, - 101 - ], - [ - 34200, - 157 - ], - [ - 34376, - 102 - ], - [ - 34500, - 157 - ], - [ - 34676, - 102 - ], - [ - 34800, - 157 - ], - [ - 34976, - 102 - ], - [ - 35100, - 157 - ], - [ - 35276, - 103 - ], - [ - 35400, - 157 - ], - [ - 35576, - 103 - ], - [ - 35700, - 157 - ], - [ - 35876, - 103 - ], - [ - 36000, - 157 - ], - [ - 36176, - 4024 - ], - [ - 40435, - 1 - ] - ], - "point": [ - 149, - 71 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan317", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -1.0, - "y": 0.90192616, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "CD_4560e1b8", - "position": { - "x": -2.24045062, - "y": 0.0584594719, - "z": -1.79562807 - }, - "rotation": { - "x": 0.0, - "y": 77.6645, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": -0.200176775, - "y": 0.9756089, - "z": -1.48415256 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 2.16047072, - "y": 0.5714946, - "z": 1.51713216 - }, - "rotation": { - "x": 312.886383, - "y": 179.847977, - "z": 0.000869049 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": 0.402982026, - "y": 0.9764528, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.394140571, - "y": 0.803549051, - "z": -1.6554203 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.6040349, - "y": 0.970796, - "z": -1.705243 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": 0.675869644, - "y": 0.6062418, - "z": -1.825384 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_51f16c0b", - "position": { - "x": -1.751, - "y": 0.252, - "z": 1.499 - }, - "rotation": { - "x": 0.0, - "y": 340.7735, - "z": 0.0 - } - }, - { - "objectName": "Book_8adb6f5d", - "position": { - "x": -0.5812084, - "y": 0.03850017, - "z": -1.71194386 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_7589300a", - "position": { - "x": -1.14602613, - "y": 0.0009266287, - "z": -2.1236167 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_8db1c8ee", - "position": { - "x": 2.12535763, - "y": 0.473337144, - "z": 1.3013804 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_bc72faf8", - "position": { - "x": -0.303257585, - "y": 0.6094029, - "z": -1.769156 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a8c106d5", - "position": { - "x": 0.0008761799, - "y": 0.972896039, - "z": -1.63154626 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "TeddyBear_e7a40edf", - "position": { - "x": -2.236, - "y": 0.0009266287, - "z": 1.457 - }, - "rotation": { - "x": 0.0, - "y": 319.128448, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_03461c18", - "position": { - "x": 0.201929212, - "y": 0.972299933, - "z": -1.48415256 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de3ac205", - "position": { - "x": -0.579706669, - "y": 0.411041856, - "z": -1.71292782 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_8c4a91fb", - "position": { - "x": 2.11, - "y": 0.4223, - "z": 0.331 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Pillow_3722a8eb", - "position": { - "x": 1.39272189, - "y": 0.477432, - "z": -0.247097731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_bee5e5d1", - "position": { - "x": 1.39272177, - "y": 0.413577348, - "z": 0.2525489 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_8fde142b", - "position": { - "x": 0.471582562, - "y": 0.965303957, - "z": -1.85630941 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_4184daa6", - "position": { - "x": -1.28804266, - "y": 0.0009266287, - "z": -1.93654728 - }, - "rotation": { - "x": 0.186394244, - "y": 357.341461, - "z": 356.93692 - } - }, - { - "objectName": "CD_4560e1b8", - "position": { - "x": 2.208125, - "y": 0.4696389, - "z": 1.3013804 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f62f2df7", - "position": { - "x": -0.3947407, - "y": 0.415858924, - "z": -1.769156 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3573054454, - "scene_num": 317 - }, - "task_id": "trial_T20190908_102018_685821", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AISNLDPD2DFEG_34Q075JO10UPQSDUKOANXWGZJB410O", - "high_descs": [ - "Turn around, go forward a bit, turn left and go to the window", - "Pick up the cloth on the floor", - "Turn around, go forward a bit, turn right, go forward, turn right in front of the dresser", - "Put the cloth on the dresser", - "Turn right, go forward, turn left, go to the window", - "Pick up the cloth on the ground", - "Turn around, go forward a bit, turn right, go forward, turn right in front of the dresser", - "Put the cloth on the dresser" - ], - "task_desc": "Put two clothes on the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3R19ZA45J8915_3VE8AYVF8PEYYWC5MR2NFDQB3JK8F4", - "high_descs": [ - "Turn to the right and walk over to the window. ", - "Pick up the green rag that is on the floor below the window. ", - "Turn completely around, make a right at the dresser, and walk over to face the dresser. ", - "Place the rag on the credit card that is to the right of the pen. ", - "Turn to the right, walk a few steps, then turn left to face the window again.", - "Pick up the white rag from the floor in front of the window. ", - "Turn around, make a right past the dresser and walk over to face the dresser. ", - "Place the white rag in front of the credit card that is to the left of the pen on the dresser." - ], - "task_desc": "Move two rags from the floor to the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F51C49T9A34D_3ZY8KE4ISMKT0XYR80ORJQEXLJ1VQX", - "high_descs": [ - "turn to the right twice and take a step and turn to the left and go to the window", - "pick up the green rag from the floor", - "turn to the left twice and take a few steps and turn to the right and go to the middle of the dresser and turn right facing the dresser", - "place the green rag on top of the dresser next to the right credit card", - "turn to the right and take a few steps and turn to the left and go to the window", - "pick up the white rag from the floor", - "turn to the left twice and take a few steps and turn to the right and go to the middle of the dresser and turn right facing the dresser", - "place the white rag on top of the dresser next to the left credit card" - ], - "task_desc": "Place a green and white rag on top of a dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CreditCard-None-Dresser-217/trial_T20190909_082036_407168/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CreditCard-None-Dresser-217/trial_T20190909_082036_407168/traj_data.json deleted file mode 100644 index de6c39fa8..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CreditCard-None-Dresser-217/trial_T20190909_082036_407168/traj_data.json +++ /dev/null @@ -1,5971 +0,0 @@ -{ - "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": 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": 8 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "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": 1, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 30 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 32 - }, - { - "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": 32 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 58 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 59 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 86 - }, - { - "high_idx": 7, - "image_name": "000000393.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000394.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000395.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000396.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000397.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000398.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000399.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000400.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000401.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000402.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000403.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000404.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000405.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000406.png", - "low_idx": 87 - }, - { - "high_idx": 7, - "image_name": "000000407.png", - "low_idx": 87 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-9|13|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - -9.117932, - -9.117932, - 10.20807456, - 10.20807456, - 1.811984, - 1.811984 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -9.623888, - -9.623888, - 10.188, - 10.188, - 0.008, - 0.008 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|-02.28|+00.45|+02.55" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-16|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - -9.117932, - -9.117932, - 10.20807456, - 10.20807456, - 1.811984, - 1.811984 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -19.328, - -19.328, - 10.38, - 10.38, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|-02.28|+00.45|+02.55", - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|17|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - -0.516501428, - -0.516501428, - 18.476, - 18.476, - 2.830783844, - 2.830783844 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -0.168, - -0.168, - 18.476, - 18.476, - -0.0132, - -0.0132 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|-00.13|+00.71|+04.62" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-16|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - -0.516501428, - -0.516501428, - 18.476, - 18.476, - 2.830783844, - 2.830783844 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -19.328, - -19.328, - 10.38, - 10.38, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|-00.13|+00.71|+04.62", - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - } - }, - { - "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": "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": "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": "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": "CreditCard|-02.28|+00.45|+02.55" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 147, - 138, - 163, - 146 - ], - "mask": [ - [ - 41248, - 16 - ], - [ - 41547, - 17 - ], - [ - 41847, - 17 - ], - [ - 42147, - 17 - ], - [ - 42447, - 17 - ], - [ - 42747, - 17 - ], - [ - 43047, - 17 - ], - [ - 43347, - 17 - ], - [ - 43648, - 16 - ] - ], - "point": [ - 155, - 141 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|-02.28|+00.45|+02.55", - "placeStationary": true, - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 29, - 299, - 206 - ], - "mask": [ - [ - 8400, - 39 - ], - [ - 8449, - 164 - ], - [ - 8621, - 117 - ], - [ - 8748, - 165 - ], - [ - 8922, - 116 - ], - [ - 9048, - 166 - ], - [ - 9222, - 116 - ], - [ - 9348, - 166 - ], - [ - 9522, - 115 - ], - [ - 9647, - 167 - ], - [ - 9822, - 115 - ], - [ - 9947, - 167 - ], - [ - 10122, - 115 - ], - [ - 10247, - 167 - ], - [ - 10423, - 113 - ], - [ - 10546, - 168 - ], - [ - 10723, - 113 - ], - [ - 10846, - 169 - ], - [ - 11023, - 113 - ], - [ - 11146, - 169 - ], - [ - 11323, - 112 - ], - [ - 11446, - 169 - ], - [ - 11624, - 111 - ], - [ - 11745, - 170 - ], - [ - 11924, - 111 - ], - [ - 12045, - 170 - ], - [ - 12224, - 110 - ], - [ - 12345, - 171 - ], - [ - 12524, - 110 - ], - [ - 12644, - 172 - ], - [ - 12824, - 110 - ], - [ - 12944, - 172 - ], - [ - 13125, - 108 - ], - [ - 13244, - 172 - ], - [ - 13425, - 108 - ], - [ - 13543, - 173 - ], - [ - 13725, - 108 - ], - [ - 13843, - 174 - ], - [ - 14025, - 108 - ], - [ - 14143, - 174 - ], - [ - 14325, - 108 - ], - [ - 14442, - 175 - ], - [ - 14625, - 108 - ], - [ - 14742, - 175 - ], - [ - 14925, - 108 - ], - [ - 15225, - 108 - ], - [ - 15524, - 110 - ], - [ - 15824, - 110 - ], - [ - 16124, - 111 - ], - [ - 16423, - 112 - ], - [ - 16723, - 113 - ], - [ - 17023, - 113 - ], - [ - 17322, - 115 - ], - [ - 17622, - 115 - ], - [ - 17921, - 118 - ], - [ - 18219, - 121 - ], - [ - 18518, - 697 - ], - [ - 19217, - 296 - ], - [ - 19517, - 295 - ], - [ - 19815, - 296 - ], - [ - 20114, - 295 - ], - [ - 20413, - 292 - ], - [ - 20712, - 293 - ], - [ - 21011, - 293 - ], - [ - 21311, - 292 - ], - [ - 21610, - 291 - ], - [ - 21903, - 297 - ], - [ - 22201, - 1199 - ], - [ - 23401, - 904 - ], - [ - 24309, - 294 - ], - [ - 24611, - 291 - ], - [ - 24911, - 290 - ], - [ - 25211, - 289 - ], - [ - 25511, - 289 - ], - [ - 25811, - 290 - ], - [ - 26110, - 292 - ], - [ - 26408, - 7492 - ], - [ - 33910, - 2 - ], - [ - 34078, - 7 - ], - [ - 34210, - 3 - ], - [ - 34378, - 6 - ], - [ - 34511, - 2 - ], - [ - 34678, - 6 - ], - [ - 34812, - 2 - ], - [ - 34978, - 6 - ], - [ - 35113, - 2 - ], - [ - 35278, - 6 - ], - [ - 35413, - 2 - ], - [ - 35577, - 7 - ], - [ - 35714, - 2 - ], - [ - 35877, - 7 - ], - [ - 36015, - 2 - ], - [ - 36177, - 6 - ], - [ - 36316, - 2 - ], - [ - 36477, - 6 - ], - [ - 36616, - 2 - ], - [ - 36777, - 6 - ], - [ - 36917, - 2 - ], - [ - 37077, - 6 - ], - [ - 37218, - 2 - ], - [ - 37376, - 7 - ], - [ - 37519, - 2 - ], - [ - 37676, - 6 - ], - [ - 37819, - 2 - ], - [ - 37976, - 6 - ], - [ - 38119, - 3 - ], - [ - 38276, - 6 - ], - [ - 38419, - 4 - ], - [ - 38576, - 6 - ], - [ - 38719, - 5 - ], - [ - 38876, - 6 - ], - [ - 39000, - 1200 - ], - [ - 40225, - 7 - ], - [ - 40376, - 4 - ], - [ - 40526, - 5 - ], - [ - 40676, - 4 - ], - [ - 40827, - 4 - ], - [ - 40976, - 4 - ], - [ - 41128, - 3 - ], - [ - 41276, - 4 - ], - [ - 41428, - 4 - ], - [ - 41576, - 4 - ], - [ - 41729, - 3 - ], - [ - 41876, - 4 - ], - [ - 42030, - 3 - ], - [ - 42175, - 4 - ], - [ - 42331, - 3 - ], - [ - 42475, - 4 - ], - [ - 42631, - 4 - ], - [ - 42775, - 4 - ], - [ - 42932, - 3 - ], - [ - 43075, - 4 - ], - [ - 43233, - 3 - ], - [ - 43375, - 4 - ], - [ - 43534, - 3 - ], - [ - 43675, - 3 - ], - [ - 43834, - 3 - ], - [ - 43974, - 4 - ], - [ - 44135, - 3 - ], - [ - 44274, - 4 - ], - [ - 44436, - 3 - ], - [ - 44574, - 4 - ], - [ - 44737, - 3 - ], - [ - 44874, - 4 - ], - [ - 45037, - 3 - ], - [ - 45174, - 3 - ], - [ - 45338, - 3 - ], - [ - 45474, - 3 - ], - [ - 45639, - 3 - ], - [ - 45773, - 4 - ], - [ - 45940, - 3 - ], - [ - 46073, - 4 - ], - [ - 46240, - 3 - ], - [ - 46373, - 4 - ], - [ - 46541, - 3 - ], - [ - 46673, - 4 - ], - [ - 46842, - 3 - ], - [ - 46973, - 3 - ], - [ - 47143, - 3 - ], - [ - 47273, - 3 - ], - [ - 47444, - 2 - ], - [ - 47572, - 4 - ], - [ - 47744, - 3 - ], - [ - 47872, - 4 - ], - [ - 48045, - 3 - ], - [ - 48172, - 4 - ], - [ - 48346, - 2 - ], - [ - 48472, - 3 - ], - [ - 48647, - 2 - ], - [ - 48772, - 3 - ], - [ - 48899, - 1 - ], - [ - 48947, - 3 - ], - [ - 49072, - 3 - ], - [ - 49198, - 1 - ], - [ - 49248, - 3 - ], - [ - 49372, - 3 - ], - [ - 49497, - 1 - ], - [ - 49549, - 2 - ], - [ - 49671, - 4 - ], - [ - 49796, - 1 - ], - [ - 49850, - 2 - ], - [ - 49971, - 4 - ], - [ - 50150, - 3 - ], - [ - 50271, - 3 - ], - [ - 50451, - 3 - ], - [ - 50571, - 3 - ], - [ - 50692, - 1 - ], - [ - 50752, - 2 - ], - [ - 50871, - 3 - ], - [ - 50991, - 1 - ], - [ - 51053, - 2 - ], - [ - 51171, - 3 - ], - [ - 51290, - 1 - ], - [ - 51353, - 3 - ], - [ - 51470, - 4 - ], - [ - 51589, - 1 - ], - [ - 51654, - 3 - ], - [ - 51770, - 3 - ], - [ - 51888, - 1 - ], - [ - 51955, - 2 - ], - [ - 52070, - 3 - ], - [ - 52187, - 1 - ], - [ - 52256, - 2 - ], - [ - 52370, - 3 - ], - [ - 52486, - 1 - ], - [ - 52556, - 3 - ], - [ - 52670, - 3 - ], - [ - 52785, - 1 - ], - [ - 52857, - 2 - ], - [ - 52970, - 3 - ], - [ - 53084, - 1 - ], - [ - 53158, - 2 - ], - [ - 53269, - 4 - ], - [ - 53459, - 2 - ], - [ - 53569, - 3 - ], - [ - 53759, - 3 - ], - [ - 53869, - 3 - ], - [ - 54060, - 2 - ], - [ - 54169, - 3 - ], - [ - 54279, - 1 - ], - [ - 54361, - 2 - ], - [ - 54469, - 3 - ], - [ - 54578, - 1 - ], - [ - 54662, - 2 - ], - [ - 54769, - 3 - ], - [ - 54877, - 1 - ], - [ - 54962, - 3 - ], - [ - 55068, - 3 - ], - [ - 55176, - 1 - ], - [ - 55263, - 2 - ], - [ - 55368, - 3 - ], - [ - 55475, - 1 - ], - [ - 55564, - 2 - ], - [ - 55668, - 3 - ], - [ - 55774, - 1 - ], - [ - 55865, - 2 - ], - [ - 55968, - 3 - ], - [ - 56073, - 1 - ], - [ - 56165, - 3 - ], - [ - 56268, - 3 - ], - [ - 56372, - 1 - ], - [ - 56466, - 2 - ], - [ - 56568, - 2 - ], - [ - 56767, - 2 - ], - [ - 56868, - 2 - ], - [ - 57068, - 2 - ], - [ - 57167, - 3 - ], - [ - 57368, - 2 - ], - [ - 57467, - 3 - ], - [ - 57669, - 2 - ], - [ - 57767, - 3 - ], - [ - 57866, - 1 - ], - [ - 57970, - 2 - ], - [ - 58067, - 3 - ], - [ - 58165, - 1 - ], - [ - 58271, - 2 - ], - [ - 58367, - 2 - ], - [ - 58464, - 1 - ], - [ - 58571, - 2 - ], - [ - 58667, - 2 - ], - [ - 58763, - 1 - ], - [ - 58872, - 2 - ], - [ - 58966, - 3 - ], - [ - 59062, - 1 - ], - [ - 59173, - 2 - ], - [ - 59266, - 3 - ], - [ - 59361, - 1 - ], - [ - 59474, - 2 - ], - [ - 59566, - 3 - ], - [ - 59660, - 1 - ], - [ - 59773, - 3 - ], - [ - 59866, - 3 - ], - [ - 59959, - 2 - ], - [ - 60073, - 4 - ], - [ - 60166, - 3 - ], - [ - 60258, - 4 - ], - [ - 60300, - 1500 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|-00.13|+00.71|+04.62" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 172, - 176, - 195, - 189 - ], - "mask": [ - [ - 52672, - 23 - ], - [ - 52972, - 23 - ], - [ - 53272, - 23 - ], - [ - 53572, - 23 - ], - [ - 53872, - 23 - ], - [ - 54172, - 23 - ], - [ - 54472, - 23 - ], - [ - 54772, - 23 - ], - [ - 55072, - 24 - ], - [ - 55372, - 24 - ], - [ - 55672, - 24 - ], - [ - 55972, - 24 - ], - [ - 56272, - 24 - ], - [ - 56573, - 22 - ] - ], - "point": [ - 183, - 181 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|-00.13|+00.71|+04.62", - "placeStationary": true, - "receptacleObjectId": "Dresser|-04.83|+00.00|+02.60" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 29, - 299, - 206 - ], - "mask": [ - [ - 8400, - 39 - ], - [ - 8449, - 164 - ], - [ - 8621, - 117 - ], - [ - 8748, - 165 - ], - [ - 8922, - 116 - ], - [ - 9048, - 166 - ], - [ - 9222, - 116 - ], - [ - 9348, - 166 - ], - [ - 9522, - 115 - ], - [ - 9647, - 167 - ], - [ - 9822, - 115 - ], - [ - 9947, - 167 - ], - [ - 10122, - 115 - ], - [ - 10247, - 167 - ], - [ - 10423, - 113 - ], - [ - 10546, - 168 - ], - [ - 10723, - 113 - ], - [ - 10846, - 169 - ], - [ - 11023, - 113 - ], - [ - 11146, - 169 - ], - [ - 11323, - 112 - ], - [ - 11446, - 169 - ], - [ - 11624, - 111 - ], - [ - 11745, - 170 - ], - [ - 11924, - 111 - ], - [ - 12045, - 170 - ], - [ - 12224, - 110 - ], - [ - 12345, - 171 - ], - [ - 12524, - 110 - ], - [ - 12644, - 172 - ], - [ - 12824, - 110 - ], - [ - 12944, - 172 - ], - [ - 13125, - 108 - ], - [ - 13244, - 172 - ], - [ - 13425, - 108 - ], - [ - 13543, - 173 - ], - [ - 13725, - 108 - ], - [ - 13843, - 174 - ], - [ - 14025, - 108 - ], - [ - 14143, - 174 - ], - [ - 14325, - 108 - ], - [ - 14442, - 175 - ], - [ - 14625, - 108 - ], - [ - 14742, - 175 - ], - [ - 14925, - 108 - ], - [ - 15225, - 108 - ], - [ - 15524, - 110 - ], - [ - 15824, - 110 - ], - [ - 16124, - 111 - ], - [ - 16423, - 112 - ], - [ - 16723, - 113 - ], - [ - 17023, - 113 - ], - [ - 17322, - 115 - ], - [ - 17622, - 115 - ], - [ - 17921, - 118 - ], - [ - 18219, - 121 - ], - [ - 18518, - 697 - ], - [ - 19217, - 296 - ], - [ - 19517, - 295 - ], - [ - 19815, - 296 - ], - [ - 20114, - 295 - ], - [ - 20413, - 292 - ], - [ - 20712, - 293 - ], - [ - 21011, - 293 - ], - [ - 21311, - 292 - ], - [ - 21610, - 291 - ], - [ - 21903, - 297 - ], - [ - 22201, - 471 - ], - [ - 22689, - 283 - ], - [ - 22989, - 283 - ], - [ - 23289, - 111 - ], - [ - 23401, - 171 - ], - [ - 23589, - 283 - ], - [ - 23889, - 283 - ], - [ - 24189, - 116 - ], - [ - 24309, - 163 - ], - [ - 24489, - 114 - ], - [ - 24611, - 161 - ], - [ - 24790, - 112 - ], - [ - 24911, - 161 - ], - [ - 25090, - 111 - ], - [ - 25211, - 161 - ], - [ - 25390, - 110 - ], - [ - 25511, - 161 - ], - [ - 25690, - 110 - ], - [ - 25811, - 161 - ], - [ - 25990, - 111 - ], - [ - 26110, - 163 - ], - [ - 26290, - 112 - ], - [ - 26408, - 165 - ], - [ - 26590, - 283 - ], - [ - 26890, - 283 - ], - [ - 27190, - 283 - ], - [ - 27490, - 283 - ], - [ - 27791, - 282 - ], - [ - 28091, - 282 - ], - [ - 28391, - 283 - ], - [ - 28690, - 5210 - ], - [ - 33910, - 2 - ], - [ - 34078, - 7 - ], - [ - 34210, - 3 - ], - [ - 34378, - 6 - ], - [ - 34511, - 2 - ], - [ - 34678, - 6 - ], - [ - 34812, - 2 - ], - [ - 34978, - 6 - ], - [ - 35113, - 2 - ], - [ - 35278, - 6 - ], - [ - 35413, - 2 - ], - [ - 35577, - 7 - ], - [ - 35714, - 2 - ], - [ - 35877, - 7 - ], - [ - 36015, - 2 - ], - [ - 36177, - 6 - ], - [ - 36316, - 2 - ], - [ - 36477, - 6 - ], - [ - 36616, - 2 - ], - [ - 36777, - 6 - ], - [ - 36917, - 2 - ], - [ - 37077, - 6 - ], - [ - 37218, - 2 - ], - [ - 37376, - 7 - ], - [ - 37519, - 2 - ], - [ - 37676, - 6 - ], - [ - 37819, - 2 - ], - [ - 37976, - 6 - ], - [ - 38119, - 3 - ], - [ - 38276, - 6 - ], - [ - 38419, - 4 - ], - [ - 38576, - 6 - ], - [ - 38719, - 5 - ], - [ - 38876, - 6 - ], - [ - 39000, - 1200 - ], - [ - 40225, - 7 - ], - [ - 40376, - 4 - ], - [ - 40526, - 5 - ], - [ - 40676, - 4 - ], - [ - 40827, - 4 - ], - [ - 40976, - 4 - ], - [ - 41128, - 3 - ], - [ - 41276, - 4 - ], - [ - 41428, - 4 - ], - [ - 41576, - 4 - ], - [ - 41729, - 3 - ], - [ - 41876, - 4 - ], - [ - 42030, - 3 - ], - [ - 42175, - 4 - ], - [ - 42331, - 3 - ], - [ - 42475, - 4 - ], - [ - 42631, - 4 - ], - [ - 42775, - 4 - ], - [ - 42932, - 3 - ], - [ - 43075, - 4 - ], - [ - 43233, - 3 - ], - [ - 43375, - 4 - ], - [ - 43534, - 3 - ], - [ - 43675, - 3 - ], - [ - 43834, - 3 - ], - [ - 43974, - 4 - ], - [ - 44135, - 3 - ], - [ - 44274, - 4 - ], - [ - 44436, - 3 - ], - [ - 44574, - 4 - ], - [ - 44737, - 3 - ], - [ - 44874, - 4 - ], - [ - 45037, - 3 - ], - [ - 45174, - 3 - ], - [ - 45338, - 3 - ], - [ - 45474, - 3 - ], - [ - 45639, - 3 - ], - [ - 45773, - 4 - ], - [ - 45940, - 3 - ], - [ - 46073, - 4 - ], - [ - 46240, - 3 - ], - [ - 46373, - 4 - ], - [ - 46541, - 3 - ], - [ - 46673, - 4 - ], - [ - 46842, - 3 - ], - [ - 46973, - 3 - ], - [ - 47143, - 3 - ], - [ - 47273, - 3 - ], - [ - 47444, - 2 - ], - [ - 47572, - 4 - ], - [ - 47744, - 3 - ], - [ - 47872, - 4 - ], - [ - 48045, - 3 - ], - [ - 48172, - 4 - ], - [ - 48346, - 2 - ], - [ - 48472, - 3 - ], - [ - 48647, - 2 - ], - [ - 48772, - 3 - ], - [ - 48899, - 1 - ], - [ - 48947, - 3 - ], - [ - 49072, - 3 - ], - [ - 49198, - 1 - ], - [ - 49248, - 3 - ], - [ - 49372, - 3 - ], - [ - 49497, - 1 - ], - [ - 49549, - 2 - ], - [ - 49671, - 4 - ], - [ - 49796, - 1 - ], - [ - 49850, - 2 - ], - [ - 49971, - 4 - ], - [ - 50150, - 3 - ], - [ - 50271, - 3 - ], - [ - 50451, - 3 - ], - [ - 50571, - 3 - ], - [ - 50692, - 1 - ], - [ - 50752, - 2 - ], - [ - 50871, - 3 - ], - [ - 50991, - 1 - ], - [ - 51053, - 2 - ], - [ - 51171, - 3 - ], - [ - 51290, - 1 - ], - [ - 51353, - 3 - ], - [ - 51470, - 4 - ], - [ - 51589, - 1 - ], - [ - 51654, - 3 - ], - [ - 51770, - 3 - ], - [ - 51888, - 1 - ], - [ - 51955, - 2 - ], - [ - 52070, - 3 - ], - [ - 52187, - 1 - ], - [ - 52256, - 2 - ], - [ - 52370, - 3 - ], - [ - 52486, - 1 - ], - [ - 52556, - 3 - ], - [ - 52670, - 3 - ], - [ - 52785, - 1 - ], - [ - 52857, - 2 - ], - [ - 52970, - 3 - ], - [ - 53084, - 1 - ], - [ - 53158, - 2 - ], - [ - 53269, - 4 - ], - [ - 53459, - 2 - ], - [ - 53569, - 3 - ], - [ - 53759, - 3 - ], - [ - 53869, - 3 - ], - [ - 54060, - 2 - ], - [ - 54169, - 3 - ], - [ - 54279, - 1 - ], - [ - 54361, - 2 - ], - [ - 54469, - 3 - ], - [ - 54578, - 1 - ], - [ - 54662, - 2 - ], - [ - 54769, - 3 - ], - [ - 54877, - 1 - ], - [ - 54962, - 3 - ], - [ - 55068, - 3 - ], - [ - 55176, - 1 - ], - [ - 55263, - 2 - ], - [ - 55368, - 3 - ], - [ - 55475, - 1 - ], - [ - 55564, - 2 - ], - [ - 55668, - 3 - ], - [ - 55774, - 1 - ], - [ - 55865, - 2 - ], - [ - 55968, - 3 - ], - [ - 56073, - 1 - ], - [ - 56165, - 3 - ], - [ - 56268, - 3 - ], - [ - 56372, - 1 - ], - [ - 56466, - 2 - ], - [ - 56568, - 2 - ], - [ - 56767, - 2 - ], - [ - 56868, - 2 - ], - [ - 57068, - 2 - ], - [ - 57167, - 3 - ], - [ - 57368, - 2 - ], - [ - 57467, - 3 - ], - [ - 57669, - 2 - ], - [ - 57767, - 3 - ], - [ - 57866, - 1 - ], - [ - 57970, - 2 - ], - [ - 58067, - 3 - ], - [ - 58165, - 1 - ], - [ - 58271, - 2 - ], - [ - 58367, - 2 - ], - [ - 58464, - 1 - ], - [ - 58571, - 2 - ], - [ - 58667, - 2 - ], - [ - 58763, - 1 - ], - [ - 58872, - 2 - ], - [ - 58966, - 3 - ], - [ - 59062, - 1 - ], - [ - 59173, - 2 - ], - [ - 59266, - 3 - ], - [ - 59361, - 1 - ], - [ - 59474, - 2 - ], - [ - 59566, - 3 - ], - [ - 59660, - 1 - ], - [ - 59773, - 3 - ], - [ - 59866, - 3 - ], - [ - 59959, - 2 - ], - [ - 60073, - 4 - ], - [ - 60166, - 3 - ], - [ - 60258, - 4 - ], - [ - 60300, - 1500 - ] - ], - "point": [ - 149, - 112 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan217", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -3.25, - "y": 0.9011413, - "z": 1.75 - }, - "object_poses": [ - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -0.152837485, - "y": 0.468411535, - "z": 1.85258853 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -2.279483, - "y": 0.452996, - "z": 2.55201864 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_5b6fe32c", - "position": { - "x": -2.70243382, - "y": 0.7611274, - "z": 0.843662262 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_9691257b", - "position": { - "x": -0.2776128, - "y": -0.000669963658, - "z": 4.8605876 - }, - "rotation": { - "x": 359.9809, - "y": 359.9893, - "z": 0.00747299241 - } - }, - { - "objectName": "CreditCard_8660a70c", - "position": { - "x": -0.129125357, - "y": 0.707695961, - "z": 4.619 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_32e21d3a", - "position": { - "x": -4.569356, - "y": 0.9890352, - "z": 2.026616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f769cdcb", - "position": { - "x": -3.294, - "y": 0.624, - "z": 0.801 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.090637 - } - }, - { - "objectName": "Laptop_d290dd79", - "position": { - "x": -4.873, - "y": 0.981, - "z": 3.44 - }, - "rotation": { - "x": 0.0, - "y": 83.8787842, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_193339bf", - "position": { - "x": -4.569356, - "y": 0.9909067, - "z": 3.163384 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_50539444", - "position": { - "x": -2.405972, - "y": 0.453272671, - "z": 2.55201864 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_a6431b1c", - "position": { - "x": -2.02650547, - "y": 0.554524243, - "z": 2.455776 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2787629318, - "scene_num": 217 - }, - "task_id": "trial_T20190909_082036_407168", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_3LOZAJ85YG4CXSNZ2COPCFXHF4YX2K", - "high_descs": [ - "Go left and then right and then turn to the right to face the black table.", - "Pick the credit card up from the table.", - "Go right and turn to face the television stand.", - "Put the credit card down on the television stand.", - "Turn around and cross the room to face the black table in the corner.", - "Pick the credit card up from the table.", - "Cross the room to stand in front of the television stand.", - "Put the credit card down on the television stand." - ], - "task_desc": "Put two credit cards on a television stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2871R3LEPWMMK_3LOZAJ85YG4CXSNZ2COPCFXHF5RX2F", - "high_descs": [ - "Turn left, hang a right at the side of the table and walk to the black table on the right.", - "Pick up the red credit card to the right of the gold statue on the table.", - "Turn right, hang a left at the side of the table and walk to the dresser with the television on the right.", - "Put the red credit card in front of the television on the right side of the dresser.", - "Turn right, hang a right at the wall and walk to the small round table on the left.", - "Pick up the red credit card on the left of the round table.", - "Turn left, hang a left towards the end of the couch and walk to the dresser with the television on the right.", - "Put the red credit card to the left of the other card in front of the television on the dresser." - ], - "task_desc": "Place two credit cards on a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3PGS1Q1XAY79I_3PZDLQMM0WCOUUC4BGS2Y2C7EL22CD", - "high_descs": [ - "Turn to your left at the black coffee table, walk to the side of the coffee table farthest from the sofa.", - "Pick up the red credit card from the table.", - "Turn to your right and walk to the TV on the black entertainment center.", - "Place the credit card on the entertainment center to the right front of the TV.", - "Turn to your right and walk in the direction of the chair, hang a right to the table with a lamp on it on the other side of the room.", - "Pick up the red credit card from the black table.", - "Turn to your left and walk in the direction of the chair to the right of the entertainment center, hang a left to the TV on the entertainment center.", - "Place the credit card to the left and parallel to the first credit card." - ], - "task_desc": "Move two credit cards from different areas of the room to the area in front of the TV", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201834_073281/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201834_073281/traj_data.json deleted file mode 100644 index 976840d14..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201834_073281/traj_data.json +++ /dev/null @@ -1,6590 +0,0 @@ -{ - "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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 17 - }, - { - "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": 24 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 29 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 36 - }, - { - "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": 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": 47 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 50 - }, - { - "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": 3, - "image_name": "000000222.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000225.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000226.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000227.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000228.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000229.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000230.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000231.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000232.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000233.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000234.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000235.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000236.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 68 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 80 - }, - { - "high_idx": 7, - "image_name": "000000390.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000391.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000392.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000393.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000394.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000395.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000396.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000397.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000398.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000399.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000400.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000401.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000402.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000403.png", - "low_idx": 81 - }, - { - "high_idx": 7, - "image_name": "000000404.png", - "low_idx": 81 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "countertop" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-1|16|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - -3.261903764, - -3.261903764, - 15.19603348, - 15.19603348, - 3.65397978, - 3.65397978 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -3.5624, - -3.5624, - 17.4, - 17.4, - 3.807995796, - 3.807995796 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|-00.82|+00.91|+03.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - -3.261903764, - -3.261903764, - 15.19603348, - 15.19603348, - 3.65397978, - 3.65397978 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|-00.82|+00.91|+03.80", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|-3|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 8.74045084, - 8.74045084, - -3.4233856, - -3.4233856, - 1.599242688, - 1.599242688 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.7, - 9.7, - -2.26, - -2.26, - 0.00680953264, - 0.00680953264 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.19|+00.40|-00.86" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 8.74045084, - 8.74045084, - -3.4233856, - -3.4233856, - 1.599242688, - 1.599242688 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.19|+00.40|-00.86", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|-00.82|+00.91|+03.80" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 80, - 95, - 98, - 113 - ], - "mask": [ - [ - 28283, - 16 - ], - [ - 28583, - 15 - ], - [ - 28883, - 15 - ], - [ - 29182, - 16 - ], - [ - 29482, - 16 - ], - [ - 29782, - 16 - ], - [ - 30082, - 16 - ], - [ - 30382, - 16 - ], - [ - 30682, - 16 - ], - [ - 30981, - 16 - ], - [ - 31281, - 16 - ], - [ - 31581, - 16 - ], - [ - 31881, - 16 - ], - [ - 32181, - 16 - ], - [ - 32480, - 17 - ], - [ - 32780, - 17 - ], - [ - 33080, - 17 - ], - [ - 33380, - 16 - ], - [ - 33680, - 16 - ] - ], - "point": [ - 89, - 103 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|-00.82|+00.91|+03.80", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 58 - ], - [ - 28914, - 6 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 56 - ], - [ - 29217, - 5 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 54 - ], - [ - 29518, - 5 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 53 - ], - [ - 29819, - 5 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 52 - ], - [ - 30120, - 6 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 51 - ], - [ - 30421, - 6 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 51 - ], - [ - 30722, - 7 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 51 - ], - [ - 31022, - 8 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 50 - ], - [ - 31323, - 9 - ], - [ - 31436, - 64 - ], - [ - 31542, - 50 - ], - [ - 31623, - 11 - ], - [ - 31734, - 66 - ], - [ - 31841, - 51 - ], - [ - 31923, - 13 - ], - [ - 32032, - 68 - ], - [ - 32141, - 50 - ], - [ - 32223, - 14 - ], - [ - 32331, - 69 - ], - [ - 32441, - 50 - ], - [ - 32523, - 16 - ], - [ - 32628, - 72 - ], - [ - 32741, - 50 - ], - [ - 32823, - 19 - ], - [ - 32926, - 74 - ], - [ - 33040, - 51 - ], - [ - 33123, - 21 - ], - [ - 33224, - 76 - ], - [ - 33340, - 52 - ], - [ - 33424, - 23 - ], - [ - 33522, - 78 - ], - [ - 33640, - 52 - ], - [ - 33724, - 25 - ], - [ - 33819, - 81 - ], - [ - 33940, - 52 - ], - [ - 34024, - 29 - ], - [ - 34116, - 84 - ], - [ - 34239, - 54 - ], - [ - 34324, - 32 - ], - [ - 34412, - 88 - ], - [ - 34539, - 54 - ], - [ - 34624, - 36 - ], - [ - 34708, - 92 - ], - [ - 34839, - 54 - ], - [ - 34924, - 42 - ], - [ - 35002, - 98 - ], - [ - 35139, - 54 - ], - [ - 35224, - 50 - ], - [ - 35294, - 106 - ], - [ - 35438, - 56 - ], - [ - 35525, - 175 - ], - [ - 35738, - 56 - ], - [ - 35825, - 175 - ], - [ - 36038, - 56 - ], - [ - 36125, - 175 - ], - [ - 36337, - 58 - ], - [ - 36425, - 175 - ], - [ - 36637, - 58 - ], - [ - 36725, - 175 - ], - [ - 36937, - 58 - ], - [ - 37025, - 175 - ], - [ - 37237, - 59 - ], - [ - 37325, - 175 - ], - [ - 37536, - 60 - ], - [ - 37625, - 175 - ], - [ - 37836, - 60 - ], - [ - 37925, - 175 - ], - [ - 38136, - 61 - ], - [ - 38225, - 175 - ], - [ - 38436, - 61 - ], - [ - 38525, - 175 - ], - [ - 38735, - 62 - ], - [ - 38824, - 176 - ], - [ - 39035, - 63 - ], - [ - 39124, - 176 - ], - [ - 39335, - 63 - ], - [ - 39423, - 177 - ], - [ - 39635, - 64 - ], - [ - 39722, - 178 - ], - [ - 39934, - 66 - ], - [ - 40021, - 179 - ], - [ - 40234, - 67 - ], - [ - 40320, - 180 - ], - [ - 40534, - 68 - ], - [ - 40619, - 181 - ], - [ - 40833, - 71 - ], - [ - 40916, - 184 - ], - [ - 41133, - 74 - ], - [ - 41213, - 187 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+02.19|+00.40|-00.86" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 163, - 191, - 180, - 200 - ], - "mask": [ - [ - 57163, - 18 - ], - [ - 57463, - 18 - ], - [ - 57763, - 18 - ], - [ - 58063, - 18 - ], - [ - 58363, - 18 - ], - [ - 58663, - 18 - ], - [ - 58963, - 18 - ], - [ - 59263, - 18 - ], - [ - 59563, - 18 - ], - [ - 59863, - 18 - ] - ], - "point": [ - 171, - 194 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+02.19|+00.40|-00.86", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 58 - ], - [ - 28914, - 6 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 56 - ], - [ - 29217, - 5 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 54 - ], - [ - 29518, - 5 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 53 - ], - [ - 29819, - 5 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 52 - ], - [ - 30120, - 6 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 51 - ], - [ - 30421, - 6 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 51 - ], - [ - 30722, - 7 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 51 - ], - [ - 31022, - 8 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 50 - ], - [ - 31323, - 9 - ], - [ - 31436, - 64 - ], - [ - 31542, - 50 - ], - [ - 31623, - 11 - ], - [ - 31734, - 66 - ], - [ - 31841, - 51 - ], - [ - 31923, - 13 - ], - [ - 32032, - 68 - ], - [ - 32141, - 50 - ], - [ - 32223, - 14 - ], - [ - 32331, - 69 - ], - [ - 32441, - 50 - ], - [ - 32523, - 16 - ], - [ - 32628, - 72 - ], - [ - 32741, - 50 - ], - [ - 32823, - 19 - ], - [ - 32926, - 74 - ], - [ - 33040, - 51 - ], - [ - 33123, - 21 - ], - [ - 33224, - 76 - ], - [ - 33340, - 52 - ], - [ - 33424, - 23 - ], - [ - 33522, - 78 - ], - [ - 33640, - 52 - ], - [ - 33724, - 25 - ], - [ - 33819, - 81 - ], - [ - 33940, - 52 - ], - [ - 34024, - 29 - ], - [ - 34116, - 84 - ], - [ - 34239, - 54 - ], - [ - 34324, - 32 - ], - [ - 34412, - 88 - ], - [ - 34539, - 54 - ], - [ - 34624, - 36 - ], - [ - 34708, - 92 - ], - [ - 34839, - 54 - ], - [ - 34924, - 42 - ], - [ - 35002, - 98 - ], - [ - 35139, - 54 - ], - [ - 35224, - 50 - ], - [ - 35294, - 106 - ], - [ - 35438, - 56 - ], - [ - 35525, - 175 - ], - [ - 35738, - 56 - ], - [ - 35825, - 175 - ], - [ - 36038, - 56 - ], - [ - 36125, - 175 - ], - [ - 36337, - 58 - ], - [ - 36425, - 175 - ], - [ - 36637, - 58 - ], - [ - 36725, - 175 - ], - [ - 36937, - 58 - ], - [ - 37025, - 175 - ], - [ - 37237, - 59 - ], - [ - 37325, - 175 - ], - [ - 37536, - 60 - ], - [ - 37625, - 175 - ], - [ - 37836, - 60 - ], - [ - 37925, - 175 - ], - [ - 38136, - 61 - ], - [ - 38225, - 175 - ], - [ - 38436, - 61 - ], - [ - 38525, - 175 - ], - [ - 38735, - 62 - ], - [ - 38824, - 176 - ], - [ - 39035, - 63 - ], - [ - 39124, - 176 - ], - [ - 39335, - 63 - ], - [ - 39423, - 177 - ], - [ - 39635, - 64 - ], - [ - 39722, - 178 - ], - [ - 39934, - 66 - ], - [ - 40021, - 179 - ], - [ - 40234, - 67 - ], - [ - 40320, - 21 - ], - [ - 40356, - 144 - ], - [ - 40534, - 68 - ], - [ - 40619, - 22 - ], - [ - 40656, - 144 - ], - [ - 40833, - 71 - ], - [ - 40916, - 25 - ], - [ - 40956, - 144 - ], - [ - 41133, - 74 - ], - [ - 41213, - 28 - ], - [ - 41256, - 144 - ], - [ - 41433, - 108 - ], - [ - 41556, - 144 - ], - [ - 41733, - 108 - ], - [ - 41856, - 144 - ], - [ - 42032, - 109 - ], - [ - 42156, - 144 - ], - [ - 42332, - 109 - ], - [ - 42456, - 144 - ], - [ - 42632, - 108 - ], - [ - 42756, - 144 - ], - [ - 42932, - 108 - ], - [ - 43056, - 144 - ], - [ - 43231, - 109 - ], - [ - 43356, - 144 - ], - [ - 43531, - 109 - ], - [ - 43656, - 144 - ], - [ - 43831, - 109 - ], - [ - 43956, - 144 - ], - [ - 44131, - 109 - ], - [ - 44256, - 144 - ], - [ - 44430, - 110 - ], - [ - 44557, - 143 - ], - [ - 44730, - 110 - ], - [ - 44857, - 143 - ], - [ - 45030, - 110 - ], - [ - 45157, - 143 - ], - [ - 45329, - 111 - ], - [ - 45457, - 143 - ], - [ - 45629, - 111 - ], - [ - 45757, - 143 - ], - [ - 45929, - 111 - ], - [ - 46057, - 143 - ], - [ - 46229, - 111 - ], - [ - 46357, - 143 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 2.5, - "y": 0.9101201, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.52934146, - "y": 0.841, - "z": 0.886280537 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.49651241, - "y": 0.7424376, - "z": -1.44422 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.78479528, - "y": 0.809822559, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -1.07318592, - "y": 0.7142456, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.8811438, - "y": 0.916839838, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.946811736, - "y": 0.913494945, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.815475941, - "y": 0.913494945, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.18511271, - "y": 0.399810672, - "z": -0.8558464 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.54577255, - "y": 0.7437031, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.57583427, - "y": 0.460885167, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.68043351, - "y": 0.806327343, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.21792436, - "y": 0.3978147, - "z": -1.05339348 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -1.312467, - "y": 0.713601649, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.68043351, - "y": 0.8163972, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -1.01247966, - "y": 0.913408458, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.47171044, - "y": 0.809822559, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.815475941, - "y": 0.913494945, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.9482056, - "y": 0.400650442, - "z": -1.31475186 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.47171044, - "y": 0.8095615, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.07318592, - "y": 0.7123361, - "z": 2.53943944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -1.01247966, - "y": 0.916839838, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": 0.123219371, - "y": 0.785215139, - "z": 2.53943944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": 0.123219371, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.490981, - "y": 0.461226344, - "z": 0.3302396 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.53340769, - "y": 0.464640856, - "z": 0.917760432 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.44725227, - "y": 0.7438719, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 309601020, - "scene_num": 311 - }, - "task_id": "trial_T20190907_201834_073281", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3PPLDHC3CG0YN_3IAEQB9FMH1CQDURTON35TQC9XXWDQ", - "high_descs": [ - "Turn left, hand a right at the foot of the bed, turn left after the desk on the right, face the left side of the white counter with the mirror. ", - "Pick up the red credit card on the left side of the white counter. ", - "Turn around, take a right at the desk, turn and face the television on the left. ", - "Place the credit card on the shelf in front of the television and to the right of the white mug. ", - "Turn and walk to the green chair on the right and to the left of the black table. ", - "Pick up the second red credit card on the right side of the green chair. ", - "Move back to the white shelf with the television on it. ", - "Place the second red credit card to the right of the first red credit card on the white shelf. " - ], - "task_desc": "To move two credit cards to the white shelf with the television on it. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3R0T90IZ1VT6OZYDENOAZKM6U9XCG9", - "high_descs": [ - "Go left and then left again to face the white counter with a tile floor beneath.", - "Pick the credit card on the left side of the counter up.", - "Turn around and cross the room to face the cabinet with the television on it.", - "Put the credit card down in front of the television.", - "Go right to face the green chair.", - "Pick the credit card up from the chair.", - "Go left to face the cabinet with the television.", - "Put the credit card down on the cabinet." - ], - "task_desc": "Put two credit cards down on a cabinet.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3R6P78PK7NSNAG0O09J0OUMAISDGT6", - "high_descs": [ - "turn left, walk straight to white counter underneath mirror with green garbage can, turn left, stop and face counter", - "pick up red credit card on the left on the counter top", - "turn right, walk through room, stop and turn left at the television set, face the tv", - "put the red credit card on the counter in front of the tv monitor", - "turn right, walk down to the green chair, stop in front of green chair", - "pick up red credit card from green chair", - "turn left, walk to tv set, turn right, stop and face tv", - "place red credit card to the right of the other credit card on the counter in front of tv monitor" - ], - "task_desc": "pick up two red credit cards and place them on the counter top the tv set is on", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190907_181205_590674/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190907_181205_590674/traj_data.json deleted file mode 100644 index a1c70e787..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190907_181205_590674/traj_data.json +++ /dev/null @@ -1,5080 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "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": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 10 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 12 - }, - { - "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": 14 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 20 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 21 - }, - { - "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": 21 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 22 - }, - { - "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": 24 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 31 - }, - { - "high_idx": 5, - "image_name": "000000225.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 45 - }, - { - "high_idx": 7, - "image_name": "000000311.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000312.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000313.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000314.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000315.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000316.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000317.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000318.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000319.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000320.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000321.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000322.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000323.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000324.png", - "low_idx": 46 - }, - { - "high_idx": 7, - "image_name": "000000325.png", - "low_idx": 46 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|9|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -2.7711588, - -2.7711588, - 9.45799256, - 9.45799256, - 2.7113884, - 2.7113884 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-00.69|+00.68|+02.36" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -2.7711588, - -2.7711588, - 9.45799256, - 9.45799256, - 2.7113884, - 2.7113884 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-00.69|+00.68|+02.36", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|10|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 7.02760984, - 7.02760984, - 7.53381156, - 7.53381156, - 1.75208974, - 1.75208974 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 7.304, - 7.304, - 6.424, - 6.424, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.76|+00.44|+01.88" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 7.02760984, - 7.02760984, - 7.53381156, - 7.53381156, - 1.75208974, - 1.75208974 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.76|+00.44|+01.88", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|-00.69|+00.68|+02.36" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 168, - 111, - 197, - 118 - ], - "mask": [ - [ - 33169, - 7 - ], - [ - 33468, - 13 - ], - [ - 33486, - 3 - ], - [ - 33492, - 3 - ], - [ - 33768, - 15 - ], - [ - 33785, - 10 - ], - [ - 34068, - 24 - ], - [ - 34368, - 15 - ], - [ - 34385, - 5 - ], - [ - 34668, - 15 - ], - [ - 34685, - 4 - ], - [ - 34690, - 4 - ], - [ - 34968, - 13 - ], - [ - 34993, - 4 - ], - [ - 35297, - 1 - ] - ], - "point": [ - 182, - 113 - ] - } - }, - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "KeyChain|-00.69|+00.68|+02.36", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 64 - ], - [ - 9491, - 20 - ], - [ - 9674, - 64 - ], - [ - 9791, - 20 - ], - [ - 9974, - 64 - ], - [ - 10091, - 20 - ], - [ - 10273, - 65 - ], - [ - 10391, - 20 - ], - [ - 10573, - 65 - ], - [ - 10691, - 20 - ], - [ - 10873, - 65 - ], - [ - 10991, - 20 - ], - [ - 11173, - 65 - ], - [ - 11291, - 21 - ], - [ - 11473, - 65 - ], - [ - 11591, - 21 - ], - [ - 11772, - 66 - ], - [ - 11892, - 20 - ], - [ - 12072, - 66 - ], - [ - 12192, - 20 - ], - [ - 12372, - 66 - ], - [ - 12492, - 20 - ], - [ - 12672, - 66 - ], - [ - 12792, - 21 - ], - [ - 12971, - 67 - ], - [ - 13092, - 21 - ], - [ - 13271, - 67 - ], - [ - 13392, - 21 - ], - [ - 13571, - 66 - ], - [ - 13692, - 21 - ], - [ - 13871, - 66 - ], - [ - 13992, - 21 - ], - [ - 14170, - 67 - ], - [ - 14293, - 20 - ], - [ - 14470, - 67 - ], - [ - 14593, - 21 - ], - [ - 14770, - 67 - ], - [ - 14893, - 21 - ], - [ - 15070, - 67 - ], - [ - 15193, - 21 - ], - [ - 15370, - 67 - ], - [ - 15493, - 21 - ], - [ - 15669, - 68 - ], - [ - 15793, - 21 - ], - [ - 15969, - 68 - ], - [ - 16093, - 22 - ], - [ - 16269, - 68 - ], - [ - 16393, - 22 - ], - [ - 16569, - 68 - ], - [ - 16694, - 21 - ], - [ - 16868, - 69 - ], - [ - 16994, - 21 - ], - [ - 17168, - 69 - ], - [ - 17294, - 21 - ], - [ - 17468, - 69 - ], - [ - 17594, - 21 - ], - [ - 17768, - 69 - ], - [ - 17894, - 22 - ], - [ - 18067, - 70 - ], - [ - 18194, - 22 - ], - [ - 18367, - 70 - ], - [ - 18494, - 22 - ], - [ - 18667, - 70 - ], - [ - 18794, - 22 - ], - [ - 18967, - 70 - ], - [ - 19095, - 21 - ], - [ - 19267, - 70 - ], - [ - 19395, - 22 - ], - [ - 19566, - 71 - ], - [ - 19695, - 22 - ], - [ - 19866, - 71 - ], - [ - 19995, - 22 - ], - [ - 20166, - 71 - ], - [ - 20295, - 22 - ], - [ - 20466, - 71 - ], - [ - 20595, - 22 - ], - [ - 20765, - 72 - ], - [ - 20895, - 22 - ], - [ - 21065, - 72 - ], - [ - 21195, - 23 - ], - [ - 21365, - 72 - ], - [ - 21495, - 23 - ], - [ - 21665, - 72 - ], - [ - 21794, - 24 - ], - [ - 21964, - 73 - ], - [ - 22094, - 24 - ], - [ - 22264, - 73 - ], - [ - 22392, - 26 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 156 - ], - [ - 23763, - 156 - ], - [ - 24063, - 156 - ], - [ - 24363, - 157 - ], - [ - 24662, - 158 - ], - [ - 24962, - 158 - ], - [ - 25262, - 158 - ], - [ - 25562, - 158 - ], - [ - 25862, - 159 - ], - [ - 26161, - 160 - ], - [ - 26461, - 160 - ], - [ - 26761, - 160 - ], - [ - 27061, - 160 - ], - [ - 27360, - 161 - ], - [ - 27660, - 162 - ], - [ - 27960, - 162 - ], - [ - 28260, - 162 - ], - [ - 28559, - 163 - ], - [ - 28859, - 163 - ], - [ - 29159, - 164 - ], - [ - 29459, - 164 - ], - [ - 29759, - 164 - ], - [ - 30058, - 165 - ], - [ - 30358, - 165 - ], - [ - 30658, - 165 - ], - [ - 30958, - 166 - ], - [ - 31257, - 167 - ], - [ - 31557, - 167 - ], - [ - 31857, - 167 - ], - [ - 32157, - 167 - ], - [ - 32456, - 169 - ], - [ - 32756, - 169 - ], - [ - 33056, - 169 - ], - [ - 33356, - 169 - ], - [ - 33656, - 169 - ], - [ - 33955, - 170 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 173 - ], - [ - 36653, - 174 - ], - [ - 36953, - 174 - ], - [ - 37253, - 174 - ], - [ - 37553, - 175 - ], - [ - 37852, - 176 - ], - [ - 38152, - 176 - ], - [ - 38452, - 176 - ], - [ - 38752, - 176 - ], - [ - 39051, - 177 - ], - [ - 39351, - 176 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+01.76|+00.44|+01.88" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 130, - 156, - 155, - 162 - ], - "mask": [ - [ - 46630, - 1 - ], - [ - 46652, - 2 - ], - [ - 46931, - 4 - ], - [ - 46939, - 1 - ], - [ - 46941, - 1 - ], - [ - 46944, - 12 - ], - [ - 47234, - 7 - ], - [ - 47243, - 13 - ], - [ - 47537, - 5 - ], - [ - 47543, - 13 - ], - [ - 47836, - 5 - ], - [ - 47842, - 14 - ], - [ - 48132, - 9 - ], - [ - 48143, - 13 - ], - [ - 48433, - 2 - ], - [ - 48437, - 3 - ], - [ - 48445, - 10 - ] - ], - "point": [ - 141, - 158 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+01.76|+00.44|+01.88", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 64 - ], - [ - 9491, - 20 - ], - [ - 9674, - 64 - ], - [ - 9791, - 20 - ], - [ - 9974, - 64 - ], - [ - 10091, - 20 - ], - [ - 10273, - 65 - ], - [ - 10391, - 20 - ], - [ - 10573, - 65 - ], - [ - 10691, - 20 - ], - [ - 10873, - 65 - ], - [ - 10991, - 20 - ], - [ - 11173, - 65 - ], - [ - 11291, - 21 - ], - [ - 11473, - 65 - ], - [ - 11591, - 21 - ], - [ - 11772, - 66 - ], - [ - 11892, - 20 - ], - [ - 12072, - 66 - ], - [ - 12192, - 20 - ], - [ - 12372, - 66 - ], - [ - 12492, - 20 - ], - [ - 12672, - 66 - ], - [ - 12792, - 21 - ], - [ - 12971, - 67 - ], - [ - 13092, - 21 - ], - [ - 13271, - 67 - ], - [ - 13392, - 21 - ], - [ - 13571, - 66 - ], - [ - 13692, - 21 - ], - [ - 13871, - 66 - ], - [ - 13992, - 21 - ], - [ - 14170, - 67 - ], - [ - 14293, - 20 - ], - [ - 14470, - 67 - ], - [ - 14593, - 21 - ], - [ - 14770, - 67 - ], - [ - 14893, - 21 - ], - [ - 15070, - 67 - ], - [ - 15193, - 21 - ], - [ - 15370, - 67 - ], - [ - 15493, - 21 - ], - [ - 15669, - 68 - ], - [ - 15793, - 21 - ], - [ - 15969, - 68 - ], - [ - 16093, - 22 - ], - [ - 16269, - 68 - ], - [ - 16393, - 22 - ], - [ - 16569, - 68 - ], - [ - 16694, - 21 - ], - [ - 16868, - 69 - ], - [ - 16994, - 21 - ], - [ - 17168, - 69 - ], - [ - 17294, - 21 - ], - [ - 17468, - 69 - ], - [ - 17594, - 21 - ], - [ - 17768, - 69 - ], - [ - 17894, - 22 - ], - [ - 18067, - 70 - ], - [ - 18194, - 22 - ], - [ - 18367, - 70 - ], - [ - 18494, - 22 - ], - [ - 18667, - 70 - ], - [ - 18794, - 22 - ], - [ - 18967, - 70 - ], - [ - 19095, - 21 - ], - [ - 19267, - 70 - ], - [ - 19395, - 22 - ], - [ - 19566, - 71 - ], - [ - 19695, - 22 - ], - [ - 19866, - 71 - ], - [ - 19995, - 22 - ], - [ - 20166, - 71 - ], - [ - 20295, - 22 - ], - [ - 20466, - 71 - ], - [ - 20595, - 22 - ], - [ - 20765, - 72 - ], - [ - 20895, - 22 - ], - [ - 21065, - 72 - ], - [ - 21195, - 23 - ], - [ - 21365, - 72 - ], - [ - 21495, - 23 - ], - [ - 21665, - 72 - ], - [ - 21794, - 24 - ], - [ - 21964, - 73 - ], - [ - 22094, - 24 - ], - [ - 22264, - 73 - ], - [ - 22392, - 26 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 156 - ], - [ - 23763, - 156 - ], - [ - 24063, - 156 - ], - [ - 24363, - 157 - ], - [ - 24662, - 158 - ], - [ - 24962, - 158 - ], - [ - 25262, - 158 - ], - [ - 25562, - 158 - ], - [ - 25862, - 159 - ], - [ - 26161, - 160 - ], - [ - 26461, - 160 - ], - [ - 26761, - 160 - ], - [ - 27061, - 160 - ], - [ - 27360, - 161 - ], - [ - 27660, - 162 - ], - [ - 27960, - 162 - ], - [ - 28260, - 162 - ], - [ - 28559, - 163 - ], - [ - 28859, - 163 - ], - [ - 29159, - 164 - ], - [ - 29459, - 164 - ], - [ - 29759, - 164 - ], - [ - 30058, - 165 - ], - [ - 30358, - 165 - ], - [ - 30658, - 165 - ], - [ - 30958, - 166 - ], - [ - 31257, - 167 - ], - [ - 31557, - 167 - ], - [ - 31857, - 167 - ], - [ - 32157, - 167 - ], - [ - 32456, - 169 - ], - [ - 32756, - 169 - ], - [ - 33056, - 169 - ], - [ - 33356, - 169 - ], - [ - 33656, - 169 - ], - [ - 33955, - 170 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 86 - ], - [ - 36450, - 77 - ], - [ - 36653, - 86 - ], - [ - 36753, - 4 - ], - [ - 36760, - 4 - ], - [ - 36767, - 60 - ], - [ - 36953, - 86 - ], - [ - 37054, - 3 - ], - [ - 37067, - 60 - ], - [ - 37253, - 86 - ], - [ - 37354, - 1 - ], - [ - 37362, - 1 - ], - [ - 37364, - 63 - ], - [ - 37553, - 86 - ], - [ - 37654, - 1 - ], - [ - 37662, - 66 - ], - [ - 37852, - 87 - ], - [ - 37954, - 3 - ], - [ - 37960, - 1 - ], - [ - 37965, - 63 - ], - [ - 38152, - 87 - ], - [ - 38252, - 12 - ], - [ - 38268, - 60 - ], - [ - 38452, - 115 - ], - [ - 38570, - 58 - ], - [ - 38752, - 176 - ], - [ - 39051, - 177 - ], - [ - 39351, - 176 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.25, - "y": 0.9017602, - "z": 2.75 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.4239279, - "y": 0.6757, - "z": 1.80486059 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.672662556, - "y": 0.0654450953, - "z": 2.307938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.600201964, - "y": 0.0654450953, - "z": 2.09177852 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.6927897, - "y": 0.6778471, - "z": 2.36449814 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.7824075, - "y": 0.6778471, - "z": 1.61831343 - }, - "rotation": { - "x": 0.0, - "y": 179.999832, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.75690246, - "y": 0.438022435, - "z": 1.88345289 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.513549, - "y": 0.681197, - "z": 2.17795277 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.745123148, - "y": 0.06933537, - "z": 2.235885 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.5848998, - "y": 0.979213536, - "z": -1.41610873 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.8556831, - "y": 0.6724966, - "z": 3.07568932 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.61263728, - "y": 0.7326363, - "z": -0.0102321506 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.423926234, - "y": 0.678465664, - "z": 1.24522209 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.6327728, - "y": 1.922522, - "z": 2.1979394 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.5964906, - "y": 1.58593035, - "z": -0.9428743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": 1.71539545, - "y": 0.108678937, - "z": -0.454943776 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.75690293, - "y": 0.4375307, - "z": 1.3267293 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.55546, - "y": 0.5225368, - "z": -0.454943776 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.626557052, - "y": 0.9783024, - "z": -1.040612 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.9616492, - "y": 0.6813754, - "z": 2.17795134 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": 1.67208242, - "y": 0.449967772, - "z": 1.60509109 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.603167951, - "y": 0.6757, - "z": 1.80486 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3440140854, - "scene_num": 318 - }, - "task_id": "trial_T20190907_181205_590674", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1OWHPMKE7YAGL_32AT8R96GOQ50YO4VE3RI4RFPJ8SUR", - "high_descs": [ - "Back up, turn to the left, go to the desk on the right with the book on it. ", - "Pick up the keys that are on the desk to the left of the book. ", - "Turn around, go forward, turn around, go to the table that is to the right of the desk. ", - "Put the keys on the table. ", - "Turn around, go to the door, hang a right, go to the floral chair.", - "Pick up the keys that are on the chair behind the computer. ", - "Turn around, go to the wall, hang a left and go to the table that is to the right of the desk.", - "Put the keys on the table to the right of the other keys. " - ], - "task_desc": "Put two sets of keys on a table. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A320QA9HJFUOZO_38JBBYETQRR59HP7FDS4GJP6PGLE41", - "high_descs": [ - "Walk a few feet left then turn right to face the desk", - "Pick up the keys by the green book from the desk", - "Turn right and walk back to the far right side of the desk", - "Put the keys down on the desk", - "Turn around and walk over to the floral print arm chair", - "Pick up the keys from the chair", - "Turn around and walk back to the far right side of the desk", - "Put the keys on the desk just to the right of the other keys" - ], - "task_desc": "Put the keys on the desk", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3T9K2RY06UO14_3V0Z7YWSI1HC8EW66PYQN8GU5W32V8", - "high_descs": [ - "Turn and go to the desk.", - "Pick up the keys on the desk.", - "Turn around and go to the chest of drawers.", - "Put the keys on the chest of drawers.", - "Turn around and go to the padded chair by the door.", - "Pick up the keys on the padded chair by the door.", - "Turn around and go to the chest of drawers.", - "Put the keys on the chest of drawers." - ], - "task_desc": "Move keys to the chest of drawers. ", - "votes": [ - 0, - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190910_122758_510336/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190910_122758_510336/traj_data.json deleted file mode 100644 index 6b8e87630..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190910_122758_510336/traj_data.json +++ /dev/null @@ -1,5341 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 14 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "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": 4, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "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": 35 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000216.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000217.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000218.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 5, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000299.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000300.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000301.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000302.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000303.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000304.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000305.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000306.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000307.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000308.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000309.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000310.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000311.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000312.png", - "low_idx": 49 - }, - { - "high_idx": 7, - "image_name": "000000313.png", - "low_idx": 49 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|8|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 6.00976612, - 6.00976612, - 7.5338106, - 7.5338106, - 1.733501076, - 1.733501076 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 7.304, - 7.304, - 6.424, - 6.424, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.50|+00.43|+01.88" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 6.00976612, - 6.00976612, - 7.5338106, - 7.5338106, - 1.733501076, - 1.733501076 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.50|+00.43|+01.88", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|9|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -1.695718, - -1.695718, - 9.457996, - 9.457996, - 2.7113884, - 2.7113884 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-00.42|+00.68|+02.36" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -1.695718, - -1.695718, - 9.457996, - 9.457996, - 2.7113884, - 2.7113884 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-00.42|+00.68|+02.36", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+01.50|+00.43|+01.88" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 168, - 162, - 175, - 186 - ], - "mask": [ - [ - 48475, - 1 - ], - [ - 48774, - 1 - ], - [ - 49069, - 1 - ], - [ - 49074, - 1 - ], - [ - 49369, - 1 - ], - [ - 49374, - 1 - ], - [ - 49669, - 1 - ], - [ - 49673, - 2 - ], - [ - 49969, - 2 - ], - [ - 49973, - 1 - ], - [ - 50269, - 2 - ], - [ - 50273, - 1 - ], - [ - 50569, - 5 - ], - [ - 50868, - 7 - ], - [ - 51169, - 6 - ], - [ - 51470, - 3 - ], - [ - 51771, - 2 - ], - [ - 52070, - 4 - ], - [ - 52370, - 5 - ], - [ - 52669, - 6 - ], - [ - 52969, - 6 - ], - [ - 53269, - 7 - ], - [ - 53569, - 7 - ], - [ - 53869, - 7 - ], - [ - 54169, - 7 - ], - [ - 54469, - 7 - ], - [ - 54769, - 7 - ], - [ - 55069, - 7 - ], - [ - 55369, - 7 - ], - [ - 55669, - 7 - ] - ], - "point": [ - 171, - 173 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+01.50|+00.43|+01.88", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 110 - ], - [ - 9674, - 109 - ], - [ - 9974, - 109 - ], - [ - 10273, - 110 - ], - [ - 10573, - 110 - ], - [ - 10873, - 110 - ], - [ - 11173, - 110 - ], - [ - 11473, - 110 - ], - [ - 11772, - 110 - ], - [ - 12072, - 110 - ], - [ - 12372, - 110 - ], - [ - 12672, - 90 - ], - [ - 12770, - 12 - ], - [ - 12971, - 88 - ], - [ - 13073, - 9 - ], - [ - 13271, - 87 - ], - [ - 13374, - 8 - ], - [ - 13571, - 86 - ], - [ - 13675, - 7 - ], - [ - 13871, - 85 - ], - [ - 13976, - 7 - ], - [ - 14170, - 86 - ], - [ - 14277, - 6 - ], - [ - 14470, - 86 - ], - [ - 14577, - 6 - ], - [ - 14770, - 85 - ], - [ - 14881, - 2 - ], - [ - 15070, - 85 - ], - [ - 15181, - 2 - ], - [ - 15370, - 85 - ], - [ - 15482, - 1 - ], - [ - 15669, - 86 - ], - [ - 15777, - 3 - ], - [ - 15782, - 1 - ], - [ - 15969, - 86 - ], - [ - 16077, - 3 - ], - [ - 16082, - 1 - ], - [ - 16269, - 86 - ], - [ - 16376, - 4 - ], - [ - 16382, - 1 - ], - [ - 16569, - 86 - ], - [ - 16676, - 3 - ], - [ - 16682, - 1 - ], - [ - 16868, - 87 - ], - [ - 16976, - 3 - ], - [ - 16981, - 3 - ], - [ - 17168, - 87 - ], - [ - 17276, - 3 - ], - [ - 17281, - 3 - ], - [ - 17468, - 87 - ], - [ - 17576, - 2 - ], - [ - 17581, - 3 - ], - [ - 17768, - 87 - ], - [ - 17880, - 4 - ], - [ - 18067, - 88 - ], - [ - 18179, - 6 - ], - [ - 18215, - 1 - ], - [ - 18367, - 88 - ], - [ - 18478, - 8 - ], - [ - 18514, - 2 - ], - [ - 18667, - 88 - ], - [ - 18777, - 39 - ], - [ - 18967, - 88 - ], - [ - 19075, - 41 - ], - [ - 19267, - 88 - ], - [ - 19375, - 42 - ], - [ - 19566, - 89 - ], - [ - 19675, - 42 - ], - [ - 19866, - 89 - ], - [ - 19975, - 42 - ], - [ - 20166, - 90 - ], - [ - 20275, - 42 - ], - [ - 20466, - 90 - ], - [ - 20574, - 43 - ], - [ - 20765, - 92 - ], - [ - 20874, - 43 - ], - [ - 21065, - 93 - ], - [ - 21173, - 45 - ], - [ - 21365, - 94 - ], - [ - 21471, - 47 - ], - [ - 21665, - 97 - ], - [ - 21769, - 49 - ], - [ - 21964, - 154 - ], - [ - 22264, - 154 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 156 - ], - [ - 23763, - 156 - ], - [ - 24063, - 131 - ], - [ - 24211, - 8 - ], - [ - 24363, - 131 - ], - [ - 24511, - 9 - ], - [ - 24662, - 132 - ], - [ - 24811, - 9 - ], - [ - 24962, - 133 - ], - [ - 25111, - 9 - ], - [ - 25262, - 133 - ], - [ - 25412, - 8 - ], - [ - 25562, - 133 - ], - [ - 25712, - 8 - ], - [ - 25862, - 133 - ], - [ - 26012, - 9 - ], - [ - 26161, - 134 - ], - [ - 26312, - 9 - ], - [ - 26461, - 134 - ], - [ - 26612, - 9 - ], - [ - 26761, - 134 - ], - [ - 26912, - 9 - ], - [ - 27061, - 134 - ], - [ - 27213, - 8 - ], - [ - 27360, - 136 - ], - [ - 27513, - 8 - ], - [ - 27660, - 136 - ], - [ - 27813, - 9 - ], - [ - 27960, - 136 - ], - [ - 28113, - 9 - ], - [ - 28260, - 136 - ], - [ - 28413, - 9 - ], - [ - 28559, - 137 - ], - [ - 28713, - 9 - ], - [ - 28859, - 137 - ], - [ - 29013, - 9 - ], - [ - 29159, - 137 - ], - [ - 29314, - 9 - ], - [ - 29459, - 137 - ], - [ - 29614, - 9 - ], - [ - 29759, - 137 - ], - [ - 29914, - 9 - ], - [ - 30058, - 139 - ], - [ - 30214, - 9 - ], - [ - 30358, - 139 - ], - [ - 30514, - 9 - ], - [ - 30658, - 139 - ], - [ - 30814, - 9 - ], - [ - 30958, - 139 - ], - [ - 31115, - 9 - ], - [ - 31257, - 140 - ], - [ - 31415, - 9 - ], - [ - 31557, - 140 - ], - [ - 31715, - 9 - ], - [ - 31857, - 140 - ], - [ - 32015, - 9 - ], - [ - 32157, - 167 - ], - [ - 32456, - 169 - ], - [ - 32756, - 169 - ], - [ - 33056, - 169 - ], - [ - 33356, - 169 - ], - [ - 33656, - 169 - ], - [ - 33955, - 170 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 173 - ], - [ - 36653, - 174 - ], - [ - 36953, - 174 - ], - [ - 37253, - 174 - ], - [ - 37553, - 175 - ], - [ - 37852, - 176 - ], - [ - 38152, - 176 - ], - [ - 38452, - 176 - ], - [ - 38752, - 176 - ], - [ - 39051, - 177 - ], - [ - 39351, - 176 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|-00.42|+00.68|+02.36" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 171, - 166, - 204, - 175 - ], - "mask": [ - [ - 49672, - 4 - ], - [ - 49971, - 14 - ], - [ - 49991, - 3 - ], - [ - 49999, - 2 - ], - [ - 50271, - 16 - ], - [ - 50290, - 11 - ], - [ - 50571, - 16 - ], - [ - 50588, - 10 - ], - [ - 50600, - 1 - ], - [ - 50871, - 18 - ], - [ - 50890, - 6 - ], - [ - 51171, - 17 - ], - [ - 51189, - 7 - ], - [ - 51471, - 16 - ], - [ - 51488, - 11 - ], - [ - 51771, - 15 - ], - [ - 51791, - 3 - ], - [ - 51797, - 5 - ], - [ - 52071, - 12 - ], - [ - 52100, - 4 - ], - [ - 52404, - 1 - ] - ], - "point": [ - 187, - 169 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|-00.42|+00.68|+02.36", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 110 - ], - [ - 9674, - 109 - ], - [ - 9974, - 109 - ], - [ - 10273, - 110 - ], - [ - 10573, - 110 - ], - [ - 10873, - 110 - ], - [ - 11173, - 110 - ], - [ - 11473, - 110 - ], - [ - 11772, - 110 - ], - [ - 12072, - 110 - ], - [ - 12372, - 110 - ], - [ - 12672, - 90 - ], - [ - 12770, - 12 - ], - [ - 12971, - 88 - ], - [ - 13073, - 9 - ], - [ - 13271, - 87 - ], - [ - 13374, - 8 - ], - [ - 13571, - 86 - ], - [ - 13675, - 7 - ], - [ - 13871, - 85 - ], - [ - 13976, - 7 - ], - [ - 14170, - 86 - ], - [ - 14277, - 6 - ], - [ - 14470, - 86 - ], - [ - 14577, - 6 - ], - [ - 14770, - 85 - ], - [ - 14881, - 2 - ], - [ - 15070, - 85 - ], - [ - 15181, - 2 - ], - [ - 15370, - 85 - ], - [ - 15482, - 1 - ], - [ - 15669, - 86 - ], - [ - 15777, - 3 - ], - [ - 15782, - 1 - ], - [ - 15969, - 86 - ], - [ - 16077, - 3 - ], - [ - 16082, - 1 - ], - [ - 16269, - 86 - ], - [ - 16376, - 4 - ], - [ - 16382, - 1 - ], - [ - 16569, - 86 - ], - [ - 16676, - 3 - ], - [ - 16682, - 1 - ], - [ - 16868, - 87 - ], - [ - 16976, - 3 - ], - [ - 16981, - 3 - ], - [ - 17168, - 87 - ], - [ - 17276, - 3 - ], - [ - 17281, - 3 - ], - [ - 17468, - 87 - ], - [ - 17576, - 2 - ], - [ - 17581, - 3 - ], - [ - 17768, - 87 - ], - [ - 17880, - 4 - ], - [ - 18067, - 88 - ], - [ - 18179, - 6 - ], - [ - 18215, - 1 - ], - [ - 18367, - 88 - ], - [ - 18478, - 8 - ], - [ - 18514, - 2 - ], - [ - 18667, - 88 - ], - [ - 18777, - 39 - ], - [ - 18967, - 88 - ], - [ - 19075, - 41 - ], - [ - 19267, - 88 - ], - [ - 19375, - 42 - ], - [ - 19566, - 89 - ], - [ - 19675, - 42 - ], - [ - 19866, - 89 - ], - [ - 19975, - 42 - ], - [ - 20166, - 90 - ], - [ - 20275, - 42 - ], - [ - 20466, - 90 - ], - [ - 20574, - 43 - ], - [ - 20765, - 92 - ], - [ - 20874, - 43 - ], - [ - 21065, - 93 - ], - [ - 21173, - 45 - ], - [ - 21365, - 94 - ], - [ - 21471, - 47 - ], - [ - 21665, - 97 - ], - [ - 21769, - 49 - ], - [ - 21964, - 154 - ], - [ - 22264, - 154 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 156 - ], - [ - 23763, - 156 - ], - [ - 24063, - 131 - ], - [ - 24211, - 8 - ], - [ - 24363, - 131 - ], - [ - 24511, - 9 - ], - [ - 24662, - 132 - ], - [ - 24811, - 9 - ], - [ - 24962, - 133 - ], - [ - 25111, - 9 - ], - [ - 25262, - 133 - ], - [ - 25412, - 8 - ], - [ - 25562, - 133 - ], - [ - 25712, - 8 - ], - [ - 25862, - 133 - ], - [ - 26012, - 9 - ], - [ - 26161, - 134 - ], - [ - 26312, - 9 - ], - [ - 26461, - 134 - ], - [ - 26612, - 9 - ], - [ - 26761, - 134 - ], - [ - 26912, - 9 - ], - [ - 27061, - 134 - ], - [ - 27213, - 8 - ], - [ - 27360, - 136 - ], - [ - 27513, - 8 - ], - [ - 27660, - 136 - ], - [ - 27813, - 9 - ], - [ - 27960, - 136 - ], - [ - 28113, - 9 - ], - [ - 28260, - 136 - ], - [ - 28413, - 9 - ], - [ - 28559, - 137 - ], - [ - 28713, - 9 - ], - [ - 28859, - 137 - ], - [ - 29013, - 9 - ], - [ - 29159, - 137 - ], - [ - 29314, - 9 - ], - [ - 29459, - 137 - ], - [ - 29614, - 9 - ], - [ - 29759, - 137 - ], - [ - 29914, - 9 - ], - [ - 30058, - 139 - ], - [ - 30214, - 9 - ], - [ - 30358, - 139 - ], - [ - 30514, - 9 - ], - [ - 30658, - 139 - ], - [ - 30814, - 9 - ], - [ - 30958, - 139 - ], - [ - 31115, - 9 - ], - [ - 31257, - 140 - ], - [ - 31415, - 9 - ], - [ - 31557, - 140 - ], - [ - 31715, - 9 - ], - [ - 31857, - 140 - ], - [ - 32015, - 9 - ], - [ - 32157, - 167 - ], - [ - 32456, - 169 - ], - [ - 32756, - 169 - ], - [ - 33056, - 169 - ], - [ - 33356, - 169 - ], - [ - 33656, - 169 - ], - [ - 33955, - 170 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 86 - ], - [ - 36450, - 77 - ], - [ - 36653, - 86 - ], - [ - 36753, - 4 - ], - [ - 36760, - 4 - ], - [ - 36767, - 60 - ], - [ - 36953, - 86 - ], - [ - 37054, - 3 - ], - [ - 37067, - 60 - ], - [ - 37253, - 86 - ], - [ - 37354, - 1 - ], - [ - 37362, - 1 - ], - [ - 37364, - 63 - ], - [ - 37553, - 86 - ], - [ - 37654, - 1 - ], - [ - 37662, - 66 - ], - [ - 37852, - 87 - ], - [ - 37954, - 3 - ], - [ - 37960, - 1 - ], - [ - 37965, - 63 - ], - [ - 38152, - 87 - ], - [ - 38252, - 12 - ], - [ - 38268, - 60 - ], - [ - 38452, - 115 - ], - [ - 38570, - 58 - ], - [ - 38752, - 176 - ], - [ - 39051, - 177 - ], - [ - 39351, - 176 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.75, - "y": 0.9017602, - "z": -1.0 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.672662556, - "y": 0.06383839, - "z": 2.01972532 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.7618089, - "y": 0.666999638, - "z": 3.07568955 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.637953758, - "y": 0.2844601, - "z": 2.87767076 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.961647034, - "y": 0.6833528, - "z": 1.43176663 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.51504421, - "y": 0.7326363, - "z": -0.0102321506 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.80782318, - "y": 0.7301754, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.70391047, - "y": 0.0990190059, - "z": -1.320271 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.4239295, - "y": 0.6778471, - "z": 2.364499 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.626557052, - "y": 0.981944859, - "z": -1.50998282 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.5135485, - "y": 0.675700068, - "z": 1.99140644 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -1.00225461, - "y": 1.49893832, - "z": -1.38936877 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.872029662, - "y": 0.681197, - "z": 2.36449766 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.799997032, - "y": 0.10099645, - "z": -1.40332913 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.855683565, - "y": 0.66993475, - "z": 3.249276 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -1.13750923, - "y": 1.58593035, - "z": -0.9428743 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.574061036, - "y": 0.6710072, - "z": 3.24927688 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.50244153, - "y": 0.433375269, - "z": 1.88345265 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.51504421, - "y": 0.726496, - "z": 0.236022666 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 1.92654347, - "y": 0.439520538, - "z": 1.32672977 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.679945648, - "y": 0.51975, - "z": 2.23511887 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.6327728, - "y": 1.83552992, - "z": 1.34803641 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.782406449, - "y": 0.6757, - "z": 1.245221 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3683722480, - "scene_num": 318 - }, - "task_id": "trial_T20190910_122758_510336", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2BLQ1GVEHJR8T_3CN4LGXD5053FM6YFE4YNMHM7SJY4T", - "high_descs": [ - "Go to the chair to the left of the desk.", - "Pick up the key fob from the chair.", - "Face the opposite direction and go to the brown chest of drawers on the right, next to the wall.", - "Put the key fob on the center front edge of the chest of drawers.", - "Move left to the right side of the desk to your left.", - "Pick up the key fob from the desk.", - "Return to the chest of drawers to your right.", - "Put the key fob on the chest, to the right of the other keys." - ], - "task_desc": "Move two key fobs to the top of a chest of drawers.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3SLE99ER0QUN5B1CQFG497WUNEXBZW", - "high_descs": [ - "turn right, walk along room, stop at floral chair on the right, turn right and face floral chair", - "pick up set of keys on key fob from floral chair", - "turn around and face the wooden shelves opposite of the floral chair", - "place the keys on the top of the shelves in the front", - "turn to the left, walk to the desk, turn right and face desk", - "pick up the set of keys on the key fob from the desk", - "walk to the right and face the shelves opposite the floral chair", - "place the keys to the right of the other set of keys on the shelves" - ], - "task_desc": "put two sets of keys on shelves", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1AKL5YH9NLD2V_3UXUOQ9OKHEZ2RQE16OPNCJPV3Y7A4", - "high_descs": [ - "Turn left and walk to the keys on the chair next to the door.", - "Pick up the keys from the chair.", - "Turn around and walk to the table across from the door.", - "Place the keys on the edge of the table with the clock on it.", - "Turn left and walk to the keys next to the computer.", - "Pick up the keys next to the computer.", - "Turn around and walk to the table with the clock on it.", - "Place the keys to the right of the other set of keys on the table." - ], - "task_desc": "Place two sets of keys on the table across from the door.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190910_175451_266121/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190910_175451_266121/traj_data.json deleted file mode 100644 index 1fc0e66a9..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-318/trial_T20190910_175451_266121/traj_data.json +++ /dev/null @@ -1,5612 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 14 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "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": 39 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "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": 4, - "image_name": "000000213.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 45 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000319.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000320.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000321.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000322.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000323.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000324.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000325.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000326.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000327.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000328.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000329.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000330.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000331.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000332.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000333.png", - "low_idx": 59 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|6|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 7.3668928, - 7.3668928, - 6.04921628, - 6.04921628, - 1.732588292, - 1.732588292 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 7.304, - 7.304, - 6.424, - 6.424, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.84|+00.43|+01.51" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 7.3668928, - 7.3668928, - 6.04921628, - 6.04921628, - 1.732588292, - 1.732588292 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.84|+00.43|+01.51", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|10|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 6.68832876, - 6.68832876, - 7.53380968, - 7.53380968, - 1.74079168, - 1.74079168 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 7.304, - 7.304, - 6.424, - 6.424, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.67|+00.44|+01.88" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 6.68832876, - 6.68832876, - 7.53380968, - 7.53380968, - 1.74079168, - 1.74079168 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.67|+00.44|+01.88", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+01.84|+00.43|+01.51" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 143, - 109, - 149, - 127 - ], - "mask": [ - [ - 32549, - 1 - ], - [ - 32848, - 1 - ], - [ - 33143, - 2 - ], - [ - 33148, - 1 - ], - [ - 33444, - 1 - ], - [ - 33447, - 1 - ], - [ - 33744, - 1 - ], - [ - 33747, - 1 - ], - [ - 34044, - 4 - ], - [ - 34343, - 5 - ], - [ - 34643, - 5 - ], - [ - 34945, - 3 - ], - [ - 35244, - 4 - ], - [ - 35543, - 6 - ], - [ - 35843, - 6 - ], - [ - 36143, - 6 - ], - [ - 36443, - 6 - ], - [ - 36743, - 6 - ], - [ - 37043, - 6 - ], - [ - 37343, - 6 - ], - [ - 37643, - 6 - ], - [ - 37945, - 3 - ] - ], - "point": [ - 146, - 117 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+01.84|+00.43|+01.51", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 20 - ], - [ - 9429, - 2 - ], - [ - 9465, - 46 - ], - [ - 9674, - 20 - ], - [ - 9729, - 2 - ], - [ - 9765, - 46 - ], - [ - 9974, - 20 - ], - [ - 10030, - 1 - ], - [ - 10065, - 46 - ], - [ - 10273, - 21 - ], - [ - 10365, - 46 - ], - [ - 10573, - 20 - ], - [ - 10665, - 46 - ], - [ - 10873, - 20 - ], - [ - 10965, - 46 - ], - [ - 11173, - 20 - ], - [ - 11265, - 47 - ], - [ - 11473, - 20 - ], - [ - 11565, - 47 - ], - [ - 11772, - 21 - ], - [ - 11865, - 47 - ], - [ - 12072, - 21 - ], - [ - 12165, - 47 - ], - [ - 12372, - 21 - ], - [ - 12465, - 47 - ], - [ - 12672, - 22 - ], - [ - 12765, - 48 - ], - [ - 12971, - 23 - ], - [ - 13065, - 48 - ], - [ - 13271, - 23 - ], - [ - 13330, - 1 - ], - [ - 13365, - 48 - ], - [ - 13571, - 23 - ], - [ - 13630, - 1 - ], - [ - 13665, - 48 - ], - [ - 13871, - 23 - ], - [ - 13930, - 1 - ], - [ - 13965, - 48 - ], - [ - 14170, - 25 - ], - [ - 14230, - 1 - ], - [ - 14265, - 48 - ], - [ - 14470, - 25 - ], - [ - 14530, - 1 - ], - [ - 14565, - 49 - ], - [ - 14770, - 25 - ], - [ - 14830, - 1 - ], - [ - 14865, - 49 - ], - [ - 15070, - 25 - ], - [ - 15130, - 1 - ], - [ - 15165, - 49 - ], - [ - 15370, - 25 - ], - [ - 15430, - 1 - ], - [ - 15464, - 50 - ], - [ - 15669, - 27 - ], - [ - 15730, - 1 - ], - [ - 15764, - 50 - ], - [ - 15969, - 27 - ], - [ - 16030, - 1 - ], - [ - 16064, - 51 - ], - [ - 16269, - 27 - ], - [ - 16330, - 1 - ], - [ - 16364, - 51 - ], - [ - 16569, - 27 - ], - [ - 16629, - 2 - ], - [ - 16664, - 51 - ], - [ - 16868, - 28 - ], - [ - 16929, - 2 - ], - [ - 16964, - 51 - ], - [ - 17168, - 29 - ], - [ - 17229, - 2 - ], - [ - 17264, - 51 - ], - [ - 17468, - 29 - ], - [ - 17529, - 3 - ], - [ - 17564, - 51 - ], - [ - 17768, - 29 - ], - [ - 17829, - 3 - ], - [ - 17864, - 52 - ], - [ - 18067, - 31 - ], - [ - 18128, - 4 - ], - [ - 18163, - 53 - ], - [ - 18367, - 32 - ], - [ - 18427, - 7 - ], - [ - 18462, - 54 - ], - [ - 18667, - 149 - ], - [ - 18967, - 149 - ], - [ - 19267, - 150 - ], - [ - 19566, - 151 - ], - [ - 19866, - 151 - ], - [ - 20166, - 151 - ], - [ - 20466, - 151 - ], - [ - 20765, - 152 - ], - [ - 21065, - 153 - ], - [ - 21365, - 153 - ], - [ - 21665, - 153 - ], - [ - 21964, - 154 - ], - [ - 22264, - 154 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 156 - ], - [ - 23763, - 156 - ], - [ - 24063, - 156 - ], - [ - 24363, - 157 - ], - [ - 24662, - 158 - ], - [ - 24962, - 158 - ], - [ - 25262, - 158 - ], - [ - 25562, - 104 - ], - [ - 25667, - 53 - ], - [ - 25862, - 99 - ], - [ - 25971, - 50 - ], - [ - 26161, - 98 - ], - [ - 26273, - 48 - ], - [ - 26461, - 96 - ], - [ - 26575, - 46 - ], - [ - 26761, - 95 - ], - [ - 26876, - 45 - ], - [ - 27061, - 94 - ], - [ - 27177, - 44 - ], - [ - 27360, - 95 - ], - [ - 27478, - 43 - ], - [ - 27660, - 95 - ], - [ - 27778, - 44 - ], - [ - 27960, - 94 - ], - [ - 28065, - 3 - ], - [ - 28078, - 44 - ], - [ - 28260, - 94 - ], - [ - 28364, - 4 - ], - [ - 28378, - 44 - ], - [ - 28559, - 96 - ], - [ - 28665, - 3 - ], - [ - 28678, - 44 - ], - [ - 28859, - 96 - ], - [ - 28978, - 44 - ], - [ - 29159, - 96 - ], - [ - 29278, - 45 - ], - [ - 29459, - 97 - ], - [ - 29577, - 46 - ], - [ - 29759, - 97 - ], - [ - 29877, - 46 - ], - [ - 30058, - 99 - ], - [ - 30176, - 47 - ], - [ - 30358, - 101 - ], - [ - 30475, - 48 - ], - [ - 30658, - 103 - ], - [ - 30773, - 50 - ], - [ - 30958, - 106 - ], - [ - 31069, - 55 - ], - [ - 31257, - 167 - ], - [ - 31557, - 139 - ], - [ - 31715, - 9 - ], - [ - 31857, - 139 - ], - [ - 32016, - 8 - ], - [ - 32157, - 140 - ], - [ - 32316, - 8 - ], - [ - 32456, - 141 - ], - [ - 32616, - 9 - ], - [ - 32756, - 141 - ], - [ - 32916, - 9 - ], - [ - 33056, - 141 - ], - [ - 33216, - 9 - ], - [ - 33356, - 141 - ], - [ - 33516, - 9 - ], - [ - 33656, - 141 - ], - [ - 33816, - 9 - ], - [ - 33955, - 142 - ], - [ - 34117, - 8 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 173 - ], - [ - 36653, - 174 - ], - [ - 36953, - 174 - ], - [ - 37253, - 174 - ], - [ - 37553, - 175 - ], - [ - 37852, - 176 - ], - [ - 38152, - 176 - ], - [ - 38452, - 176 - ], - [ - 38752, - 176 - ], - [ - 39051, - 177 - ], - [ - 39351, - 176 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+01.67|+00.44|+01.88" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 159, - 154, - 183, - 160 - ], - "mask": [ - [ - 46059, - 11 - ], - [ - 46074, - 2 - ], - [ - 46359, - 12 - ], - [ - 46373, - 9 - ], - [ - 46659, - 12 - ], - [ - 46672, - 7 - ], - [ - 46959, - 12 - ], - [ - 46973, - 4 - ], - [ - 47259, - 21 - ], - [ - 47559, - 11 - ], - [ - 47574, - 2 - ], - [ - 47579, - 3 - ], - [ - 47882, - 2 - ] - ], - "point": [ - 170, - 156 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+01.67|+00.44|+01.88", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 20 - ], - [ - 9429, - 2 - ], - [ - 9465, - 46 - ], - [ - 9674, - 20 - ], - [ - 9729, - 2 - ], - [ - 9765, - 46 - ], - [ - 9974, - 20 - ], - [ - 10030, - 1 - ], - [ - 10065, - 46 - ], - [ - 10273, - 21 - ], - [ - 10365, - 46 - ], - [ - 10573, - 20 - ], - [ - 10665, - 46 - ], - [ - 10873, - 20 - ], - [ - 10965, - 46 - ], - [ - 11173, - 20 - ], - [ - 11265, - 47 - ], - [ - 11473, - 20 - ], - [ - 11565, - 47 - ], - [ - 11772, - 21 - ], - [ - 11865, - 47 - ], - [ - 12072, - 21 - ], - [ - 12165, - 47 - ], - [ - 12372, - 21 - ], - [ - 12465, - 47 - ], - [ - 12672, - 22 - ], - [ - 12765, - 48 - ], - [ - 12971, - 23 - ], - [ - 13065, - 48 - ], - [ - 13271, - 23 - ], - [ - 13330, - 1 - ], - [ - 13365, - 48 - ], - [ - 13571, - 23 - ], - [ - 13630, - 1 - ], - [ - 13665, - 48 - ], - [ - 13871, - 23 - ], - [ - 13930, - 1 - ], - [ - 13965, - 48 - ], - [ - 14170, - 25 - ], - [ - 14230, - 1 - ], - [ - 14265, - 48 - ], - [ - 14470, - 25 - ], - [ - 14530, - 1 - ], - [ - 14565, - 49 - ], - [ - 14770, - 25 - ], - [ - 14830, - 1 - ], - [ - 14865, - 49 - ], - [ - 15070, - 25 - ], - [ - 15130, - 1 - ], - [ - 15165, - 49 - ], - [ - 15370, - 25 - ], - [ - 15430, - 1 - ], - [ - 15464, - 50 - ], - [ - 15669, - 27 - ], - [ - 15730, - 1 - ], - [ - 15764, - 50 - ], - [ - 15969, - 27 - ], - [ - 16030, - 1 - ], - [ - 16064, - 51 - ], - [ - 16269, - 27 - ], - [ - 16330, - 1 - ], - [ - 16364, - 51 - ], - [ - 16569, - 27 - ], - [ - 16629, - 2 - ], - [ - 16664, - 51 - ], - [ - 16868, - 28 - ], - [ - 16929, - 2 - ], - [ - 16964, - 51 - ], - [ - 17168, - 29 - ], - [ - 17229, - 2 - ], - [ - 17264, - 51 - ], - [ - 17468, - 29 - ], - [ - 17529, - 3 - ], - [ - 17564, - 51 - ], - [ - 17768, - 29 - ], - [ - 17829, - 3 - ], - [ - 17864, - 52 - ], - [ - 18067, - 31 - ], - [ - 18128, - 4 - ], - [ - 18163, - 53 - ], - [ - 18367, - 32 - ], - [ - 18427, - 7 - ], - [ - 18462, - 54 - ], - [ - 18667, - 149 - ], - [ - 18967, - 149 - ], - [ - 19267, - 150 - ], - [ - 19566, - 151 - ], - [ - 19866, - 151 - ], - [ - 20166, - 151 - ], - [ - 20466, - 151 - ], - [ - 20765, - 152 - ], - [ - 21065, - 153 - ], - [ - 21365, - 153 - ], - [ - 21665, - 153 - ], - [ - 21964, - 154 - ], - [ - 22264, - 154 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 156 - ], - [ - 23763, - 156 - ], - [ - 24063, - 156 - ], - [ - 24363, - 157 - ], - [ - 24662, - 158 - ], - [ - 24962, - 158 - ], - [ - 25262, - 158 - ], - [ - 25562, - 104 - ], - [ - 25667, - 53 - ], - [ - 25862, - 99 - ], - [ - 25971, - 50 - ], - [ - 26161, - 98 - ], - [ - 26273, - 48 - ], - [ - 26461, - 96 - ], - [ - 26575, - 46 - ], - [ - 26761, - 95 - ], - [ - 26876, - 45 - ], - [ - 27061, - 94 - ], - [ - 27177, - 44 - ], - [ - 27360, - 95 - ], - [ - 27478, - 43 - ], - [ - 27660, - 95 - ], - [ - 27778, - 44 - ], - [ - 27960, - 94 - ], - [ - 28065, - 3 - ], - [ - 28078, - 44 - ], - [ - 28260, - 94 - ], - [ - 28364, - 4 - ], - [ - 28378, - 44 - ], - [ - 28559, - 96 - ], - [ - 28665, - 3 - ], - [ - 28678, - 44 - ], - [ - 28859, - 96 - ], - [ - 28978, - 44 - ], - [ - 29159, - 96 - ], - [ - 29278, - 45 - ], - [ - 29459, - 97 - ], - [ - 29577, - 46 - ], - [ - 29759, - 97 - ], - [ - 29877, - 46 - ], - [ - 30058, - 99 - ], - [ - 30176, - 47 - ], - [ - 30358, - 101 - ], - [ - 30475, - 48 - ], - [ - 30658, - 103 - ], - [ - 30773, - 50 - ], - [ - 30958, - 106 - ], - [ - 31069, - 55 - ], - [ - 31257, - 167 - ], - [ - 31557, - 139 - ], - [ - 31715, - 9 - ], - [ - 31857, - 139 - ], - [ - 32016, - 8 - ], - [ - 32157, - 140 - ], - [ - 32316, - 8 - ], - [ - 32456, - 141 - ], - [ - 32616, - 9 - ], - [ - 32756, - 141 - ], - [ - 32916, - 9 - ], - [ - 33056, - 141 - ], - [ - 33216, - 9 - ], - [ - 33356, - 141 - ], - [ - 33516, - 9 - ], - [ - 33656, - 141 - ], - [ - 33816, - 9 - ], - [ - 33955, - 142 - ], - [ - 34117, - 8 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 86 - ], - [ - 36450, - 77 - ], - [ - 36653, - 86 - ], - [ - 36753, - 4 - ], - [ - 36760, - 4 - ], - [ - 36767, - 60 - ], - [ - 36953, - 86 - ], - [ - 37054, - 3 - ], - [ - 37067, - 60 - ], - [ - 37253, - 86 - ], - [ - 37354, - 1 - ], - [ - 37362, - 1 - ], - [ - 37364, - 63 - ], - [ - 37553, - 86 - ], - [ - 37654, - 1 - ], - [ - 37662, - 66 - ], - [ - 37852, - 87 - ], - [ - 37954, - 3 - ], - [ - 37960, - 1 - ], - [ - 37965, - 63 - ], - [ - 38152, - 87 - ], - [ - 38252, - 12 - ], - [ - 38268, - 60 - ], - [ - 38452, - 115 - ], - [ - 38570, - 58 - ], - [ - 38752, - 176 - ], - [ - 39051, - 177 - ], - [ - 39351, - 176 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.75, - "y": 0.9017602, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.8175837, - "y": 0.06383839, - "z": 2.45204473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.692788541, - "y": 0.6757, - "z": 1.99140584 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.423928976, - "y": 0.6773067, - "z": 2.177953 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.574060559, - "y": 0.6687758, - "z": 3.07569027 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": 1.41762149, - "y": 0.434838116, - "z": 1.605091 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.66208363, - "y": 0.320510566, - "z": -0.362581432 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 2.003009, - "y": 0.726496, - "z": -0.5027418 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.50244188, - "y": 0.432995975, - "z": 1.41951656 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.67208219, - "y": 0.43519792, - "z": 1.88345242 - }, - "rotation": { - "x": 0.0, - "y": -5.79560765e-05, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.85568285, - "y": 0.66993475, - "z": 2.98889613 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.56213975, - "y": 1.8410269, - "z": 1.34803641 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.51504433, - "y": 0.7321528, - "z": 0.7285323 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.8556823, - "y": 0.6697653, - "z": 2.81530976 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.8297901, - "y": 1.549, - "z": -1.5335114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.6682143, - "y": 0.980286, - "z": -1.50998282 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.8417232, - "y": 0.433147073, - "z": 1.51230407 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.48018682, - "y": 0.6691651, - "z": 3.249277 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.8175837, - "y": 0.0654450953, - "z": 2.09177852 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.8720286, - "y": 0.6813754, - "z": 1.99140537 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -1.00225461, - "y": 1.49893832, - "z": -0.719627142 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.672662556, - "y": 0.06383839, - "z": 2.37999153 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2610225727, - "scene_num": 318 - }, - "task_id": "trial_T20190910_175451_266121", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1RLO9LNUJIW5S_34X6J5FLPWFK92YXRBA8G233QGAJQK", - "high_descs": [ - "Turn left and walk until your're even with a floral patterned armchair on your right then turn right to face it.", - "Pick up the keys that are on the cushion in front of you to the right of another set,.", - "Turn left and walk to the wall then turn left and walk to he desk.", - "Put the keys on the edge of the desk in front of you.", - "Turn around and walk to the door then turn right and walk to the chair.", - "Pick up the keys that are on the chair.", - "Go back to where you set the first set of keys.", - "Put these keys on the desk too." - ], - "task_desc": "Put two pairs of keys on the desk,", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2V35L3RIRYYXV_3IRIK4HM3D14R6972AFONT9H0UO6CT", - "high_descs": [ - "Turn to the left, walk forward them turn to the right to face the chair.", - "Pick up the keys on the back of the seat of the chair behind the cell phone. ", - "Turn right, then walk forward to face the brown night stand.", - "Place the keys on the nightstand in front of the CD.", - "Turn around, walk forward then turn to the right to face the side of the chair.", - "Pick up the keys that are closest to you.", - "Turn around, walk forward to face the brown nightstand.", - "Place the keys to the right of the other set of keys on the night stand. " - ], - "task_desc": "Pick up two sets of keys from the chair and move them to the nightstand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F51C49T9A34D_3PZDLQMM0W2G95Q6F83LXGS5KPN2C9", - "high_descs": [ - "turn to the left and go to the front of the chair and turn to the right and step to the chair", - "pick up the back set of keys from the chair", - "turn to the left and go to the wall and turn to the left and go to the desk", - "put the set of keys on the desk", - "turn to the left twice and go to the door and turn to the right and go to the chair", - "pick up the set of keys from the chair", - "turn to the right twice and go to the wall and turn to the left and go to desk ", - "put the set of keys on the desk left of the other set of keys" - ], - "task_desc": "Place two set of keys on a desk", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051029_553111/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051029_553111/traj_data.json deleted file mode 100644 index 40fbce18d..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051029_553111/traj_data.json +++ /dev/null @@ -1,9123 +0,0 @@ -{ - "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": 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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 20 - }, - { - "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": 24 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 29 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 41 - }, - { - "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": 47 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 47 - }, - { - "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": 55 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 55 - }, - { - "high_idx": 3, - "image_name": "000000233.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000234.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000235.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000236.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000237.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000238.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000239.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000240.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000241.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000242.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000243.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000244.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000245.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000246.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000247.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 75 - }, - { - "high_idx": 7, - "image_name": "000000389.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000390.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000391.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000392.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000393.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000394.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000395.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000396.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000397.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000398.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000399.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000400.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000401.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000402.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000403.png", - "low_idx": 76 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|7|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.593092, - -6.593092, - 6.8460946, - 6.8460946, - 2.658348, - 2.658348 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - 5.916, - 5.916, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.65|+00.66|+01.71" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.593092, - -6.593092, - 6.8460946, - 6.8460946, - 2.658348, - 2.658348 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.65|+00.66|+01.71", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-2|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 10.4012928, - 10.4012928, - -2.884534, - -2.884534, - 1.80323422, - 1.80323422 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 10.3, - 10.3, - -3.268, - -3.268, - -0.056, - -0.056 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.60|+00.45|-00.72" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 10.4012928, - 10.4012928, - -2.884534, - -2.884534, - 1.80323422, - 1.80323422 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.60|+00.45|-00.72", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|-01.65|+00.66|+01.71" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 127, - 110, - 144, - 135 - ], - "mask": [ - [ - 32844, - 1 - ], - [ - 33144, - 1 - ], - [ - 33444, - 1 - ], - [ - 33743, - 2 - ], - [ - 34043, - 1 - ], - [ - 34334, - 1 - ], - [ - 34343, - 1 - ], - [ - 34632, - 5 - ], - [ - 34642, - 2 - ], - [ - 34932, - 6 - ], - [ - 34940, - 4 - ], - [ - 35233, - 6 - ], - [ - 35240, - 5 - ], - [ - 35534, - 11 - ], - [ - 35827, - 3 - ], - [ - 35835, - 4 - ], - [ - 35842, - 2 - ], - [ - 36128, - 5 - ], - [ - 36136, - 2 - ], - [ - 36430, - 6 - ], - [ - 36437, - 1 - ], - [ - 36732, - 4 - ], - [ - 36737, - 1 - ], - [ - 36740, - 1 - ], - [ - 37032, - 4 - ], - [ - 37039, - 1 - ], - [ - 37041, - 1 - ], - [ - 37337, - 1 - ], - [ - 37341, - 1 - ], - [ - 37638, - 3 - ], - [ - 37938, - 3 - ], - [ - 38239, - 2 - ], - [ - 38538, - 5 - ], - [ - 38837, - 7 - ], - [ - 39136, - 9 - ], - [ - 39435, - 10 - ], - [ - 39736, - 8 - ], - [ - 40038, - 5 - ], - [ - 40339, - 3 - ] - ], - "point": [ - 135, - 121 - ] - } - }, - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "KeyChain|-01.65|+00.66|+01.71", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 96 - ], - [ - 504, - 96 - ], - [ - 804, - 96 - ], - [ - 1104, - 96 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 91 - ], - [ - 9509, - 91 - ], - [ - 9810, - 90 - ], - [ - 10110, - 90 - ], - [ - 10410, - 90 - ], - [ - 10710, - 90 - ], - [ - 11010, - 90 - ], - [ - 11310, - 90 - ], - [ - 11611, - 89 - ], - [ - 11911, - 89 - ], - [ - 12211, - 89 - ], - [ - 12511, - 89 - ], - [ - 12776, - 2 - ], - [ - 12811, - 89 - ], - [ - 13076, - 2 - ], - [ - 13112, - 88 - ], - [ - 13376, - 1 - ], - [ - 13412, - 88 - ], - [ - 13676, - 1 - ], - [ - 13712, - 88 - ], - [ - 13976, - 1 - ], - [ - 14012, - 88 - ], - [ - 14276, - 1 - ], - [ - 14312, - 88 - ], - [ - 14575, - 2 - ], - [ - 14612, - 88 - ], - [ - 14876, - 1 - ], - [ - 14913, - 87 - ], - [ - 15176, - 1 - ], - [ - 15213, - 87 - ], - [ - 15476, - 1 - ], - [ - 15513, - 87 - ], - [ - 15776, - 1 - ], - [ - 15813, - 87 - ], - [ - 16076, - 1 - ], - [ - 16113, - 87 - ], - [ - 16376, - 1 - ], - [ - 16414, - 86 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 86 - ], - [ - 16976, - 1 - ], - [ - 17014, - 86 - ], - [ - 17276, - 2 - ], - [ - 17314, - 86 - ], - [ - 17576, - 2 - ], - [ - 17614, - 86 - ], - [ - 17876, - 2 - ], - [ - 17914, - 86 - ], - [ - 18176, - 2 - ], - [ - 18215, - 85 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 85 - ], - [ - 18776, - 2 - ], - [ - 18815, - 85 - ], - [ - 19077, - 1 - ], - [ - 19115, - 85 - ], - [ - 19377, - 2 - ], - [ - 19415, - 85 - ], - [ - 19677, - 2 - ], - [ - 19715, - 85 - ], - [ - 19977, - 2 - ], - [ - 20016, - 84 - ], - [ - 20277, - 2 - ], - [ - 20316, - 84 - ], - [ - 20577, - 2 - ], - [ - 20616, - 84 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 84 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 84 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 83 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 83 - ], - [ - 22077, - 2 - ], - [ - 22117, - 83 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 83 - ], - [ - 22677, - 2 - ], - [ - 22717, - 83 - ], - [ - 22978, - 1 - ], - [ - 23017, - 83 - ], - [ - 23278, - 1 - ], - [ - 23318, - 82 - ], - [ - 23578, - 1 - ], - [ - 23618, - 82 - ], - [ - 23878, - 2 - ], - [ - 23918, - 82 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 82 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 82 - ], - [ - 24778, - 2 - ], - [ - 24819, - 81 - ], - [ - 25078, - 2 - ], - [ - 25119, - 81 - ], - [ - 25378, - 2 - ], - [ - 25419, - 81 - ], - [ - 25678, - 2 - ], - [ - 25719, - 81 - ], - [ - 25978, - 2 - ], - [ - 26019, - 81 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 81 - ], - [ - 26578, - 3 - ], - [ - 26620, - 80 - ], - [ - 26878, - 3 - ], - [ - 26920, - 80 - ], - [ - 27179, - 2 - ], - [ - 27220, - 80 - ], - [ - 27479, - 2 - ], - [ - 27520, - 80 - ], - [ - 27779, - 2 - ], - [ - 27820, - 80 - ], - [ - 28079, - 2 - ], - [ - 28121, - 79 - ], - [ - 28379, - 2 - ], - [ - 28421, - 79 - ], - [ - 28679, - 2 - ], - [ - 28721, - 79 - ], - [ - 28979, - 2 - ], - [ - 29021, - 79 - ], - [ - 29279, - 2 - ], - [ - 29321, - 79 - ], - [ - 29579, - 2 - ], - [ - 29621, - 79 - ], - [ - 29879, - 2 - ], - [ - 29922, - 78 - ], - [ - 30179, - 2 - ], - [ - 30222, - 78 - ], - [ - 30479, - 3 - ], - [ - 30522, - 78 - ], - [ - 30779, - 3 - ], - [ - 30822, - 78 - ], - [ - 31079, - 3 - ], - [ - 31122, - 78 - ], - [ - 31380, - 1 - ], - [ - 31422, - 78 - ], - [ - 31680, - 1 - ], - [ - 31723, - 77 - ], - [ - 31980, - 1 - ], - [ - 32023, - 77 - ], - [ - 32280, - 1 - ], - [ - 32323, - 77 - ], - [ - 32580, - 1 - ], - [ - 32623, - 77 - ], - [ - 32880, - 1 - ], - [ - 32923, - 77 - ], - [ - 33180, - 2 - ], - [ - 33224, - 76 - ], - [ - 33480, - 2 - ], - [ - 33524, - 76 - ], - [ - 33780, - 2 - ], - [ - 33824, - 76 - ], - [ - 34080, - 2 - ], - [ - 34124, - 76 - ], - [ - 34380, - 2 - ], - [ - 34424, - 76 - ], - [ - 34680, - 2 - ], - [ - 34724, - 76 - ], - [ - 34980, - 2 - ], - [ - 35025, - 75 - ], - [ - 35280, - 3 - ], - [ - 35325, - 75 - ], - [ - 35581, - 2 - ], - [ - 35625, - 75 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 75 - ], - [ - 36181, - 2 - ], - [ - 36225, - 75 - ], - [ - 36481, - 2 - ], - [ - 36526, - 74 - ], - [ - 36781, - 2 - ], - [ - 36826, - 74 - ], - [ - 37081, - 2 - ], - [ - 37126, - 74 - ], - [ - 37381, - 2 - ], - [ - 37426, - 74 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 74 - ], - [ - 37981, - 2 - ], - [ - 38026, - 74 - ], - [ - 38281, - 2 - ], - [ - 38327, - 73 - ], - [ - 38581, - 2 - ], - [ - 38627, - 73 - ], - [ - 38881, - 2 - ], - [ - 38927, - 73 - ], - [ - 39181, - 2 - ], - [ - 39227, - 73 - ], - [ - 39482, - 1 - ], - [ - 39527, - 73 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 73 - ], - [ - 40082, - 1 - ], - [ - 40128, - 72 - ], - [ - 40382, - 1 - ], - [ - 40428, - 72 - ], - [ - 40682, - 2 - ], - [ - 40728, - 72 - ], - [ - 40982, - 2 - ], - [ - 41028, - 72 - ], - [ - 41282, - 2 - ], - [ - 41328, - 72 - ], - [ - 41582, - 2 - ], - [ - 41629, - 71 - ], - [ - 41882, - 2 - ], - [ - 41929, - 71 - ], - [ - 42182, - 2 - ], - [ - 42229, - 71 - ], - [ - 42482, - 2 - ], - [ - 42529, - 71 - ], - [ - 42782, - 3 - ], - [ - 42829, - 71 - ], - [ - 43082, - 3 - ], - [ - 43129, - 71 - ], - [ - 43382, - 3 - ], - [ - 43430, - 70 - ], - [ - 43683, - 2 - ], - [ - 43730, - 70 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 64 - ], - [ - 53885, - 2 - ], - [ - 53936, - 64 - ], - [ - 54185, - 2 - ], - [ - 54236, - 64 - ], - [ - 54485, - 2 - ], - [ - 54536, - 64 - ], - [ - 54785, - 2 - ], - [ - 54836, - 64 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 63 - ], - [ - 55385, - 2 - ], - [ - 55437, - 63 - ], - [ - 55685, - 2 - ], - [ - 55737, - 63 - ], - [ - 55986, - 2 - ], - [ - 56037, - 63 - ], - [ - 56286, - 2 - ], - [ - 56337, - 63 - ], - [ - 56586, - 2 - ], - [ - 56638, - 62 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 62 - ], - [ - 57186, - 2 - ], - [ - 57238, - 62 - ], - [ - 57486, - 2 - ], - [ - 57538, - 62 - ], - [ - 57786, - 3 - ], - [ - 57838, - 62 - ], - [ - 58086, - 3 - ], - [ - 58137, - 63 - ], - [ - 58386, - 3 - ], - [ - 58439, - 61 - ], - [ - 58686, - 3 - ], - [ - 58739, - 61 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 61 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 61 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 61 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 61 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 60 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 60 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 60 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 60 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 60 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 59 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 59 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 59 - ], - [ - 62587, - 2 - ], - [ - 62625, - 5 - ], - [ - 62641, - 59 - ], - [ - 62887, - 2 - ], - [ - 62924, - 6 - ], - [ - 62941, - 59 - ], - [ - 63187, - 2 - ], - [ - 63224, - 6 - ], - [ - 63241, - 59 - ], - [ - 63487, - 2 - ], - [ - 63523, - 2 - ], - [ - 63542, - 58 - ], - [ - 63787, - 2 - ], - [ - 63822, - 2 - ], - [ - 63842, - 58 - ], - [ - 64088, - 1 - ], - [ - 64121, - 3 - ], - [ - 64142, - 58 - ], - [ - 64388, - 1 - ], - [ - 64420, - 3 - ], - [ - 64442, - 58 - ], - [ - 64688, - 2 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 58 - ], - [ - 64988, - 2 - ], - [ - 65019, - 2 - ], - [ - 65043, - 57 - ], - [ - 65288, - 2 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65588, - 2 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65888, - 2 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66188, - 2 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66488, - 2 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66788, - 3 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+02.60|+00.45|-00.72" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 179, - 150, - 202, - 166 - ], - "mask": [ - [ - 44879, - 1 - ], - [ - 45180, - 1 - ], - [ - 45481, - 2 - ], - [ - 45783, - 1 - ], - [ - 46084, - 2 - ], - [ - 46087, - 1 - ], - [ - 46385, - 4 - ], - [ - 46685, - 4 - ], - [ - 46985, - 3 - ], - [ - 47580, - 7 - ], - [ - 47590, - 2 - ], - [ - 47880, - 7 - ], - [ - 47889, - 1 - ], - [ - 47891, - 2 - ], - [ - 47899, - 1 - ], - [ - 48180, - 8 - ], - [ - 48189, - 2 - ], - [ - 48192, - 9 - ], - [ - 48480, - 3 - ], - [ - 48487, - 2 - ], - [ - 48490, - 1 - ], - [ - 48492, - 10 - ], - [ - 48786, - 4 - ], - [ - 48795, - 7 - ], - [ - 49085, - 5 - ], - [ - 49096, - 7 - ], - [ - 49384, - 3 - ], - [ - 49388, - 2 - ], - [ - 49396, - 7 - ], - [ - 49682, - 3 - ], - [ - 49697, - 4 - ] - ], - "point": [ - 190, - 158 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+02.60|+00.45|-00.72", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 96 - ], - [ - 504, - 96 - ], - [ - 804, - 96 - ], - [ - 1104, - 96 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 91 - ], - [ - 9509, - 91 - ], - [ - 9810, - 90 - ], - [ - 10110, - 90 - ], - [ - 10410, - 90 - ], - [ - 10710, - 90 - ], - [ - 11010, - 90 - ], - [ - 11310, - 90 - ], - [ - 11611, - 89 - ], - [ - 11911, - 89 - ], - [ - 12211, - 89 - ], - [ - 12511, - 89 - ], - [ - 12776, - 2 - ], - [ - 12811, - 89 - ], - [ - 13076, - 2 - ], - [ - 13112, - 88 - ], - [ - 13376, - 1 - ], - [ - 13412, - 88 - ], - [ - 13676, - 1 - ], - [ - 13712, - 88 - ], - [ - 13976, - 1 - ], - [ - 14012, - 88 - ], - [ - 14276, - 1 - ], - [ - 14312, - 88 - ], - [ - 14575, - 2 - ], - [ - 14612, - 88 - ], - [ - 14876, - 1 - ], - [ - 14913, - 87 - ], - [ - 15176, - 1 - ], - [ - 15213, - 87 - ], - [ - 15476, - 1 - ], - [ - 15513, - 87 - ], - [ - 15776, - 1 - ], - [ - 15813, - 87 - ], - [ - 16076, - 1 - ], - [ - 16113, - 87 - ], - [ - 16376, - 1 - ], - [ - 16414, - 86 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 86 - ], - [ - 16976, - 1 - ], - [ - 17014, - 86 - ], - [ - 17276, - 2 - ], - [ - 17314, - 86 - ], - [ - 17576, - 2 - ], - [ - 17614, - 86 - ], - [ - 17876, - 2 - ], - [ - 17914, - 86 - ], - [ - 18176, - 2 - ], - [ - 18215, - 85 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 85 - ], - [ - 18776, - 2 - ], - [ - 18815, - 85 - ], - [ - 19077, - 1 - ], - [ - 19115, - 85 - ], - [ - 19377, - 2 - ], - [ - 19415, - 85 - ], - [ - 19677, - 2 - ], - [ - 19715, - 85 - ], - [ - 19977, - 2 - ], - [ - 20016, - 84 - ], - [ - 20277, - 2 - ], - [ - 20316, - 84 - ], - [ - 20577, - 2 - ], - [ - 20616, - 84 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 84 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 84 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 83 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 83 - ], - [ - 22077, - 2 - ], - [ - 22117, - 83 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 83 - ], - [ - 22677, - 2 - ], - [ - 22717, - 83 - ], - [ - 22978, - 1 - ], - [ - 23017, - 83 - ], - [ - 23278, - 1 - ], - [ - 23318, - 82 - ], - [ - 23578, - 1 - ], - [ - 23618, - 82 - ], - [ - 23878, - 2 - ], - [ - 23918, - 82 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 82 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 82 - ], - [ - 24778, - 2 - ], - [ - 24819, - 81 - ], - [ - 25078, - 2 - ], - [ - 25119, - 81 - ], - [ - 25378, - 2 - ], - [ - 25419, - 81 - ], - [ - 25678, - 2 - ], - [ - 25719, - 81 - ], - [ - 25978, - 2 - ], - [ - 26019, - 81 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 81 - ], - [ - 26578, - 3 - ], - [ - 26620, - 80 - ], - [ - 26878, - 3 - ], - [ - 26920, - 80 - ], - [ - 27179, - 2 - ], - [ - 27220, - 80 - ], - [ - 27479, - 2 - ], - [ - 27520, - 80 - ], - [ - 27779, - 2 - ], - [ - 27820, - 80 - ], - [ - 28079, - 2 - ], - [ - 28121, - 79 - ], - [ - 28379, - 2 - ], - [ - 28421, - 79 - ], - [ - 28679, - 2 - ], - [ - 28721, - 79 - ], - [ - 28979, - 2 - ], - [ - 29021, - 79 - ], - [ - 29279, - 2 - ], - [ - 29321, - 79 - ], - [ - 29579, - 2 - ], - [ - 29621, - 79 - ], - [ - 29879, - 2 - ], - [ - 29922, - 78 - ], - [ - 30179, - 2 - ], - [ - 30222, - 78 - ], - [ - 30479, - 3 - ], - [ - 30522, - 78 - ], - [ - 30779, - 3 - ], - [ - 30822, - 78 - ], - [ - 31079, - 3 - ], - [ - 31122, - 78 - ], - [ - 31380, - 1 - ], - [ - 31422, - 78 - ], - [ - 31680, - 1 - ], - [ - 31723, - 77 - ], - [ - 31980, - 1 - ], - [ - 32023, - 77 - ], - [ - 32280, - 1 - ], - [ - 32323, - 77 - ], - [ - 32580, - 1 - ], - [ - 32623, - 77 - ], - [ - 32880, - 1 - ], - [ - 32923, - 77 - ], - [ - 33180, - 2 - ], - [ - 33224, - 76 - ], - [ - 33480, - 2 - ], - [ - 33524, - 76 - ], - [ - 33780, - 2 - ], - [ - 33824, - 76 - ], - [ - 34080, - 2 - ], - [ - 34124, - 76 - ], - [ - 34380, - 2 - ], - [ - 34424, - 76 - ], - [ - 34680, - 2 - ], - [ - 34724, - 76 - ], - [ - 34980, - 2 - ], - [ - 35025, - 75 - ], - [ - 35280, - 3 - ], - [ - 35325, - 75 - ], - [ - 35581, - 2 - ], - [ - 35625, - 75 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 75 - ], - [ - 36181, - 2 - ], - [ - 36225, - 75 - ], - [ - 36481, - 2 - ], - [ - 36526, - 74 - ], - [ - 36781, - 2 - ], - [ - 36826, - 74 - ], - [ - 37081, - 2 - ], - [ - 37126, - 74 - ], - [ - 37381, - 2 - ], - [ - 37426, - 74 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 74 - ], - [ - 37981, - 2 - ], - [ - 38026, - 74 - ], - [ - 38281, - 2 - ], - [ - 38327, - 73 - ], - [ - 38581, - 2 - ], - [ - 38627, - 73 - ], - [ - 38881, - 2 - ], - [ - 38927, - 73 - ], - [ - 39181, - 2 - ], - [ - 39227, - 73 - ], - [ - 39482, - 1 - ], - [ - 39527, - 73 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 73 - ], - [ - 40082, - 1 - ], - [ - 40128, - 72 - ], - [ - 40382, - 1 - ], - [ - 40428, - 72 - ], - [ - 40682, - 2 - ], - [ - 40728, - 72 - ], - [ - 40982, - 2 - ], - [ - 41028, - 72 - ], - [ - 41282, - 2 - ], - [ - 41328, - 72 - ], - [ - 41582, - 2 - ], - [ - 41629, - 71 - ], - [ - 41882, - 2 - ], - [ - 41929, - 71 - ], - [ - 42182, - 2 - ], - [ - 42229, - 71 - ], - [ - 42482, - 2 - ], - [ - 42529, - 71 - ], - [ - 42782, - 3 - ], - [ - 42829, - 71 - ], - [ - 43082, - 3 - ], - [ - 43129, - 71 - ], - [ - 43382, - 3 - ], - [ - 43430, - 70 - ], - [ - 43683, - 2 - ], - [ - 43730, - 70 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 64 - ], - [ - 53885, - 2 - ], - [ - 53936, - 64 - ], - [ - 54185, - 2 - ], - [ - 54236, - 54 - ], - [ - 54291, - 9 - ], - [ - 54485, - 2 - ], - [ - 54536, - 53 - ], - [ - 54593, - 7 - ], - [ - 54785, - 2 - ], - [ - 54836, - 53 - ], - [ - 54893, - 7 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 52 - ], - [ - 55193, - 7 - ], - [ - 55385, - 2 - ], - [ - 55437, - 51 - ], - [ - 55492, - 8 - ], - [ - 55685, - 2 - ], - [ - 55737, - 51 - ], - [ - 55792, - 8 - ], - [ - 55986, - 2 - ], - [ - 56037, - 51 - ], - [ - 56091, - 9 - ], - [ - 56286, - 2 - ], - [ - 56337, - 50 - ], - [ - 56392, - 8 - ], - [ - 56586, - 2 - ], - [ - 56638, - 49 - ], - [ - 56691, - 9 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 46 - ], - [ - 56991, - 8 - ], - [ - 57186, - 2 - ], - [ - 57238, - 46 - ], - [ - 57291, - 7 - ], - [ - 57486, - 2 - ], - [ - 57538, - 45 - ], - [ - 57591, - 6 - ], - [ - 57786, - 3 - ], - [ - 57838, - 45 - ], - [ - 57891, - 5 - ], - [ - 58086, - 3 - ], - [ - 58137, - 46 - ], - [ - 58192, - 3 - ], - [ - 58386, - 3 - ], - [ - 58439, - 45 - ], - [ - 58492, - 2 - ], - [ - 58686, - 3 - ], - [ - 58739, - 45 - ], - [ - 58792, - 1 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 28 - ], - [ - 59070, - 16 - ], - [ - 59091, - 2 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 28 - ], - [ - 59371, - 14 - ], - [ - 59386, - 1 - ], - [ - 59389, - 3 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 27 - ], - [ - 59673, - 11 - ], - [ - 59689, - 4 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 27 - ], - [ - 59974, - 9 - ], - [ - 59985, - 1 - ], - [ - 59987, - 1 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 25 - ], - [ - 60276, - 6 - ], - [ - 60284, - 3 - ], - [ - 60291, - 4 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 25 - ], - [ - 60585, - 3 - ], - [ - 60589, - 1 - ], - [ - 60592, - 4 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 24 - ], - [ - 60885, - 3 - ], - [ - 60889, - 2 - ], - [ - 60892, - 5 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 23 - ], - [ - 61186, - 2 - ], - [ - 61189, - 2 - ], - [ - 61192, - 8 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 23 - ], - [ - 61486, - 2 - ], - [ - 61489, - 2 - ], - [ - 61492, - 7 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 21 - ], - [ - 61787, - 2 - ], - [ - 61792, - 6 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 22 - ], - [ - 62079, - 7 - ], - [ - 62091, - 7 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 23 - ], - [ - 62379, - 12 - ], - [ - 62392, - 6 - ], - [ - 62587, - 2 - ], - [ - 62625, - 5 - ], - [ - 62641, - 24 - ], - [ - 62678, - 14 - ], - [ - 62693, - 5 - ], - [ - 62887, - 2 - ], - [ - 62924, - 6 - ], - [ - 62941, - 26 - ], - [ - 62978, - 21 - ], - [ - 63187, - 2 - ], - [ - 63224, - 6 - ], - [ - 63241, - 28 - ], - [ - 63277, - 22 - ], - [ - 63487, - 2 - ], - [ - 63523, - 2 - ], - [ - 63542, - 28 - ], - [ - 63577, - 23 - ], - [ - 63787, - 2 - ], - [ - 63822, - 2 - ], - [ - 63842, - 30 - ], - [ - 63876, - 24 - ], - [ - 64088, - 1 - ], - [ - 64121, - 3 - ], - [ - 64142, - 31 - ], - [ - 64176, - 24 - ], - [ - 64388, - 1 - ], - [ - 64420, - 3 - ], - [ - 64442, - 58 - ], - [ - 64688, - 2 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 58 - ], - [ - 64988, - 2 - ], - [ - 65019, - 2 - ], - [ - 65043, - 57 - ], - [ - 65288, - 2 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65588, - 2 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65888, - 2 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66188, - 2 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66488, - 2 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66788, - 3 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan322", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.25, - "y": 0.9017602, - "z": -1.5 - }, - "object_poses": [ - { - "objectName": "CD_e652db95", - "position": { - "x": 2.59624839, - "y": 0.88664645, - "z": 0.7979797 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 2.55536079, - "y": 0.8855249, - "z": 1.73342252 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.644899, - "y": 0.9907528, - "z": 1.860575 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": -1.648273, - "y": 0.668652833, - "z": 1.55650783 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": -1.5141592, - "y": 0.662996, - "z": 1.24647629 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": 2.6003232, - "y": 0.450808555, - "z": -0.7211335 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Book_d7ca8482", - "position": { - "x": -0.1810059, - "y": 0.6932631, - "z": -0.109611064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": -1.648273, - "y": 0.6672539, - "z": 1.40149212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_d7ca8482", - "position": { - "x": -0.9843523, - "y": 0.6932631, - "z": 0.113465667 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": -1.648273, - "y": 0.664587, - "z": 1.71152365 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": -0.1810059, - "y": 0.691842139, - "z": 0.3365424 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_3f92dde4", - "position": { - "x": 1.763, - "y": 0.0007606298, - "z": -1.732 - }, - "rotation": { - "x": 0.0, - "y": 70.59012, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": 2.56191, - "y": 0.449217558, - "z": -0.9199292 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.995096, - "y": 0.993852258, - "z": 1.00800109 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": 2.73244858, - "y": 0.9893539, - "z": 1.57638359 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_5a388b63", - "position": { - "x": 3.076, - "y": 0.629, - "z": -1.762 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.300385 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.9950943, - "y": 0.9875098, - "z": 1.29219317 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_8659ff3f", - "position": { - "x": 0.808, - "y": 0.05, - "z": 2.151 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 270.000183 - } - }, - { - "objectName": "Pillow_2ebb2348", - "position": { - "x": -1.373, - "y": 0.754, - "z": -0.204 - }, - "rotation": { - "x": 0.0, - "y": 255.000214, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0f29a798", - "position": { - "x": -1.457, - "y": 0.754, - "z": 0.494 - }, - "rotation": { - "x": 0.0, - "y": 285.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": 0.08677626, - "y": 0.6942395, - "z": -0.3326877 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": -1.515646, - "y": 0.356881946, - "z": 1.42212808 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_781a5acc", - "position": { - "x": 2.875659, - "y": 0.178229511, - "z": 0.349856853 - }, - "rotation": { - "x": 0.0, - "y": 269.999664, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 828696078, - "scene_num": 322 - }, - "task_id": "trial_T20190908_051029_553111", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AISNLDPD2DFEG_3DIP6YHAPF96SIC9RGIHXV5BRIDE80", - "high_descs": [ - "Turn left, go forward, turn left, go forward, turn left and go to the nightstand", - "Pick up the keys on the nightstand", - "Turn around, go forward, turn right, go forward, turn left and go to the dresser, turn left", - "Put the keys on the dresser", - "Go to the chair to the right of the dresser", - "Pick up the keys on the chair", - "Turn left, go to the dresser", - "Put the keys on the dresser" - ], - "task_desc": "Put two sets of keys on the dresser", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A30M9SZYJKFDS9_3TY7ZAOG5I1RWTZGSYG52BCYSH9K0F", - "high_descs": [ - "turn around to the left towards the mirror go left facing the night stand", - "pick up the keys that are on top of the night stand", - "turn around to the left go right turn left ", - "face the dresser put the keys on top of the dresser", - "turn around to the left towards the grey couch on the corner", - "pick up the keys that are on top of the couch ", - "go left across the room", - "face the dresser put the keys on top of the dresser" - ], - "task_desc": "put 2 set of keys on top of a dresser ", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3IGI0VL64A1D7GC2RWAWK4PKLJWONP", - "high_descs": [ - "Turn left and walk all the way around the bed to the side table on the other side of the bed.", - "Pick up the keys on the side table.", - "Turn around and veer right to the right side of the black dresser.", - "Place the keys on the right side of the dresser.", - "Step right to the gray chair.", - "Pick up the keys on the chair. ", - "Walk left back to the black dresser.", - "Place the keys on the dresser to the left of the other set of keys." - ], - "task_desc": "Place two sets of keys on a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051114_312895/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051114_312895/traj_data.json deleted file mode 100644 index e50c713cb..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051114_312895/traj_data.json +++ /dev/null @@ -1,9680 +0,0 @@ -{ - "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": 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": 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": 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": 1, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 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": 2, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 69 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 70 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000428.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000429.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000430.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000431.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000432.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000433.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000434.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000435.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000436.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000437.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000438.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000439.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000440.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000441.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000442.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000443.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000444.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000445.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000446.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000447.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000448.png", - "low_idx": 96 - }, - { - "high_idx": 7, - "image_name": "000000449.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000450.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000451.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000452.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000453.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000454.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000455.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000456.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000457.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000458.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000459.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000460.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000461.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000462.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000463.png", - "low_idx": 97 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|6|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.23545504, - -6.23545504, - 5.60596848, - 5.60596848, - 2.658348, - 2.658348 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - 5.916, - 5.916, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.56|+00.66|+01.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.23545504, - -6.23545504, - 5.60596848, - 5.60596848, - 2.658348, - 2.658348 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.56|+00.66|+01.40", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.593092, - -6.593092, - -4.06990528, - -4.06990528, - 2.658348, - 2.658348 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - -5.0, - -5.0, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.65|+00.66|-01.02" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.593092, - -6.593092, - -4.06990528, - -4.06990528, - 2.658348, - 2.658348 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.65|+00.66|-01.02", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "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": "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": "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": "KeyChain|-01.56|+00.66|+01.40" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 112, - 125, - 130, - 153 - ], - "mask": [ - [ - 37330, - 1 - ], - [ - 37630, - 1 - ], - [ - 37929, - 2 - ], - [ - 38229, - 2 - ], - [ - 38529, - 1 - ], - [ - 38828, - 2 - ], - [ - 39119, - 2 - ], - [ - 39128, - 2 - ], - [ - 39417, - 5 - ], - [ - 39428, - 1 - ], - [ - 39716, - 7 - ], - [ - 39725, - 5 - ], - [ - 40017, - 7 - ], - [ - 40025, - 5 - ], - [ - 40318, - 13 - ], - [ - 40612, - 1 - ], - [ - 40619, - 6 - ], - [ - 40626, - 4 - ], - [ - 40912, - 4 - ], - [ - 40920, - 4 - ], - [ - 40928, - 1 - ], - [ - 41214, - 6 - ], - [ - 41228, - 1 - ], - [ - 41516, - 5 - ], - [ - 41523, - 3 - ], - [ - 41817, - 4 - ], - [ - 41822, - 2 - ], - [ - 41826, - 1 - ], - [ - 42117, - 6 - ], - [ - 42126, - 1 - ], - [ - 42422, - 1 - ], - [ - 42424, - 3 - ], - [ - 42723, - 3 - ], - [ - 43023, - 3 - ], - [ - 43323, - 3 - ], - [ - 43623, - 5 - ], - [ - 43922, - 7 - ], - [ - 44221, - 9 - ], - [ - 44520, - 10 - ], - [ - 44820, - 9 - ], - [ - 45121, - 7 - ], - [ - 45423, - 5 - ], - [ - 45724, - 3 - ] - ], - "point": [ - 120, - 138 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|-01.56|+00.66|+01.40", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 60 - ], - [ - 504, - 61 - ], - [ - 804, - 62 - ], - [ - 1104, - 63 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 91 - ], - [ - 9509, - 91 - ], - [ - 9810, - 90 - ], - [ - 10110, - 90 - ], - [ - 10410, - 90 - ], - [ - 10710, - 90 - ], - [ - 11010, - 90 - ], - [ - 11310, - 90 - ], - [ - 11611, - 89 - ], - [ - 11911, - 89 - ], - [ - 12211, - 89 - ], - [ - 12511, - 89 - ], - [ - 12776, - 2 - ], - [ - 12811, - 89 - ], - [ - 13076, - 2 - ], - [ - 13112, - 88 - ], - [ - 13376, - 1 - ], - [ - 13412, - 88 - ], - [ - 13676, - 1 - ], - [ - 13712, - 88 - ], - [ - 13976, - 1 - ], - [ - 14012, - 88 - ], - [ - 14276, - 1 - ], - [ - 14312, - 88 - ], - [ - 14575, - 2 - ], - [ - 14612, - 88 - ], - [ - 14876, - 1 - ], - [ - 14913, - 87 - ], - [ - 15176, - 1 - ], - [ - 15213, - 87 - ], - [ - 15476, - 1 - ], - [ - 15513, - 87 - ], - [ - 15776, - 1 - ], - [ - 15813, - 87 - ], - [ - 16076, - 1 - ], - [ - 16113, - 87 - ], - [ - 16376, - 1 - ], - [ - 16414, - 86 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 86 - ], - [ - 16976, - 1 - ], - [ - 17014, - 86 - ], - [ - 17276, - 2 - ], - [ - 17314, - 86 - ], - [ - 17576, - 2 - ], - [ - 17614, - 86 - ], - [ - 17876, - 2 - ], - [ - 17914, - 86 - ], - [ - 18176, - 2 - ], - [ - 18215, - 85 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 85 - ], - [ - 18776, - 2 - ], - [ - 18815, - 85 - ], - [ - 19077, - 1 - ], - [ - 19115, - 85 - ], - [ - 19377, - 2 - ], - [ - 19415, - 85 - ], - [ - 19677, - 2 - ], - [ - 19715, - 85 - ], - [ - 19977, - 2 - ], - [ - 20016, - 84 - ], - [ - 20277, - 2 - ], - [ - 20316, - 84 - ], - [ - 20577, - 2 - ], - [ - 20616, - 84 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 84 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 84 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 83 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 83 - ], - [ - 22077, - 2 - ], - [ - 22117, - 83 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 83 - ], - [ - 22677, - 2 - ], - [ - 22717, - 83 - ], - [ - 22978, - 1 - ], - [ - 23017, - 83 - ], - [ - 23278, - 1 - ], - [ - 23318, - 82 - ], - [ - 23578, - 1 - ], - [ - 23618, - 82 - ], - [ - 23878, - 2 - ], - [ - 23918, - 82 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 82 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 82 - ], - [ - 24778, - 2 - ], - [ - 24819, - 81 - ], - [ - 25078, - 2 - ], - [ - 25119, - 81 - ], - [ - 25378, - 2 - ], - [ - 25419, - 81 - ], - [ - 25678, - 2 - ], - [ - 25719, - 81 - ], - [ - 25978, - 2 - ], - [ - 26019, - 81 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 81 - ], - [ - 26578, - 3 - ], - [ - 26620, - 80 - ], - [ - 26878, - 3 - ], - [ - 26920, - 80 - ], - [ - 27179, - 2 - ], - [ - 27220, - 80 - ], - [ - 27479, - 2 - ], - [ - 27520, - 80 - ], - [ - 27779, - 2 - ], - [ - 27820, - 80 - ], - [ - 28079, - 2 - ], - [ - 28121, - 79 - ], - [ - 28379, - 2 - ], - [ - 28421, - 79 - ], - [ - 28679, - 2 - ], - [ - 28721, - 79 - ], - [ - 28979, - 2 - ], - [ - 29021, - 79 - ], - [ - 29279, - 2 - ], - [ - 29321, - 79 - ], - [ - 29579, - 2 - ], - [ - 29621, - 79 - ], - [ - 29879, - 2 - ], - [ - 29922, - 78 - ], - [ - 30179, - 2 - ], - [ - 30222, - 78 - ], - [ - 30479, - 3 - ], - [ - 30522, - 78 - ], - [ - 30779, - 3 - ], - [ - 30822, - 78 - ], - [ - 31079, - 3 - ], - [ - 31122, - 78 - ], - [ - 31380, - 1 - ], - [ - 31422, - 78 - ], - [ - 31680, - 1 - ], - [ - 31723, - 77 - ], - [ - 31980, - 1 - ], - [ - 32023, - 77 - ], - [ - 32280, - 1 - ], - [ - 32323, - 77 - ], - [ - 32580, - 1 - ], - [ - 32623, - 77 - ], - [ - 32880, - 1 - ], - [ - 32923, - 77 - ], - [ - 33180, - 2 - ], - [ - 33224, - 76 - ], - [ - 33480, - 2 - ], - [ - 33524, - 76 - ], - [ - 33780, - 2 - ], - [ - 33824, - 76 - ], - [ - 34080, - 2 - ], - [ - 34124, - 76 - ], - [ - 34380, - 2 - ], - [ - 34424, - 76 - ], - [ - 34680, - 2 - ], - [ - 34724, - 76 - ], - [ - 34980, - 2 - ], - [ - 35025, - 75 - ], - [ - 35280, - 3 - ], - [ - 35325, - 75 - ], - [ - 35581, - 2 - ], - [ - 35625, - 75 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 75 - ], - [ - 36181, - 2 - ], - [ - 36225, - 75 - ], - [ - 36481, - 2 - ], - [ - 36526, - 74 - ], - [ - 36781, - 2 - ], - [ - 36826, - 74 - ], - [ - 37081, - 2 - ], - [ - 37126, - 74 - ], - [ - 37381, - 2 - ], - [ - 37426, - 74 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 74 - ], - [ - 37981, - 2 - ], - [ - 38026, - 74 - ], - [ - 38281, - 2 - ], - [ - 38327, - 73 - ], - [ - 38581, - 2 - ], - [ - 38627, - 73 - ], - [ - 38881, - 2 - ], - [ - 38927, - 73 - ], - [ - 39181, - 2 - ], - [ - 39227, - 73 - ], - [ - 39482, - 1 - ], - [ - 39527, - 73 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 73 - ], - [ - 40082, - 1 - ], - [ - 40128, - 72 - ], - [ - 40382, - 1 - ], - [ - 40428, - 72 - ], - [ - 40682, - 2 - ], - [ - 40728, - 72 - ], - [ - 40982, - 2 - ], - [ - 41028, - 72 - ], - [ - 41282, - 2 - ], - [ - 41328, - 72 - ], - [ - 41582, - 2 - ], - [ - 41629, - 71 - ], - [ - 41882, - 2 - ], - [ - 41929, - 71 - ], - [ - 42182, - 2 - ], - [ - 42229, - 71 - ], - [ - 42482, - 2 - ], - [ - 42529, - 71 - ], - [ - 42782, - 3 - ], - [ - 42829, - 71 - ], - [ - 43082, - 3 - ], - [ - 43129, - 71 - ], - [ - 43382, - 3 - ], - [ - 43430, - 70 - ], - [ - 43683, - 2 - ], - [ - 43730, - 70 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 62 - ], - [ - 53885, - 2 - ], - [ - 53936, - 61 - ], - [ - 54185, - 2 - ], - [ - 54236, - 60 - ], - [ - 54485, - 2 - ], - [ - 54536, - 60 - ], - [ - 54785, - 2 - ], - [ - 54836, - 61 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 60 - ], - [ - 55385, - 2 - ], - [ - 55437, - 60 - ], - [ - 55685, - 2 - ], - [ - 55737, - 60 - ], - [ - 55986, - 2 - ], - [ - 56037, - 61 - ], - [ - 56286, - 2 - ], - [ - 56337, - 61 - ], - [ - 56586, - 2 - ], - [ - 56638, - 60 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 61 - ], - [ - 57186, - 2 - ], - [ - 57238, - 61 - ], - [ - 57486, - 2 - ], - [ - 57538, - 61 - ], - [ - 57786, - 3 - ], - [ - 57838, - 61 - ], - [ - 58086, - 3 - ], - [ - 58137, - 63 - ], - [ - 58386, - 3 - ], - [ - 58439, - 61 - ], - [ - 58686, - 3 - ], - [ - 58739, - 61 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 61 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 61 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 61 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 61 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 60 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 60 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 60 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 60 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 60 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 59 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 59 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 59 - ], - [ - 62587, - 2 - ], - [ - 62625, - 5 - ], - [ - 62641, - 59 - ], - [ - 62887, - 2 - ], - [ - 62924, - 6 - ], - [ - 62941, - 59 - ], - [ - 63187, - 2 - ], - [ - 63224, - 6 - ], - [ - 63241, - 59 - ], - [ - 63487, - 2 - ], - [ - 63523, - 2 - ], - [ - 63542, - 58 - ], - [ - 63787, - 2 - ], - [ - 63822, - 2 - ], - [ - 63842, - 58 - ], - [ - 64088, - 1 - ], - [ - 64121, - 3 - ], - [ - 64142, - 58 - ], - [ - 64388, - 1 - ], - [ - 64420, - 3 - ], - [ - 64442, - 58 - ], - [ - 64688, - 2 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 58 - ], - [ - 64988, - 2 - ], - [ - 65019, - 2 - ], - [ - 65043, - 57 - ], - [ - 65288, - 2 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65588, - 2 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65888, - 2 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66188, - 2 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66488, - 2 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66788, - 3 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "KeyChain|-01.65|+00.66|-01.02" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 189, - 110, - 208, - 135 - ], - "mask": [ - [ - 32905, - 1 - ], - [ - 33205, - 1 - ], - [ - 33504, - 2 - ], - [ - 33804, - 2 - ], - [ - 34104, - 2 - ], - [ - 34395, - 1 - ], - [ - 34404, - 1 - ], - [ - 34693, - 5 - ], - [ - 34704, - 1 - ], - [ - 34993, - 6 - ], - [ - 35002, - 4 - ], - [ - 35294, - 6 - ], - [ - 35301, - 6 - ], - [ - 35595, - 6 - ], - [ - 35602, - 5 - ], - [ - 35889, - 3 - ], - [ - 35897, - 4 - ], - [ - 35904, - 1 - ], - [ - 36190, - 5 - ], - [ - 36198, - 2 - ], - [ - 36205, - 1 - ], - [ - 36492, - 6 - ], - [ - 36499, - 1 - ], - [ - 36505, - 1 - ], - [ - 36794, - 6 - ], - [ - 36803, - 1 - ], - [ - 37094, - 7 - ], - [ - 37102, - 2 - ], - [ - 37399, - 1 - ], - [ - 37403, - 1 - ], - [ - 37700, - 4 - ], - [ - 38001, - 3 - ], - [ - 38302, - 2 - ], - [ - 38601, - 5 - ], - [ - 38901, - 7 - ], - [ - 39200, - 9 - ], - [ - 39499, - 10 - ], - [ - 39800, - 8 - ], - [ - 40102, - 5 - ], - [ - 40403, - 3 - ] - ], - "point": [ - 198, - 120 - ] - } - }, - "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": "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|-01.65|+00.66|-01.02", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 60 - ], - [ - 504, - 61 - ], - [ - 804, - 62 - ], - [ - 1104, - 63 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 91 - ], - [ - 9509, - 91 - ], - [ - 9810, - 90 - ], - [ - 10110, - 90 - ], - [ - 10410, - 90 - ], - [ - 10710, - 90 - ], - [ - 11010, - 90 - ], - [ - 11310, - 90 - ], - [ - 11611, - 89 - ], - [ - 11911, - 89 - ], - [ - 12211, - 89 - ], - [ - 12511, - 89 - ], - [ - 12776, - 2 - ], - [ - 12811, - 89 - ], - [ - 13076, - 2 - ], - [ - 13112, - 88 - ], - [ - 13376, - 1 - ], - [ - 13412, - 88 - ], - [ - 13676, - 1 - ], - [ - 13712, - 88 - ], - [ - 13976, - 1 - ], - [ - 14012, - 88 - ], - [ - 14276, - 1 - ], - [ - 14312, - 88 - ], - [ - 14575, - 2 - ], - [ - 14612, - 88 - ], - [ - 14876, - 1 - ], - [ - 14913, - 87 - ], - [ - 15176, - 1 - ], - [ - 15213, - 87 - ], - [ - 15476, - 1 - ], - [ - 15513, - 87 - ], - [ - 15776, - 1 - ], - [ - 15813, - 87 - ], - [ - 16076, - 1 - ], - [ - 16113, - 87 - ], - [ - 16376, - 1 - ], - [ - 16414, - 86 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 86 - ], - [ - 16976, - 1 - ], - [ - 17014, - 86 - ], - [ - 17276, - 2 - ], - [ - 17314, - 86 - ], - [ - 17576, - 2 - ], - [ - 17614, - 86 - ], - [ - 17876, - 2 - ], - [ - 17914, - 86 - ], - [ - 18176, - 2 - ], - [ - 18215, - 85 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 85 - ], - [ - 18776, - 2 - ], - [ - 18815, - 85 - ], - [ - 19077, - 1 - ], - [ - 19115, - 85 - ], - [ - 19377, - 2 - ], - [ - 19415, - 85 - ], - [ - 19677, - 2 - ], - [ - 19715, - 85 - ], - [ - 19977, - 2 - ], - [ - 20016, - 84 - ], - [ - 20277, - 2 - ], - [ - 20316, - 84 - ], - [ - 20577, - 2 - ], - [ - 20616, - 84 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 84 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 84 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 83 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 83 - ], - [ - 22077, - 2 - ], - [ - 22117, - 83 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 83 - ], - [ - 22677, - 2 - ], - [ - 22717, - 83 - ], - [ - 22978, - 1 - ], - [ - 23017, - 83 - ], - [ - 23278, - 1 - ], - [ - 23318, - 82 - ], - [ - 23578, - 1 - ], - [ - 23618, - 82 - ], - [ - 23878, - 2 - ], - [ - 23918, - 82 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 82 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 82 - ], - [ - 24778, - 2 - ], - [ - 24819, - 81 - ], - [ - 25078, - 2 - ], - [ - 25119, - 81 - ], - [ - 25378, - 2 - ], - [ - 25419, - 81 - ], - [ - 25678, - 2 - ], - [ - 25719, - 81 - ], - [ - 25978, - 2 - ], - [ - 26019, - 81 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 81 - ], - [ - 26578, - 3 - ], - [ - 26620, - 80 - ], - [ - 26878, - 3 - ], - [ - 26920, - 80 - ], - [ - 27179, - 2 - ], - [ - 27220, - 80 - ], - [ - 27479, - 2 - ], - [ - 27520, - 80 - ], - [ - 27779, - 2 - ], - [ - 27820, - 44 - ], - [ - 27866, - 34 - ], - [ - 28079, - 2 - ], - [ - 28121, - 43 - ], - [ - 28167, - 33 - ], - [ - 28379, - 2 - ], - [ - 28421, - 42 - ], - [ - 28467, - 33 - ], - [ - 28679, - 2 - ], - [ - 28721, - 42 - ], - [ - 28766, - 34 - ], - [ - 28979, - 2 - ], - [ - 29021, - 41 - ], - [ - 29065, - 35 - ], - [ - 29279, - 2 - ], - [ - 29321, - 41 - ], - [ - 29366, - 34 - ], - [ - 29579, - 2 - ], - [ - 29621, - 38 - ], - [ - 29665, - 7 - ], - [ - 29674, - 26 - ], - [ - 29879, - 2 - ], - [ - 29922, - 36 - ], - [ - 29965, - 6 - ], - [ - 29975, - 25 - ], - [ - 30179, - 2 - ], - [ - 30222, - 36 - ], - [ - 30265, - 4 - ], - [ - 30276, - 24 - ], - [ - 30479, - 3 - ], - [ - 30522, - 36 - ], - [ - 30565, - 3 - ], - [ - 30577, - 23 - ], - [ - 30779, - 3 - ], - [ - 30822, - 37 - ], - [ - 30865, - 2 - ], - [ - 30878, - 22 - ], - [ - 31079, - 3 - ], - [ - 31122, - 23 - ], - [ - 31148, - 12 - ], - [ - 31164, - 2 - ], - [ - 31177, - 23 - ], - [ - 31380, - 1 - ], - [ - 31422, - 23 - ], - [ - 31449, - 10 - ], - [ - 31463, - 3 - ], - [ - 31476, - 24 - ], - [ - 31680, - 1 - ], - [ - 31723, - 21 - ], - [ - 31751, - 7 - ], - [ - 31759, - 2 - ], - [ - 31767, - 1 - ], - [ - 31775, - 25 - ], - [ - 31980, - 1 - ], - [ - 32023, - 20 - ], - [ - 32059, - 3 - ], - [ - 32063, - 1 - ], - [ - 32065, - 3 - ], - [ - 32073, - 27 - ], - [ - 32280, - 1 - ], - [ - 32323, - 19 - ], - [ - 32360, - 4 - ], - [ - 32365, - 4 - ], - [ - 32375, - 25 - ], - [ - 32580, - 1 - ], - [ - 32623, - 19 - ], - [ - 32660, - 4 - ], - [ - 32665, - 5 - ], - [ - 32676, - 24 - ], - [ - 32880, - 1 - ], - [ - 32923, - 18 - ], - [ - 32965, - 5 - ], - [ - 32977, - 23 - ], - [ - 33180, - 2 - ], - [ - 33224, - 18 - ], - [ - 33254, - 10 - ], - [ - 33265, - 5 - ], - [ - 33278, - 22 - ], - [ - 33480, - 2 - ], - [ - 33524, - 20 - ], - [ - 33554, - 16 - ], - [ - 33583, - 17 - ], - [ - 33780, - 2 - ], - [ - 33824, - 22 - ], - [ - 33853, - 18 - ], - [ - 33876, - 2 - ], - [ - 33889, - 11 - ], - [ - 34080, - 2 - ], - [ - 34124, - 24 - ], - [ - 34152, - 20 - ], - [ - 34176, - 8 - ], - [ - 34191, - 9 - ], - [ - 34380, - 2 - ], - [ - 34424, - 25 - ], - [ - 34452, - 48 - ], - [ - 34680, - 2 - ], - [ - 34724, - 76 - ], - [ - 34980, - 2 - ], - [ - 35025, - 75 - ], - [ - 35280, - 3 - ], - [ - 35325, - 75 - ], - [ - 35581, - 2 - ], - [ - 35625, - 75 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 75 - ], - [ - 36181, - 2 - ], - [ - 36225, - 75 - ], - [ - 36481, - 2 - ], - [ - 36526, - 74 - ], - [ - 36781, - 2 - ], - [ - 36826, - 74 - ], - [ - 37081, - 2 - ], - [ - 37126, - 74 - ], - [ - 37381, - 2 - ], - [ - 37426, - 74 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 74 - ], - [ - 37981, - 2 - ], - [ - 38026, - 74 - ], - [ - 38281, - 2 - ], - [ - 38327, - 73 - ], - [ - 38581, - 2 - ], - [ - 38627, - 73 - ], - [ - 38881, - 2 - ], - [ - 38927, - 73 - ], - [ - 39181, - 2 - ], - [ - 39227, - 73 - ], - [ - 39482, - 1 - ], - [ - 39527, - 73 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 73 - ], - [ - 40082, - 1 - ], - [ - 40128, - 72 - ], - [ - 40382, - 1 - ], - [ - 40428, - 72 - ], - [ - 40682, - 2 - ], - [ - 40728, - 72 - ], - [ - 40982, - 2 - ], - [ - 41028, - 72 - ], - [ - 41282, - 2 - ], - [ - 41328, - 72 - ], - [ - 41582, - 2 - ], - [ - 41629, - 71 - ], - [ - 41882, - 2 - ], - [ - 41929, - 71 - ], - [ - 42182, - 2 - ], - [ - 42229, - 71 - ], - [ - 42482, - 2 - ], - [ - 42529, - 71 - ], - [ - 42782, - 3 - ], - [ - 42829, - 71 - ], - [ - 43082, - 3 - ], - [ - 43129, - 71 - ], - [ - 43382, - 3 - ], - [ - 43430, - 70 - ], - [ - 43683, - 2 - ], - [ - 43730, - 70 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 62 - ], - [ - 53885, - 2 - ], - [ - 53936, - 61 - ], - [ - 54185, - 2 - ], - [ - 54236, - 60 - ], - [ - 54485, - 2 - ], - [ - 54536, - 60 - ], - [ - 54785, - 2 - ], - [ - 54836, - 61 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 60 - ], - [ - 55385, - 2 - ], - [ - 55437, - 60 - ], - [ - 55685, - 2 - ], - [ - 55737, - 60 - ], - [ - 55986, - 2 - ], - [ - 56037, - 61 - ], - [ - 56286, - 2 - ], - [ - 56337, - 61 - ], - [ - 56586, - 2 - ], - [ - 56638, - 60 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 61 - ], - [ - 57186, - 2 - ], - [ - 57238, - 61 - ], - [ - 57486, - 2 - ], - [ - 57538, - 61 - ], - [ - 57786, - 3 - ], - [ - 57838, - 61 - ], - [ - 58086, - 3 - ], - [ - 58137, - 63 - ], - [ - 58386, - 3 - ], - [ - 58439, - 61 - ], - [ - 58686, - 3 - ], - [ - 58739, - 61 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 61 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 61 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 61 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 61 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 60 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 60 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 60 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 60 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 60 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 59 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 59 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 59 - ], - [ - 62587, - 2 - ], - [ - 62625, - 5 - ], - [ - 62641, - 59 - ], - [ - 62887, - 2 - ], - [ - 62924, - 6 - ], - [ - 62941, - 59 - ], - [ - 63187, - 2 - ], - [ - 63224, - 6 - ], - [ - 63241, - 59 - ], - [ - 63487, - 2 - ], - [ - 63523, - 2 - ], - [ - 63542, - 58 - ], - [ - 63787, - 2 - ], - [ - 63822, - 2 - ], - [ - 63842, - 58 - ], - [ - 64088, - 1 - ], - [ - 64121, - 3 - ], - [ - 64142, - 58 - ], - [ - 64388, - 1 - ], - [ - 64420, - 3 - ], - [ - 64442, - 58 - ], - [ - 64688, - 2 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 58 - ], - [ - 64988, - 2 - ], - [ - 65019, - 2 - ], - [ - 65043, - 57 - ], - [ - 65288, - 2 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65588, - 2 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65888, - 2 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66188, - 2 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66488, - 2 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66788, - 3 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan322", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 1.25, - "y": 0.9017602, - "z": 0.25 - }, - "object_poses": [ - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": -1.515646, - "y": 0.357271224, - "z": -1.19312811 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": -1.56249166, - "y": 0.357271224, - "z": -1.30687189 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": -1.648273, - "y": 0.664587, - "z": -1.01747632 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.81999826, - "y": 0.9875098, - "z": 1.2921921 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": 0.08677626, - "y": 0.691842139, - "z": -0.3326877 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": 2.49521112, - "y": 0.447221547, - "z": -0.770934165 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Book_d7ca8482", - "position": { - "x": 2.71133137, - "y": 0.179650426, - "z": 0.227924109 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": -1.55886376, - "y": 0.664587, - "z": 1.40149212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": -0.448788017, - "y": 0.691842139, - "z": -0.5557643 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_3f92dde4", - "position": { - "x": 1.763, - "y": 0.0007606298, - "z": -1.732 - }, - "rotation": { - "x": 0.0, - "y": 70.59012, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": 2.63873672, - "y": 0.449217558, - "z": -0.5223377 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.99509931, - "y": 0.9907528, - "z": 0.439617217 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": 2.644899, - "y": 0.992453337, - "z": 1.860575 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_5a388b63", - "position": { - "x": 3.076, - "y": 0.629, - "z": -1.762 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.300385 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.819995, - "y": 0.9875098, - "z": 1.860576 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_8659ff3f", - "position": { - "x": 0.808, - "y": 0.05, - "z": 2.151 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 270.000183 - } - }, - { - "objectName": "Pillow_2ebb2348", - "position": { - "x": -1.373, - "y": 0.754, - "z": -0.204 - }, - "rotation": { - "x": 0.0, - "y": 255.000214, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0f29a798", - "position": { - "x": -0.448788017, - "y": 0.7796623, - "z": 0.3365424 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": 2.64490724, - "y": 0.9854973, - "z": 0.4396152 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 1.35279965, - "y": 0.02250484, - "z": -1.68501532 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_781a5acc", - "position": { - "x": -1.69297755, - "y": 0.661, - "z": 1.6340158 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 119308472, - "scene_num": 322 - }, - "task_id": "trial_T20190908_051114_312895", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_36WLNQG782RPUGAGUS2ROXVCZOABE8", - "high_descs": [ - "Turn right then walk forward head to the side table on the right side of the bed", - "Pick up the keys on the side table", - "Turn right move forward then head to the drawer in front of the bed", - "Put the keys on top of the drawer", - "Turn left cross the room head to the left side of bed side table", - "Pick up the keys on the side table", - "Turn right head to the drawer on your right", - "Put the keys on top drawer beside the first keys" - ], - "task_desc": "Put the keys on top drawer", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AFU00NU09CFXE_3LO69W1SU6UZR3SJR0H923CTOZKLG5", - "high_descs": [ - "Turn around and move towards the door, and when you get to the wall turn left and continue to the nightstand beside the bed.", - "Pick up the keys from the nightstand. ", - "Turn and carry the keys to the opposite side of the room to stand in front of the dresser at the end closest to the chair. ", - "Place the keys on the dresser. ", - "Turn back around and cross the room to the nightstand on the left side of the bed.", - "Pick up the keys from the nightstand.", - "Carry the keys back to the black dresser on the opposite side of the room.", - "Place the keys on the dresser, left of the keys you previously put there." - ], - "task_desc": "Move two sets of keys to the black dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AKW57KYG90X61_3KAKFY4PGXJW7Q8PBIDCRTVS3PK3IY", - "high_descs": [ - "move right to the bed table", - "pick up the keys from the table", - "turn around and head to the mirror table ", - "drop the keys on the mirror table", - "turn around and head to the bed table", - "pick up the keys from the bed table", - "turn around and head to the mirror table", - "place the keys on the mirror table" - ], - "task_desc": "place two keys on the mirror table", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051200_050277/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051200_050277/traj_data.json deleted file mode 100644 index 134a5b25a..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-322/trial_T20190908_051200_050277/traj_data.json +++ /dev/null @@ -1,9268 +0,0 @@ -{ - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 21 - }, - { - "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": 2, - "image_name": "000000093.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 22 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 23 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 38 - }, - { - "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": 45 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "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": 46 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 46 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000208.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000209.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 47 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000317.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 82 - }, - { - "high_idx": 7, - "image_name": "000000412.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000413.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000414.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000415.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000416.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000417.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000418.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000419.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000420.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000421.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000422.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000423.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000424.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000425.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000426.png", - "low_idx": 83 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|6|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.593092, - -6.593092, - 5.60596848, - 5.60596848, - 2.658348, - 2.658348 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -6.4, - -6.4, - 5.916, - 5.916, - -0.036, - -0.036 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.65|+00.66|+01.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.593092, - -6.593092, - 5.60596848, - 5.60596848, - 2.658348, - 2.658348 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.65|+00.66|+01.40", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|-6|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 10.056272, - 10.056272, - -4.01117896, - -4.01117896, - 1.80323422, - 1.80323422 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 10.3, - 10.3, - -3.268, - -3.268, - -0.056, - -0.056 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.51|+00.45|-01.00" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|1|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 10.056272, - 10.056272, - -4.01117896, - -4.01117896, - 1.80323422, - 1.80323422 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 11.28, - 11.28, - 4.032, - 4.032, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.51|+00.45|-01.00", - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|-01.65|+00.66|+01.40" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 113, - 119, - 130, - 135 - ], - "mask": [ - [ - 35513, - 3 - ], - [ - 35814, - 4 - ], - [ - 36116, - 6 - ], - [ - 36418, - 7 - ], - [ - 36718, - 5 - ], - [ - 36725, - 2 - ], - [ - 37020, - 1 - ], - [ - 37027, - 1 - ], - [ - 37323, - 4 - ], - [ - 37624, - 3 - ], - [ - 37925, - 2 - ], - [ - 38224, - 4 - ], - [ - 38523, - 7 - ], - [ - 38822, - 9 - ], - [ - 39121, - 10 - ], - [ - 39422, - 8 - ], - [ - 39723, - 6 - ], - [ - 40025, - 3 - ], - [ - 40326, - 1 - ] - ], - "point": [ - 123, - 124 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|-01.65|+00.66|+01.40", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 96 - ], - [ - 504, - 96 - ], - [ - 804, - 96 - ], - [ - 1104, - 96 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 91 - ], - [ - 9509, - 91 - ], - [ - 9810, - 90 - ], - [ - 10110, - 90 - ], - [ - 10410, - 90 - ], - [ - 10710, - 90 - ], - [ - 11010, - 90 - ], - [ - 11310, - 90 - ], - [ - 11611, - 89 - ], - [ - 11911, - 89 - ], - [ - 12211, - 89 - ], - [ - 12511, - 89 - ], - [ - 12776, - 2 - ], - [ - 12811, - 89 - ], - [ - 13076, - 2 - ], - [ - 13112, - 52 - ], - [ - 13376, - 1 - ], - [ - 13412, - 49 - ], - [ - 13676, - 1 - ], - [ - 13712, - 53 - ], - [ - 13976, - 1 - ], - [ - 14012, - 88 - ], - [ - 14276, - 1 - ], - [ - 14312, - 88 - ], - [ - 14575, - 2 - ], - [ - 14612, - 88 - ], - [ - 14876, - 1 - ], - [ - 14913, - 87 - ], - [ - 15176, - 1 - ], - [ - 15213, - 87 - ], - [ - 15476, - 1 - ], - [ - 15513, - 87 - ], - [ - 15776, - 1 - ], - [ - 15813, - 87 - ], - [ - 16076, - 1 - ], - [ - 16113, - 87 - ], - [ - 16376, - 1 - ], - [ - 16414, - 86 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 86 - ], - [ - 16976, - 1 - ], - [ - 17014, - 86 - ], - [ - 17276, - 2 - ], - [ - 17314, - 86 - ], - [ - 17576, - 2 - ], - [ - 17614, - 86 - ], - [ - 17876, - 2 - ], - [ - 17914, - 86 - ], - [ - 18176, - 2 - ], - [ - 18215, - 85 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 85 - ], - [ - 18776, - 2 - ], - [ - 18815, - 85 - ], - [ - 19077, - 1 - ], - [ - 19115, - 85 - ], - [ - 19377, - 2 - ], - [ - 19415, - 85 - ], - [ - 19677, - 2 - ], - [ - 19715, - 85 - ], - [ - 19977, - 2 - ], - [ - 20016, - 84 - ], - [ - 20277, - 2 - ], - [ - 20316, - 84 - ], - [ - 20577, - 2 - ], - [ - 20616, - 84 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 84 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 84 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 83 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 83 - ], - [ - 22077, - 2 - ], - [ - 22117, - 83 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 83 - ], - [ - 22677, - 2 - ], - [ - 22717, - 83 - ], - [ - 22978, - 1 - ], - [ - 23017, - 83 - ], - [ - 23278, - 1 - ], - [ - 23318, - 82 - ], - [ - 23578, - 1 - ], - [ - 23618, - 82 - ], - [ - 23878, - 2 - ], - [ - 23918, - 82 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 82 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 82 - ], - [ - 24778, - 2 - ], - [ - 24819, - 81 - ], - [ - 25078, - 2 - ], - [ - 25119, - 81 - ], - [ - 25378, - 2 - ], - [ - 25419, - 81 - ], - [ - 25678, - 2 - ], - [ - 25719, - 81 - ], - [ - 25978, - 2 - ], - [ - 26019, - 81 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 81 - ], - [ - 26578, - 3 - ], - [ - 26620, - 80 - ], - [ - 26878, - 3 - ], - [ - 26920, - 80 - ], - [ - 27179, - 2 - ], - [ - 27220, - 80 - ], - [ - 27479, - 2 - ], - [ - 27520, - 80 - ], - [ - 27779, - 2 - ], - [ - 27820, - 80 - ], - [ - 28079, - 2 - ], - [ - 28121, - 79 - ], - [ - 28379, - 2 - ], - [ - 28421, - 79 - ], - [ - 28679, - 2 - ], - [ - 28721, - 79 - ], - [ - 28979, - 2 - ], - [ - 29021, - 79 - ], - [ - 29279, - 2 - ], - [ - 29321, - 79 - ], - [ - 29579, - 2 - ], - [ - 29621, - 79 - ], - [ - 29879, - 2 - ], - [ - 29922, - 78 - ], - [ - 30179, - 2 - ], - [ - 30222, - 78 - ], - [ - 30479, - 3 - ], - [ - 30522, - 78 - ], - [ - 30779, - 3 - ], - [ - 30822, - 78 - ], - [ - 31079, - 3 - ], - [ - 31122, - 78 - ], - [ - 31380, - 1 - ], - [ - 31422, - 78 - ], - [ - 31680, - 1 - ], - [ - 31723, - 77 - ], - [ - 31980, - 1 - ], - [ - 32023, - 77 - ], - [ - 32280, - 1 - ], - [ - 32323, - 77 - ], - [ - 32580, - 1 - ], - [ - 32623, - 77 - ], - [ - 32880, - 1 - ], - [ - 32923, - 77 - ], - [ - 33180, - 2 - ], - [ - 33224, - 76 - ], - [ - 33480, - 2 - ], - [ - 33524, - 76 - ], - [ - 33780, - 2 - ], - [ - 33824, - 76 - ], - [ - 34080, - 2 - ], - [ - 34124, - 76 - ], - [ - 34380, - 2 - ], - [ - 34424, - 76 - ], - [ - 34680, - 2 - ], - [ - 34724, - 76 - ], - [ - 34980, - 2 - ], - [ - 35025, - 75 - ], - [ - 35280, - 3 - ], - [ - 35325, - 75 - ], - [ - 35581, - 2 - ], - [ - 35625, - 75 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 75 - ], - [ - 36181, - 2 - ], - [ - 36225, - 75 - ], - [ - 36481, - 2 - ], - [ - 36526, - 74 - ], - [ - 36781, - 2 - ], - [ - 36826, - 74 - ], - [ - 37081, - 2 - ], - [ - 37126, - 74 - ], - [ - 37381, - 2 - ], - [ - 37426, - 74 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 74 - ], - [ - 37981, - 2 - ], - [ - 38026, - 74 - ], - [ - 38281, - 2 - ], - [ - 38327, - 73 - ], - [ - 38581, - 2 - ], - [ - 38627, - 73 - ], - [ - 38881, - 2 - ], - [ - 38927, - 73 - ], - [ - 39181, - 2 - ], - [ - 39227, - 73 - ], - [ - 39482, - 1 - ], - [ - 39527, - 73 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 73 - ], - [ - 40082, - 1 - ], - [ - 40128, - 72 - ], - [ - 40382, - 1 - ], - [ - 40428, - 72 - ], - [ - 40682, - 2 - ], - [ - 40728, - 72 - ], - [ - 40982, - 2 - ], - [ - 41028, - 72 - ], - [ - 41282, - 2 - ], - [ - 41328, - 72 - ], - [ - 41582, - 2 - ], - [ - 41629, - 71 - ], - [ - 41882, - 2 - ], - [ - 41929, - 71 - ], - [ - 42182, - 2 - ], - [ - 42229, - 71 - ], - [ - 42482, - 2 - ], - [ - 42529, - 71 - ], - [ - 42782, - 3 - ], - [ - 42829, - 71 - ], - [ - 43082, - 3 - ], - [ - 43129, - 71 - ], - [ - 43382, - 3 - ], - [ - 43430, - 70 - ], - [ - 43683, - 2 - ], - [ - 43730, - 70 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 64 - ], - [ - 53885, - 2 - ], - [ - 53936, - 64 - ], - [ - 54185, - 2 - ], - [ - 54236, - 64 - ], - [ - 54485, - 2 - ], - [ - 54536, - 64 - ], - [ - 54785, - 2 - ], - [ - 54836, - 64 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 63 - ], - [ - 55385, - 2 - ], - [ - 55437, - 63 - ], - [ - 55685, - 2 - ], - [ - 55737, - 63 - ], - [ - 55986, - 2 - ], - [ - 56037, - 63 - ], - [ - 56286, - 2 - ], - [ - 56337, - 63 - ], - [ - 56586, - 2 - ], - [ - 56638, - 62 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 62 - ], - [ - 57186, - 2 - ], - [ - 57238, - 62 - ], - [ - 57486, - 2 - ], - [ - 57538, - 62 - ], - [ - 57786, - 3 - ], - [ - 57838, - 62 - ], - [ - 58086, - 3 - ], - [ - 58137, - 63 - ], - [ - 58386, - 3 - ], - [ - 58439, - 61 - ], - [ - 58686, - 3 - ], - [ - 58739, - 61 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 61 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 61 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 61 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 61 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 60 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 60 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 60 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 60 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 60 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 59 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 59 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 59 - ], - [ - 62587, - 2 - ], - [ - 62625, - 5 - ], - [ - 62641, - 59 - ], - [ - 62887, - 2 - ], - [ - 62924, - 6 - ], - [ - 62941, - 59 - ], - [ - 63187, - 2 - ], - [ - 63224, - 6 - ], - [ - 63241, - 59 - ], - [ - 63487, - 2 - ], - [ - 63523, - 2 - ], - [ - 63542, - 58 - ], - [ - 63787, - 2 - ], - [ - 63822, - 2 - ], - [ - 63842, - 58 - ], - [ - 64088, - 1 - ], - [ - 64121, - 3 - ], - [ - 64142, - 58 - ], - [ - 64388, - 1 - ], - [ - 64420, - 3 - ], - [ - 64442, - 58 - ], - [ - 64688, - 2 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 58 - ], - [ - 64988, - 2 - ], - [ - 65019, - 2 - ], - [ - 65043, - 57 - ], - [ - 65288, - 2 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65588, - 2 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65888, - 2 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66188, - 2 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66488, - 2 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66788, - 3 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+02.51|+00.45|-01.00" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 197, - 167, - 215, - 187 - ], - "mask": [ - [ - 50002, - 4 - ], - [ - 50015, - 1 - ], - [ - 50297, - 2 - ], - [ - 50302, - 4 - ], - [ - 50314, - 2 - ], - [ - 50597, - 3 - ], - [ - 50603, - 4 - ], - [ - 50613, - 2 - ], - [ - 50898, - 2 - ], - [ - 50903, - 4 - ], - [ - 50912, - 2 - ], - [ - 51199, - 2 - ], - [ - 51203, - 4 - ], - [ - 51209, - 4 - ], - [ - 51500, - 3 - ], - [ - 51504, - 8 - ], - [ - 51800, - 3 - ], - [ - 51804, - 3 - ], - [ - 51808, - 5 - ], - [ - 52100, - 4 - ], - [ - 52109, - 4 - ], - [ - 52401, - 6 - ], - [ - 52411, - 1 - ], - [ - 52703, - 2 - ], - [ - 53003, - 1 - ], - [ - 53006, - 3 - ], - [ - 53304, - 3 - ], - [ - 53603, - 3 - ], - [ - 53903, - 3 - ], - [ - 54200, - 5 - ], - [ - 54499, - 7 - ], - [ - 54799, - 8 - ], - [ - 55100, - 7 - ], - [ - 55400, - 8 - ], - [ - 55701, - 5 - ], - [ - 56001, - 3 - ] - ], - "point": [ - 206, - 176 - ] - } - }, - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+02.51|+00.45|-01.00", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.82|+00.00|+01.01" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 175, - 1, - 299, - 300 - ], - "mask": [ - [ - 204, - 96 - ], - [ - 504, - 96 - ], - [ - 804, - 96 - ], - [ - 1104, - 96 - ], - [ - 1405, - 95 - ], - [ - 1705, - 95 - ], - [ - 2005, - 95 - ], - [ - 2305, - 95 - ], - [ - 2605, - 95 - ], - [ - 2905, - 95 - ], - [ - 3206, - 94 - ], - [ - 3506, - 94 - ], - [ - 3806, - 94 - ], - [ - 4106, - 94 - ], - [ - 4406, - 94 - ], - [ - 4707, - 93 - ], - [ - 5007, - 93 - ], - [ - 5307, - 93 - ], - [ - 5607, - 93 - ], - [ - 5907, - 93 - ], - [ - 6207, - 93 - ], - [ - 6508, - 92 - ], - [ - 6808, - 92 - ], - [ - 7108, - 92 - ], - [ - 7408, - 92 - ], - [ - 7708, - 92 - ], - [ - 8009, - 91 - ], - [ - 8309, - 91 - ], - [ - 8609, - 91 - ], - [ - 8901, - 1 - ], - [ - 8909, - 91 - ], - [ - 9209, - 91 - ], - [ - 9509, - 91 - ], - [ - 9810, - 90 - ], - [ - 10110, - 90 - ], - [ - 10410, - 90 - ], - [ - 10710, - 90 - ], - [ - 11010, - 90 - ], - [ - 11310, - 90 - ], - [ - 11611, - 89 - ], - [ - 11911, - 89 - ], - [ - 12211, - 89 - ], - [ - 12511, - 89 - ], - [ - 12776, - 2 - ], - [ - 12811, - 89 - ], - [ - 13076, - 2 - ], - [ - 13112, - 52 - ], - [ - 13376, - 1 - ], - [ - 13412, - 49 - ], - [ - 13676, - 1 - ], - [ - 13712, - 53 - ], - [ - 13976, - 1 - ], - [ - 14012, - 88 - ], - [ - 14276, - 1 - ], - [ - 14312, - 88 - ], - [ - 14575, - 2 - ], - [ - 14612, - 88 - ], - [ - 14876, - 1 - ], - [ - 14913, - 87 - ], - [ - 15176, - 1 - ], - [ - 15213, - 87 - ], - [ - 15476, - 1 - ], - [ - 15513, - 87 - ], - [ - 15776, - 1 - ], - [ - 15813, - 87 - ], - [ - 16076, - 1 - ], - [ - 16113, - 87 - ], - [ - 16376, - 1 - ], - [ - 16414, - 86 - ], - [ - 16676, - 1 - ], - [ - 16705, - 1 - ], - [ - 16714, - 86 - ], - [ - 16976, - 1 - ], - [ - 17014, - 86 - ], - [ - 17276, - 2 - ], - [ - 17314, - 86 - ], - [ - 17576, - 2 - ], - [ - 17614, - 86 - ], - [ - 17876, - 2 - ], - [ - 17914, - 86 - ], - [ - 18176, - 2 - ], - [ - 18215, - 85 - ], - [ - 18476, - 2 - ], - [ - 18506, - 1 - ], - [ - 18515, - 85 - ], - [ - 18776, - 2 - ], - [ - 18815, - 85 - ], - [ - 19077, - 1 - ], - [ - 19115, - 85 - ], - [ - 19377, - 2 - ], - [ - 19415, - 85 - ], - [ - 19677, - 2 - ], - [ - 19715, - 85 - ], - [ - 19977, - 2 - ], - [ - 20016, - 84 - ], - [ - 20277, - 2 - ], - [ - 20316, - 84 - ], - [ - 20577, - 2 - ], - [ - 20616, - 84 - ], - [ - 20877, - 1 - ], - [ - 20908, - 1 - ], - [ - 20916, - 84 - ], - [ - 21177, - 1 - ], - [ - 21208, - 1 - ], - [ - 21216, - 84 - ], - [ - 21477, - 1 - ], - [ - 21508, - 1 - ], - [ - 21517, - 83 - ], - [ - 21777, - 1 - ], - [ - 21808, - 1 - ], - [ - 21817, - 83 - ], - [ - 22077, - 2 - ], - [ - 22117, - 83 - ], - [ - 22377, - 2 - ], - [ - 22408, - 1 - ], - [ - 22417, - 83 - ], - [ - 22677, - 2 - ], - [ - 22717, - 83 - ], - [ - 22978, - 1 - ], - [ - 23017, - 83 - ], - [ - 23278, - 1 - ], - [ - 23318, - 82 - ], - [ - 23578, - 1 - ], - [ - 23618, - 82 - ], - [ - 23878, - 2 - ], - [ - 23918, - 82 - ], - [ - 24178, - 2 - ], - [ - 24208, - 2 - ], - [ - 24218, - 82 - ], - [ - 24478, - 2 - ], - [ - 24508, - 2 - ], - [ - 24518, - 82 - ], - [ - 24778, - 2 - ], - [ - 24819, - 81 - ], - [ - 25078, - 2 - ], - [ - 25119, - 81 - ], - [ - 25378, - 2 - ], - [ - 25419, - 81 - ], - [ - 25678, - 2 - ], - [ - 25719, - 81 - ], - [ - 25978, - 2 - ], - [ - 26019, - 81 - ], - [ - 26278, - 2 - ], - [ - 26310, - 1 - ], - [ - 26319, - 81 - ], - [ - 26578, - 3 - ], - [ - 26620, - 80 - ], - [ - 26878, - 3 - ], - [ - 26920, - 80 - ], - [ - 27179, - 2 - ], - [ - 27220, - 80 - ], - [ - 27479, - 2 - ], - [ - 27520, - 80 - ], - [ - 27779, - 2 - ], - [ - 27820, - 80 - ], - [ - 28079, - 2 - ], - [ - 28121, - 79 - ], - [ - 28379, - 2 - ], - [ - 28421, - 79 - ], - [ - 28679, - 2 - ], - [ - 28721, - 79 - ], - [ - 28979, - 2 - ], - [ - 29021, - 79 - ], - [ - 29279, - 2 - ], - [ - 29321, - 79 - ], - [ - 29579, - 2 - ], - [ - 29621, - 79 - ], - [ - 29879, - 2 - ], - [ - 29922, - 78 - ], - [ - 30179, - 2 - ], - [ - 30222, - 78 - ], - [ - 30479, - 3 - ], - [ - 30522, - 78 - ], - [ - 30779, - 3 - ], - [ - 30822, - 78 - ], - [ - 31079, - 3 - ], - [ - 31122, - 78 - ], - [ - 31380, - 1 - ], - [ - 31422, - 78 - ], - [ - 31680, - 1 - ], - [ - 31723, - 77 - ], - [ - 31980, - 1 - ], - [ - 32023, - 77 - ], - [ - 32280, - 1 - ], - [ - 32323, - 77 - ], - [ - 32580, - 1 - ], - [ - 32623, - 77 - ], - [ - 32880, - 1 - ], - [ - 32923, - 77 - ], - [ - 33180, - 2 - ], - [ - 33224, - 76 - ], - [ - 33480, - 2 - ], - [ - 33524, - 76 - ], - [ - 33780, - 2 - ], - [ - 33824, - 76 - ], - [ - 34080, - 2 - ], - [ - 34124, - 76 - ], - [ - 34380, - 2 - ], - [ - 34424, - 76 - ], - [ - 34680, - 2 - ], - [ - 34724, - 76 - ], - [ - 34980, - 2 - ], - [ - 35025, - 75 - ], - [ - 35280, - 3 - ], - [ - 35325, - 75 - ], - [ - 35581, - 2 - ], - [ - 35625, - 75 - ], - [ - 35881, - 2 - ], - [ - 35915, - 1 - ], - [ - 35925, - 75 - ], - [ - 36181, - 2 - ], - [ - 36225, - 75 - ], - [ - 36481, - 2 - ], - [ - 36526, - 74 - ], - [ - 36781, - 2 - ], - [ - 36826, - 74 - ], - [ - 37081, - 2 - ], - [ - 37126, - 74 - ], - [ - 37381, - 2 - ], - [ - 37426, - 74 - ], - [ - 37681, - 2 - ], - [ - 37716, - 1 - ], - [ - 37726, - 74 - ], - [ - 37981, - 2 - ], - [ - 38026, - 74 - ], - [ - 38281, - 2 - ], - [ - 38327, - 73 - ], - [ - 38581, - 2 - ], - [ - 38627, - 73 - ], - [ - 38881, - 2 - ], - [ - 38927, - 73 - ], - [ - 39181, - 2 - ], - [ - 39227, - 73 - ], - [ - 39482, - 1 - ], - [ - 39527, - 73 - ], - [ - 39782, - 1 - ], - [ - 39817, - 1 - ], - [ - 39827, - 73 - ], - [ - 40082, - 1 - ], - [ - 40128, - 72 - ], - [ - 40382, - 1 - ], - [ - 40428, - 72 - ], - [ - 40682, - 2 - ], - [ - 40728, - 72 - ], - [ - 40982, - 2 - ], - [ - 41028, - 72 - ], - [ - 41282, - 2 - ], - [ - 41328, - 72 - ], - [ - 41582, - 2 - ], - [ - 41629, - 71 - ], - [ - 41882, - 2 - ], - [ - 41929, - 71 - ], - [ - 42182, - 2 - ], - [ - 42229, - 71 - ], - [ - 42482, - 2 - ], - [ - 42529, - 71 - ], - [ - 42782, - 3 - ], - [ - 42829, - 71 - ], - [ - 43082, - 3 - ], - [ - 43129, - 71 - ], - [ - 43382, - 3 - ], - [ - 43430, - 70 - ], - [ - 43683, - 2 - ], - [ - 43730, - 70 - ], - [ - 43983, - 2 - ], - [ - 44030, - 70 - ], - [ - 44283, - 2 - ], - [ - 44330, - 70 - ], - [ - 44583, - 2 - ], - [ - 44630, - 70 - ], - [ - 44883, - 2 - ], - [ - 44931, - 69 - ], - [ - 45183, - 2 - ], - [ - 45231, - 69 - ], - [ - 45483, - 2 - ], - [ - 45531, - 69 - ], - [ - 45783, - 3 - ], - [ - 45831, - 69 - ], - [ - 46083, - 3 - ], - [ - 46131, - 69 - ], - [ - 46383, - 3 - ], - [ - 46431, - 69 - ], - [ - 46683, - 3 - ], - [ - 46732, - 68 - ], - [ - 46983, - 3 - ], - [ - 47032, - 68 - ], - [ - 47283, - 4 - ], - [ - 47332, - 68 - ], - [ - 47583, - 3 - ], - [ - 47632, - 68 - ], - [ - 47884, - 2 - ], - [ - 47932, - 68 - ], - [ - 48184, - 2 - ], - [ - 48232, - 68 - ], - [ - 48484, - 2 - ], - [ - 48533, - 67 - ], - [ - 48784, - 2 - ], - [ - 48833, - 67 - ], - [ - 49084, - 2 - ], - [ - 49133, - 67 - ], - [ - 49384, - 2 - ], - [ - 49433, - 67 - ], - [ - 49684, - 3 - ], - [ - 49733, - 67 - ], - [ - 49984, - 3 - ], - [ - 50034, - 66 - ], - [ - 50284, - 3 - ], - [ - 50334, - 66 - ], - [ - 50584, - 3 - ], - [ - 50634, - 66 - ], - [ - 50884, - 3 - ], - [ - 50934, - 66 - ], - [ - 51184, - 3 - ], - [ - 51223, - 1 - ], - [ - 51234, - 66 - ], - [ - 51484, - 3 - ], - [ - 51534, - 66 - ], - [ - 51785, - 2 - ], - [ - 51835, - 65 - ], - [ - 52085, - 2 - ], - [ - 52135, - 65 - ], - [ - 52385, - 2 - ], - [ - 52435, - 65 - ], - [ - 52685, - 2 - ], - [ - 52735, - 65 - ], - [ - 52985, - 2 - ], - [ - 53024, - 1 - ], - [ - 53035, - 65 - ], - [ - 53285, - 2 - ], - [ - 53336, - 64 - ], - [ - 53585, - 1 - ], - [ - 53636, - 64 - ], - [ - 53885, - 2 - ], - [ - 53936, - 64 - ], - [ - 54185, - 2 - ], - [ - 54236, - 54 - ], - [ - 54291, - 9 - ], - [ - 54485, - 2 - ], - [ - 54536, - 53 - ], - [ - 54593, - 7 - ], - [ - 54785, - 2 - ], - [ - 54836, - 53 - ], - [ - 54893, - 7 - ], - [ - 55085, - 2 - ], - [ - 55125, - 1 - ], - [ - 55137, - 52 - ], - [ - 55193, - 7 - ], - [ - 55385, - 2 - ], - [ - 55437, - 51 - ], - [ - 55492, - 8 - ], - [ - 55685, - 2 - ], - [ - 55737, - 51 - ], - [ - 55792, - 8 - ], - [ - 55986, - 2 - ], - [ - 56037, - 51 - ], - [ - 56091, - 9 - ], - [ - 56286, - 2 - ], - [ - 56337, - 50 - ], - [ - 56392, - 8 - ], - [ - 56586, - 2 - ], - [ - 56638, - 49 - ], - [ - 56691, - 9 - ], - [ - 56886, - 2 - ], - [ - 56926, - 1 - ], - [ - 56938, - 46 - ], - [ - 56991, - 8 - ], - [ - 57186, - 2 - ], - [ - 57238, - 46 - ], - [ - 57291, - 7 - ], - [ - 57486, - 2 - ], - [ - 57538, - 45 - ], - [ - 57591, - 6 - ], - [ - 57786, - 3 - ], - [ - 57838, - 45 - ], - [ - 57891, - 5 - ], - [ - 58086, - 3 - ], - [ - 58137, - 46 - ], - [ - 58192, - 3 - ], - [ - 58386, - 3 - ], - [ - 58439, - 45 - ], - [ - 58492, - 2 - ], - [ - 58686, - 3 - ], - [ - 58739, - 45 - ], - [ - 58792, - 1 - ], - [ - 58986, - 3 - ], - [ - 59027, - 1 - ], - [ - 59039, - 28 - ], - [ - 59070, - 16 - ], - [ - 59091, - 2 - ], - [ - 59286, - 3 - ], - [ - 59334, - 1 - ], - [ - 59339, - 28 - ], - [ - 59371, - 14 - ], - [ - 59386, - 1 - ], - [ - 59389, - 3 - ], - [ - 59586, - 3 - ], - [ - 59633, - 1 - ], - [ - 59639, - 27 - ], - [ - 59673, - 11 - ], - [ - 59689, - 4 - ], - [ - 59886, - 3 - ], - [ - 59928, - 5 - ], - [ - 59939, - 27 - ], - [ - 59974, - 9 - ], - [ - 59985, - 1 - ], - [ - 59987, - 1 - ], - [ - 60187, - 2 - ], - [ - 60228, - 4 - ], - [ - 60240, - 25 - ], - [ - 60276, - 6 - ], - [ - 60284, - 3 - ], - [ - 60291, - 4 - ], - [ - 60487, - 2 - ], - [ - 60528, - 3 - ], - [ - 60540, - 25 - ], - [ - 60585, - 3 - ], - [ - 60589, - 1 - ], - [ - 60592, - 4 - ], - [ - 60787, - 2 - ], - [ - 60828, - 2 - ], - [ - 60840, - 24 - ], - [ - 60885, - 3 - ], - [ - 60889, - 2 - ], - [ - 60892, - 5 - ], - [ - 61087, - 2 - ], - [ - 61129, - 1 - ], - [ - 61140, - 23 - ], - [ - 61186, - 2 - ], - [ - 61189, - 2 - ], - [ - 61192, - 8 - ], - [ - 61387, - 2 - ], - [ - 61428, - 1 - ], - [ - 61440, - 23 - ], - [ - 61486, - 2 - ], - [ - 61489, - 2 - ], - [ - 61492, - 7 - ], - [ - 61687, - 2 - ], - [ - 61728, - 1 - ], - [ - 61741, - 21 - ], - [ - 61787, - 2 - ], - [ - 61792, - 6 - ], - [ - 61987, - 2 - ], - [ - 62027, - 2 - ], - [ - 62041, - 22 - ], - [ - 62079, - 7 - ], - [ - 62091, - 7 - ], - [ - 62287, - 2 - ], - [ - 62326, - 3 - ], - [ - 62341, - 23 - ], - [ - 62379, - 12 - ], - [ - 62392, - 6 - ], - [ - 62587, - 2 - ], - [ - 62625, - 5 - ], - [ - 62641, - 24 - ], - [ - 62678, - 14 - ], - [ - 62693, - 5 - ], - [ - 62887, - 2 - ], - [ - 62924, - 6 - ], - [ - 62941, - 26 - ], - [ - 62978, - 21 - ], - [ - 63187, - 2 - ], - [ - 63224, - 6 - ], - [ - 63241, - 28 - ], - [ - 63277, - 22 - ], - [ - 63487, - 2 - ], - [ - 63523, - 2 - ], - [ - 63542, - 28 - ], - [ - 63577, - 23 - ], - [ - 63787, - 2 - ], - [ - 63822, - 2 - ], - [ - 63842, - 30 - ], - [ - 63876, - 24 - ], - [ - 64088, - 1 - ], - [ - 64121, - 3 - ], - [ - 64142, - 31 - ], - [ - 64176, - 24 - ], - [ - 64388, - 1 - ], - [ - 64420, - 3 - ], - [ - 64442, - 58 - ], - [ - 64688, - 2 - ], - [ - 64719, - 3 - ], - [ - 64730, - 1 - ], - [ - 64742, - 58 - ], - [ - 64988, - 2 - ], - [ - 65019, - 2 - ], - [ - 65043, - 57 - ], - [ - 65288, - 2 - ], - [ - 65318, - 2 - ], - [ - 65343, - 57 - ], - [ - 65588, - 2 - ], - [ - 65617, - 2 - ], - [ - 65643, - 57 - ], - [ - 65888, - 2 - ], - [ - 65916, - 3 - ], - [ - 65943, - 57 - ], - [ - 66188, - 2 - ], - [ - 66215, - 3 - ], - [ - 66243, - 57 - ], - [ - 66488, - 2 - ], - [ - 66514, - 3 - ], - [ - 66531, - 1 - ], - [ - 66543, - 57 - ], - [ - 66788, - 3 - ], - [ - 66814, - 2 - ], - [ - 66844, - 56 - ], - [ - 67088, - 3 - ], - [ - 67113, - 2 - ], - [ - 67144, - 56 - ], - [ - 67388, - 3 - ], - [ - 67412, - 2 - ], - [ - 67444, - 56 - ], - [ - 67688, - 3 - ], - [ - 67711, - 2 - ], - [ - 67744, - 56 - ], - [ - 67988, - 3 - ], - [ - 68010, - 3 - ], - [ - 68044, - 56 - ], - [ - 68289, - 2 - ], - [ - 68310, - 2 - ], - [ - 68344, - 56 - ], - [ - 68589, - 3 - ], - [ - 68609, - 2 - ], - [ - 68645, - 55 - ], - [ - 68889, - 3 - ], - [ - 68908, - 2 - ], - [ - 68945, - 55 - ], - [ - 69189, - 3 - ], - [ - 69207, - 2 - ], - [ - 69245, - 55 - ], - [ - 69489, - 3 - ], - [ - 69506, - 2 - ], - [ - 69545, - 55 - ], - [ - 69789, - 3 - ], - [ - 69805, - 2 - ], - [ - 69845, - 55 - ], - [ - 70089, - 3 - ], - [ - 70105, - 2 - ], - [ - 70146, - 54 - ], - [ - 70389, - 3 - ], - [ - 70404, - 2 - ], - [ - 70433, - 1 - ], - [ - 70446, - 54 - ], - [ - 70689, - 3 - ], - [ - 70703, - 2 - ], - [ - 70746, - 54 - ], - [ - 70989, - 3 - ], - [ - 71002, - 2 - ], - [ - 71046, - 54 - ], - [ - 71289, - 3 - ], - [ - 71301, - 2 - ], - [ - 71346, - 54 - ], - [ - 71589, - 3 - ], - [ - 71601, - 1 - ], - [ - 71646, - 54 - ], - [ - 71889, - 3 - ], - [ - 71900, - 1 - ], - [ - 71947, - 53 - ], - [ - 72189, - 3 - ], - [ - 72199, - 2 - ], - [ - 72247, - 53 - ], - [ - 72490, - 3 - ], - [ - 72498, - 2 - ], - [ - 72547, - 53 - ], - [ - 72790, - 3 - ], - [ - 72797, - 2 - ], - [ - 72847, - 53 - ], - [ - 73090, - 3 - ], - [ - 73096, - 2 - ], - [ - 73147, - 53 - ], - [ - 73390, - 3 - ], - [ - 73396, - 1 - ], - [ - 73448, - 52 - ], - [ - 73690, - 6 - ], - [ - 73748, - 52 - ], - [ - 73990, - 6 - ], - [ - 74048, - 52 - ], - [ - 74290, - 5 - ], - [ - 74348, - 52 - ], - [ - 74590, - 4 - ], - [ - 74648, - 52 - ], - [ - 74890, - 3 - ], - [ - 74948, - 52 - ], - [ - 75190, - 3 - ], - [ - 75249, - 51 - ], - [ - 75490, - 3 - ], - [ - 75549, - 51 - ], - [ - 75790, - 3 - ], - [ - 75849, - 51 - ], - [ - 76090, - 3 - ], - [ - 76149, - 51 - ], - [ - 76390, - 4 - ], - [ - 76449, - 51 - ], - [ - 76691, - 3 - ], - [ - 76750, - 50 - ], - [ - 76991, - 3 - ], - [ - 77050, - 50 - ], - [ - 77291, - 3 - ], - [ - 77350, - 50 - ], - [ - 77591, - 3 - ], - [ - 77650, - 50 - ], - [ - 77891, - 3 - ], - [ - 77950, - 50 - ], - [ - 78191, - 3 - ], - [ - 78250, - 50 - ], - [ - 78491, - 3 - ], - [ - 78551, - 49 - ], - [ - 78791, - 3 - ], - [ - 78851, - 49 - ], - [ - 79091, - 3 - ], - [ - 79151, - 49 - ], - [ - 79391, - 3 - ], - [ - 79451, - 49 - ], - [ - 79691, - 3 - ], - [ - 79751, - 49 - ], - [ - 79991, - 3 - ], - [ - 80051, - 49 - ], - [ - 80291, - 3 - ], - [ - 80352, - 48 - ], - [ - 80592, - 2 - ], - [ - 80652, - 48 - ], - [ - 80892, - 2 - ], - [ - 80952, - 48 - ], - [ - 81192, - 2 - ], - [ - 81252, - 48 - ], - [ - 81492, - 2 - ], - [ - 81552, - 48 - ], - [ - 81792, - 2 - ], - [ - 81853, - 47 - ], - [ - 82092, - 2 - ], - [ - 82153, - 47 - ], - [ - 82392, - 2 - ], - [ - 82453, - 47 - ], - [ - 82692, - 2 - ], - [ - 82753, - 47 - ], - [ - 82992, - 2 - ], - [ - 83053, - 47 - ], - [ - 83292, - 2 - ], - [ - 83353, - 47 - ], - [ - 83592, - 2 - ], - [ - 83654, - 46 - ], - [ - 83892, - 2 - ], - [ - 83954, - 46 - ], - [ - 84192, - 2 - ], - [ - 84254, - 46 - ], - [ - 84492, - 2 - ], - [ - 84554, - 46 - ], - [ - 84793, - 1 - ], - [ - 84854, - 46 - ], - [ - 85093, - 2 - ], - [ - 85155, - 45 - ], - [ - 85393, - 2 - ], - [ - 85455, - 45 - ], - [ - 85693, - 2 - ], - [ - 85755, - 45 - ], - [ - 85993, - 2 - ], - [ - 86055, - 45 - ], - [ - 86293, - 2 - ], - [ - 86355, - 45 - ], - [ - 86593, - 2 - ], - [ - 86655, - 45 - ], - [ - 86893, - 2 - ], - [ - 86956, - 44 - ], - [ - 87193, - 3 - ], - [ - 87256, - 44 - ], - [ - 87493, - 3 - ], - [ - 87556, - 44 - ], - [ - 87793, - 3 - ], - [ - 87842, - 1 - ], - [ - 87856, - 44 - ], - [ - 88093, - 3 - ], - [ - 88156, - 44 - ], - [ - 88393, - 3 - ], - [ - 88456, - 44 - ], - [ - 88693, - 3 - ], - [ - 88757, - 43 - ], - [ - 88994, - 3 - ], - [ - 89057, - 43 - ], - [ - 89294, - 3 - ], - [ - 89357, - 43 - ], - [ - 89594, - 3 - ], - [ - 89643, - 1 - ], - [ - 89657, - 43 - ], - [ - 89894, - 3 - ], - [ - 89957, - 43 - ] - ], - "point": [ - 237, - 149 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan322", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.75, - "y": 0.9017602, - "z": -1.0 - }, - "object_poses": [ - { - "objectName": "Mug_781a5acc", - "position": { - "x": -1.69297755, - "y": 0.661, - "z": 1.6340158 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 2.818882, - "y": 0.183638692, - "z": 0.5679907 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 2.5814662, - "y": 0.44882825, - "z": -0.489272952 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": -0.9843523, - "y": 0.6942395, - "z": -0.5557643 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": -1.25213432, - "y": 0.6942395, - "z": 0.782695651 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 1.35279965, - "y": 0.0285509564, - "z": -1.65257347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.73245525, - "y": 0.993852258, - "z": 0.439615726 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": 2.514068, - "y": 0.450808555, - "z": -1.00279474 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": -1.55886376, - "y": 0.6672539, - "z": 1.55650783 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_d7ca8482", - "position": { - "x": 2.907553, - "y": 0.987620354, - "z": 0.155424714 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_de93154e", - "position": { - "x": -1.648273, - "y": 0.664587, - "z": 1.40149212 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_fb6464f8", - "position": { - "x": -0.1810059, - "y": 0.691842139, - "z": 0.3365424 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_3f92dde4", - "position": { - "x": 1.763, - "y": 0.0007606298, - "z": -1.732 - }, - "rotation": { - "x": 0.0, - "y": 70.59012, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_dcbdc277", - "position": { - "x": 2.55536056, - "y": 0.8870357, - "z": 1.78420484 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pen_679f38ce", - "position": { - "x": 2.732452, - "y": 0.993852258, - "z": 1.00799966 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "Pencil_367f76c6", - "position": { - "x": -1.60356832, - "y": 0.6672539, - "z": -1.48252368 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_5a388b63", - "position": { - "x": 3.076, - "y": 0.629, - "z": -1.762 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 338.300385 - } - }, - { - "objectName": "AlarmClock_ca7072bf", - "position": { - "x": 2.907543, - "y": 0.9875098, - "z": 1.86057651 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_8659ff3f", - "position": { - "x": 0.808, - "y": 0.05, - "z": 2.151 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 270.000183 - } - }, - { - "objectName": "Pillow_2ebb2348", - "position": { - "x": -0.716570139, - "y": 0.7796623, - "z": 0.113465667 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0f29a798", - "position": { - "x": -0.98435235, - "y": 0.7796623, - "z": 0.782695651 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0c82f9a", - "position": { - "x": -1.46945453, - "y": 0.6633973, - "z": 1.32398415 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e652db95", - "position": { - "x": 2.75327754, - "y": 0.44882825, - "z": -0.5884673 - }, - "rotation": { - "x": 0.0, - "y": 119.999756, - "z": 0.0 - } - }, - { - "objectName": "Mug_781a5acc", - "position": { - "x": 2.818874, - "y": 0.182031989, - "z": 1.96568012 - }, - "rotation": { - "x": 0.0, - "y": 179.999664, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3671253767, - "scene_num": 322 - }, - "task_id": "trial_T20190908_051200_050277", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "ACSS93E03ZUGX_3OHYZ19UGFM6NXIDIS5RYY5KL95AOS", - "high_descs": [ - "Go straight, turn left, and straight again to face the end table.", - "Pick up the keys from the table.", - "Turn around go straight and slightly to the right to face the black dresser.", - "Place the keys on the dresser.", - "Turn to the right and go straight to face the other side of the grey chair.", - "Pick the keys up from off of the chair.", - "Go to the right then to the right again to face the dresser.", - "Place the keys on top of the dresser" - ], - "task_desc": "Place both keys on top of the black dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2DN53DIE3049T_3U8YCDAGXSXD7WXB5302YXO7RNOQ00", - "high_descs": [ - "Turn to the left, walk to the table on the right of the bed", - "Pick up the keys from the nightstand", - "Turn around, walk to the table across from the bed", - "Set the keys on the table", - "Turn back around, walk to the chair across from the bed", - "Pick up the keys from the chair", - "Walk back to the same nightstand where you left the other keys", - "Set the keys on the table, next to the other ones" - ], - "task_desc": "Move keys to a table in your bedroom", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AKW57KYG90X61_3YWRV122CVGNHE9VHGXM1DRED6TU8J", - "high_descs": [ - "move left to the table by the bed", - "pick up a bundh of keys", - "turn around to the cupboard", - "drop the bunch of keys there", - "move right to the chair", - "pick up a bunch of keys there", - "move left to the cupboard", - "drop the keys on the cupboard" - ], - "task_desc": "drop two bunch of keys on the cupboard", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_132529_662268/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_132529_662268/traj_data.json deleted file mode 100644 index 94b4f16ae..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_132529_662268/traj_data.json +++ /dev/null @@ -1,7179 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 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": 21 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 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": 32 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000119.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000120.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000121.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000122.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000123.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000124.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000125.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000126.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000127.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000132.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000133.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000134.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000135.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000136.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000137.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000138.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000139.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000140.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000141.png", - "low_idx": 37 - }, - { - "high_idx": 1, - "image_name": "000000142.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 43 - }, - { - "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": 47 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 47 - }, - { - "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": 48 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 48 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 49 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 73 - }, - { - "high_idx": 5, - "image_name": "000000318.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000319.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000320.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000321.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000322.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000323.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000324.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000325.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000326.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 97 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 97 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 98 - }, - { - "high_idx": 7, - "image_name": "000000426.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000427.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000428.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000429.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000430.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000431.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000432.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000433.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000434.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000435.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000436.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000437.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000438.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000439.png", - "low_idx": 99 - }, - { - "high_idx": 7, - "image_name": "000000440.png", - "low_idx": 99 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-7|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -7.04863264, - -7.04863264, - -7.3815756, - -7.3815756, - 4.59176636, - 4.59176636 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.798, - -6.798, - -8.228, - -8.228, - 4.5512, - 4.5512 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.76|+01.15|-01.85" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -7.04863264, - -7.04863264, - -7.3815756, - -7.3815756, - 4.59176636, - 4.59176636 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.76|+01.15|-01.85", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 6.30523968, - 6.30523968, - 9.0518074, - 9.0518074, - 2.730348, - 2.730348 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 6.30523444, - 6.30523444, - 8.56312752, - 8.56312752, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.58|+00.68|+02.26" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 6.30523968, - 6.30523968, - 9.0518074, - 9.0518074, - 2.730348, - 2.730348 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.58|+00.68|+02.26", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "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": "PickupObject", - "objectId": "KeyChain|-01.76|+01.15|-01.85" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 101, - 120, - 136, - 155 - ], - "mask": [ - [ - 35813, - 3 - ], - [ - 36112, - 7 - ], - [ - 36410, - 11 - ], - [ - 36709, - 14 - ], - [ - 37007, - 16 - ], - [ - 37307, - 15 - ], - [ - 37608, - 12 - ], - [ - 37910, - 9 - ], - [ - 38211, - 7 - ], - [ - 38513, - 4 - ], - [ - 38813, - 4 - ], - [ - 39113, - 5 - ], - [ - 39413, - 6 - ], - [ - 39424, - 1 - ], - [ - 39712, - 1 - ], - [ - 39717, - 1 - ], - [ - 39719, - 2 - ], - [ - 39722, - 6 - ], - [ - 40010, - 3 - ], - [ - 40014, - 2 - ], - [ - 40017, - 1 - ], - [ - 40019, - 1 - ], - [ - 40021, - 7 - ], - [ - 40312, - 1 - ], - [ - 40317, - 12 - ], - [ - 40608, - 1 - ], - [ - 40612, - 20 - ], - [ - 40908, - 1 - ], - [ - 40918, - 1 - ], - [ - 40921, - 14 - ], - [ - 41208, - 1 - ], - [ - 41218, - 3 - ], - [ - 41222, - 2 - ], - [ - 41229, - 8 - ], - [ - 41508, - 4 - ], - [ - 41517, - 5 - ], - [ - 41531, - 1 - ], - [ - 41533, - 4 - ], - [ - 41805, - 8 - ], - [ - 41815, - 8 - ], - [ - 42104, - 20 - ], - [ - 42404, - 21 - ], - [ - 42705, - 8 - ], - [ - 42715, - 11 - ], - [ - 43006, - 4 - ], - [ - 43016, - 12 - ], - [ - 43306, - 2 - ], - [ - 43317, - 12 - ], - [ - 43605, - 3 - ], - [ - 43618, - 11 - ], - [ - 43905, - 3 - ], - [ - 43919, - 8 - ], - [ - 44204, - 3 - ], - [ - 44220, - 6 - ], - [ - 44504, - 2 - ], - [ - 44522, - 2 - ], - [ - 44803, - 3 - ], - [ - 45103, - 3 - ], - [ - 45402, - 3 - ], - [ - 45702, - 2 - ], - [ - 46002, - 2 - ], - [ - 46301, - 2 - ] - ], - "point": [ - 118, - 136 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "KeyChain|-01.76|+01.15|-01.85", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4860, - 99 - ], - [ - 4972, - 102 - ], - [ - 5163, - 96 - ], - [ - 5273, - 100 - ], - [ - 5465, - 93 - ], - [ - 5574, - 99 - ], - [ - 5767, - 90 - ], - [ - 5875, - 98 - ], - [ - 6069, - 88 - ], - [ - 6175, - 97 - ], - [ - 6370, - 86 - ], - [ - 6476, - 96 - ], - [ - 6671, - 84 - ], - [ - 6777, - 94 - ], - [ - 6972, - 83 - ], - [ - 7077, - 94 - ], - [ - 7272, - 82 - ], - [ - 7378, - 14 - ], - [ - 7393, - 77 - ], - [ - 7573, - 81 - ], - [ - 7678, - 14 - ], - [ - 7694, - 75 - ], - [ - 7874, - 79 - ], - [ - 7979, - 13 - ], - [ - 7994, - 75 - ], - [ - 8174, - 77 - ], - [ - 8279, - 13 - ], - [ - 8294, - 74 - ], - [ - 8474, - 76 - ], - [ - 8580, - 12 - ], - [ - 8595, - 73 - ], - [ - 8776, - 73 - ], - [ - 8880, - 12 - ], - [ - 8895, - 72 - ], - [ - 9077, - 70 - ], - [ - 9180, - 12 - ], - [ - 9195, - 72 - ], - [ - 9378, - 68 - ], - [ - 9481, - 12 - ], - [ - 9495, - 72 - ], - [ - 9680, - 64 - ], - [ - 9781, - 12 - ], - [ - 9795, - 72 - ], - [ - 9981, - 62 - ], - [ - 10081, - 12 - ], - [ - 10095, - 72 - ], - [ - 10282, - 58 - ], - [ - 10382, - 11 - ], - [ - 10395, - 72 - ], - [ - 10582, - 15 - ], - [ - 10599, - 39 - ], - [ - 10682, - 11 - ], - [ - 10696, - 71 - ], - [ - 10883, - 14 - ], - [ - 10902, - 33 - ], - [ - 10982, - 11 - ], - [ - 10996, - 71 - ], - [ - 11183, - 16 - ], - [ - 11203, - 29 - ], - [ - 11283, - 10 - ], - [ - 11296, - 71 - ], - [ - 11484, - 16 - ], - [ - 11504, - 23 - ], - [ - 11582, - 11 - ], - [ - 11596, - 71 - ], - [ - 11785, - 16 - ], - [ - 11805, - 18 - ], - [ - 11874, - 1 - ], - [ - 11881, - 13 - ], - [ - 11896, - 70 - ], - [ - 12085, - 16 - ], - [ - 12107, - 13 - ], - [ - 12174, - 20 - ], - [ - 12196, - 70 - ], - [ - 12386, - 16 - ], - [ - 12408, - 8 - ], - [ - 12473, - 21 - ], - [ - 12496, - 70 - ], - [ - 12686, - 17 - ], - [ - 12711, - 2 - ], - [ - 12773, - 21 - ], - [ - 12797, - 69 - ], - [ - 12987, - 17 - ], - [ - 13073, - 21 - ], - [ - 13097, - 69 - ], - [ - 13287, - 18 - ], - [ - 13373, - 21 - ], - [ - 13397, - 69 - ], - [ - 13588, - 18 - ], - [ - 13673, - 21 - ], - [ - 13697, - 69 - ], - [ - 13888, - 18 - ], - [ - 13973, - 22 - ], - [ - 13997, - 69 - ], - [ - 14189, - 18 - ], - [ - 14273, - 22 - ], - [ - 14297, - 69 - ], - [ - 14489, - 19 - ], - [ - 14573, - 22 - ], - [ - 14597, - 69 - ], - [ - 14790, - 18 - ], - [ - 14873, - 22 - ], - [ - 14897, - 69 - ], - [ - 15090, - 18 - ], - [ - 15172, - 23 - ], - [ - 15198, - 68 - ], - [ - 15390, - 18 - ], - [ - 15472, - 23 - ], - [ - 15498, - 68 - ], - [ - 15691, - 17 - ], - [ - 15763, - 1 - ], - [ - 15772, - 23 - ], - [ - 15798, - 68 - ], - [ - 15991, - 17 - ], - [ - 16062, - 3 - ], - [ - 16072, - 23 - ], - [ - 16098, - 68 - ], - [ - 16291, - 17 - ], - [ - 16362, - 3 - ], - [ - 16372, - 24 - ], - [ - 16398, - 67 - ], - [ - 16591, - 17 - ], - [ - 16656, - 2 - ], - [ - 16662, - 4 - ], - [ - 16672, - 24 - ], - [ - 16698, - 67 - ], - [ - 16891, - 18 - ], - [ - 16952, - 6 - ], - [ - 16964, - 2 - ], - [ - 16974, - 22 - ], - [ - 16998, - 67 - ], - [ - 17191, - 18 - ], - [ - 17247, - 11 - ], - [ - 17265, - 2 - ], - [ - 17276, - 20 - ], - [ - 17298, - 67 - ], - [ - 17492, - 17 - ], - [ - 17543, - 16 - ], - [ - 17566, - 1 - ], - [ - 17577, - 20 - ], - [ - 17598, - 67 - ], - [ - 17792, - 18 - ], - [ - 17840, - 19 - ], - [ - 17866, - 3 - ], - [ - 17879, - 86 - ], - [ - 18092, - 18 - ], - [ - 18140, - 19 - ], - [ - 18166, - 5 - ], - [ - 18181, - 84 - ], - [ - 18392, - 20 - ], - [ - 18431, - 6 - ], - [ - 18438, - 22 - ], - [ - 18466, - 7 - ], - [ - 18483, - 82 - ], - [ - 18692, - 21 - ], - [ - 18731, - 44 - ], - [ - 18785, - 80 - ], - [ - 18992, - 22 - ], - [ - 19031, - 45 - ], - [ - 19086, - 79 - ], - [ - 19292, - 24 - ], - [ - 19332, - 46 - ], - [ - 19386, - 79 - ], - [ - 19592, - 27 - ], - [ - 19631, - 48 - ], - [ - 19687, - 78 - ], - [ - 19892, - 29 - ], - [ - 19930, - 50 - ], - [ - 19987, - 78 - ], - [ - 20192, - 29 - ], - [ - 20228, - 53 - ], - [ - 20287, - 78 - ], - [ - 20492, - 29 - ], - [ - 20527, - 55 - ], - [ - 20586, - 79 - ], - [ - 20792, - 29 - ], - [ - 20834, - 130 - ], - [ - 21092, - 29 - ], - [ - 21136, - 128 - ], - [ - 21392, - 33 - ], - [ - 21436, - 128 - ], - [ - 21692, - 39 - ], - [ - 21736, - 128 - ], - [ - 21992, - 40 - ], - [ - 22035, - 129 - ], - [ - 22292, - 172 - ], - [ - 22592, - 172 - ], - [ - 22892, - 172 - ], - [ - 23113, - 1 - ], - [ - 23192, - 37 - ], - [ - 23244, - 120 - ], - [ - 23412, - 3 - ], - [ - 23492, - 34 - ], - [ - 23547, - 117 - ], - [ - 23712, - 3 - ], - [ - 23792, - 31 - ], - [ - 23849, - 115 - ], - [ - 24011, - 5 - ], - [ - 24092, - 29 - ], - [ - 24151, - 113 - ], - [ - 24311, - 6 - ], - [ - 24392, - 27 - ], - [ - 24453, - 111 - ], - [ - 24611, - 7 - ], - [ - 24691, - 27 - ], - [ - 24755, - 109 - ], - [ - 24910, - 9 - ], - [ - 24991, - 26 - ], - [ - 25056, - 108 - ], - [ - 25210, - 10 - ], - [ - 25291, - 25 - ], - [ - 25357, - 107 - ], - [ - 25510, - 11 - ], - [ - 25591, - 24 - ], - [ - 25658, - 107 - ], - [ - 25809, - 12 - ], - [ - 25890, - 23 - ], - [ - 25959, - 107 - ], - [ - 26109, - 13 - ], - [ - 26190, - 23 - ], - [ - 26260, - 106 - ], - [ - 26409, - 14 - ], - [ - 26490, - 22 - ], - [ - 26560, - 107 - ], - [ - 26708, - 16 - ], - [ - 26790, - 21 - ], - [ - 26861, - 107 - ], - [ - 27008, - 17 - ], - [ - 27090, - 21 - ], - [ - 27161, - 108 - ], - [ - 27307, - 19 - ], - [ - 27389, - 21 - ], - [ - 27462, - 109 - ], - [ - 27607, - 20 - ], - [ - 27689, - 21 - ], - [ - 27762, - 110 - ], - [ - 27907, - 21 - ], - [ - 27989, - 21 - ], - [ - 28062, - 111 - ], - [ - 28206, - 23 - ], - [ - 28289, - 20 - ], - [ - 28363, - 111 - ], - [ - 28506, - 23 - ], - [ - 28588, - 21 - ], - [ - 28663, - 112 - ], - [ - 28806, - 24 - ], - [ - 28888, - 21 - ], - [ - 28963, - 114 - ], - [ - 29105, - 27 - ], - [ - 29187, - 22 - ], - [ - 29263, - 115 - ], - [ - 29405, - 28 - ], - [ - 29486, - 23 - ], - [ - 29563, - 116 - ], - [ - 29705, - 29 - ], - [ - 29786, - 23 - ], - [ - 29863, - 117 - ], - [ - 30004, - 32 - ], - [ - 30085, - 24 - ], - [ - 30163, - 121 - ], - [ - 30304, - 33 - ], - [ - 30385, - 24 - ], - [ - 30462, - 128 - ], - [ - 30603, - 36 - ], - [ - 30684, - 25 - ], - [ - 30762, - 133 - ], - [ - 30903, - 37 - ], - [ - 30984, - 26 - ], - [ - 31062, - 138 - ], - [ - 31203, - 39 - ], - [ - 31283, - 27 - ], - [ - 31361, - 139 - ], - [ - 31502, - 41 - ], - [ - 31582, - 28 - ], - [ - 31661, - 139 - ], - [ - 31802, - 42 - ], - [ - 31881, - 30 - ], - [ - 31960, - 140 - ], - [ - 32102, - 44 - ], - [ - 32180, - 31 - ], - [ - 32260, - 140 - ], - [ - 32401, - 47 - ], - [ - 32478, - 34 - ], - [ - 32559, - 141 - ], - [ - 32701, - 49 - ], - [ - 32777, - 36 - ], - [ - 32858, - 142 - ], - [ - 33001, - 52 - ], - [ - 33075, - 39 - ], - [ - 33157, - 199 - ], - [ - 33373, - 42 - ], - [ - 33456, - 204 - ], - [ - 33670, - 46 - ], - [ - 33756, - 260 - ], - [ - 34055, - 263 - ], - [ - 34353, - 266 - ], - [ - 34652, - 269 - ], - [ - 34950, - 273 - ], - [ - 35248, - 278 - ], - [ - 35545, - 285 - ], - [ - 35841, - 8859 - ] - ], - "point": [ - 151, - 80 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "KeyChain|+01.58|+00.68|+02.26" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 152, - 148, - 180, - 165 - ], - "mask": [ - [ - 44274, - 1 - ], - [ - 44553, - 1 - ], - [ - 44556, - 4 - ], - [ - 44573, - 4 - ], - [ - 44852, - 9 - ], - [ - 44872, - 6 - ], - [ - 45155, - 5 - ], - [ - 45171, - 9 - ], - [ - 45456, - 4 - ], - [ - 45464, - 17 - ], - [ - 45757, - 1 - ], - [ - 45763, - 1 - ], - [ - 45765, - 1 - ], - [ - 45767, - 13 - ], - [ - 46058, - 2 - ], - [ - 46063, - 1 - ], - [ - 46067, - 12 - ], - [ - 46356, - 5 - ], - [ - 46363, - 2 - ], - [ - 46367, - 1 - ], - [ - 46373, - 5 - ], - [ - 46655, - 7 - ], - [ - 46664, - 3 - ], - [ - 46674, - 4 - ], - [ - 46954, - 8 - ], - [ - 46963, - 3 - ], - [ - 46976, - 1 - ], - [ - 47253, - 7 - ], - [ - 47262, - 5 - ], - [ - 47552, - 7 - ], - [ - 47562, - 5 - ], - [ - 47853, - 5 - ], - [ - 47862, - 4 - ], - [ - 48154, - 2 - ], - [ - 48162, - 2 - ], - [ - 48460, - 3 - ], - [ - 48760, - 3 - ], - [ - 49060, - 2 - ], - [ - 49359, - 3 - ] - ], - "point": [ - 166, - 155 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+01.58|+00.68|+02.26", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4860, - 99 - ], - [ - 4972, - 102 - ], - [ - 5163, - 96 - ], - [ - 5273, - 100 - ], - [ - 5465, - 93 - ], - [ - 5574, - 99 - ], - [ - 5767, - 90 - ], - [ - 5875, - 98 - ], - [ - 6069, - 88 - ], - [ - 6175, - 97 - ], - [ - 6370, - 86 - ], - [ - 6476, - 96 - ], - [ - 6671, - 84 - ], - [ - 6777, - 94 - ], - [ - 6972, - 83 - ], - [ - 7077, - 94 - ], - [ - 7272, - 82 - ], - [ - 7378, - 14 - ], - [ - 7393, - 77 - ], - [ - 7573, - 81 - ], - [ - 7678, - 14 - ], - [ - 7694, - 75 - ], - [ - 7874, - 79 - ], - [ - 7979, - 13 - ], - [ - 7994, - 75 - ], - [ - 8174, - 77 - ], - [ - 8279, - 13 - ], - [ - 8294, - 74 - ], - [ - 8474, - 76 - ], - [ - 8580, - 12 - ], - [ - 8595, - 73 - ], - [ - 8776, - 73 - ], - [ - 8880, - 12 - ], - [ - 8895, - 72 - ], - [ - 9077, - 70 - ], - [ - 9180, - 12 - ], - [ - 9195, - 72 - ], - [ - 9378, - 68 - ], - [ - 9481, - 12 - ], - [ - 9495, - 72 - ], - [ - 9680, - 64 - ], - [ - 9781, - 12 - ], - [ - 9795, - 72 - ], - [ - 9981, - 62 - ], - [ - 10081, - 12 - ], - [ - 10095, - 72 - ], - [ - 10282, - 58 - ], - [ - 10382, - 11 - ], - [ - 10395, - 72 - ], - [ - 10582, - 15 - ], - [ - 10599, - 39 - ], - [ - 10682, - 11 - ], - [ - 10696, - 71 - ], - [ - 10883, - 14 - ], - [ - 10902, - 33 - ], - [ - 10982, - 11 - ], - [ - 10996, - 71 - ], - [ - 11183, - 16 - ], - [ - 11203, - 29 - ], - [ - 11283, - 10 - ], - [ - 11296, - 71 - ], - [ - 11484, - 16 - ], - [ - 11504, - 23 - ], - [ - 11582, - 11 - ], - [ - 11596, - 71 - ], - [ - 11785, - 16 - ], - [ - 11805, - 18 - ], - [ - 11874, - 1 - ], - [ - 11881, - 13 - ], - [ - 11896, - 70 - ], - [ - 12085, - 16 - ], - [ - 12107, - 13 - ], - [ - 12174, - 20 - ], - [ - 12196, - 70 - ], - [ - 12386, - 16 - ], - [ - 12408, - 8 - ], - [ - 12473, - 21 - ], - [ - 12496, - 70 - ], - [ - 12686, - 17 - ], - [ - 12711, - 2 - ], - [ - 12773, - 21 - ], - [ - 12797, - 69 - ], - [ - 12987, - 17 - ], - [ - 13073, - 21 - ], - [ - 13097, - 69 - ], - [ - 13287, - 18 - ], - [ - 13373, - 21 - ], - [ - 13397, - 69 - ], - [ - 13588, - 18 - ], - [ - 13673, - 21 - ], - [ - 13697, - 69 - ], - [ - 13888, - 18 - ], - [ - 13973, - 22 - ], - [ - 13997, - 69 - ], - [ - 14189, - 18 - ], - [ - 14273, - 22 - ], - [ - 14297, - 69 - ], - [ - 14489, - 19 - ], - [ - 14573, - 22 - ], - [ - 14597, - 69 - ], - [ - 14790, - 18 - ], - [ - 14873, - 22 - ], - [ - 14897, - 69 - ], - [ - 15090, - 18 - ], - [ - 15172, - 23 - ], - [ - 15198, - 68 - ], - [ - 15390, - 18 - ], - [ - 15472, - 23 - ], - [ - 15498, - 68 - ], - [ - 15691, - 17 - ], - [ - 15763, - 1 - ], - [ - 15772, - 23 - ], - [ - 15798, - 68 - ], - [ - 15991, - 17 - ], - [ - 16062, - 3 - ], - [ - 16072, - 23 - ], - [ - 16098, - 68 - ], - [ - 16291, - 17 - ], - [ - 16362, - 3 - ], - [ - 16372, - 24 - ], - [ - 16398, - 67 - ], - [ - 16591, - 17 - ], - [ - 16656, - 2 - ], - [ - 16662, - 4 - ], - [ - 16672, - 24 - ], - [ - 16698, - 67 - ], - [ - 16891, - 18 - ], - [ - 16952, - 6 - ], - [ - 16964, - 2 - ], - [ - 16974, - 22 - ], - [ - 16998, - 67 - ], - [ - 17191, - 18 - ], - [ - 17247, - 11 - ], - [ - 17265, - 2 - ], - [ - 17276, - 20 - ], - [ - 17298, - 67 - ], - [ - 17492, - 17 - ], - [ - 17543, - 16 - ], - [ - 17566, - 1 - ], - [ - 17577, - 20 - ], - [ - 17598, - 67 - ], - [ - 17792, - 18 - ], - [ - 17840, - 19 - ], - [ - 17866, - 3 - ], - [ - 17879, - 86 - ], - [ - 18092, - 18 - ], - [ - 18140, - 19 - ], - [ - 18166, - 5 - ], - [ - 18181, - 84 - ], - [ - 18392, - 20 - ], - [ - 18431, - 6 - ], - [ - 18438, - 22 - ], - [ - 18466, - 7 - ], - [ - 18483, - 82 - ], - [ - 18692, - 21 - ], - [ - 18731, - 44 - ], - [ - 18785, - 80 - ], - [ - 18992, - 22 - ], - [ - 19031, - 45 - ], - [ - 19086, - 79 - ], - [ - 19292, - 24 - ], - [ - 19332, - 46 - ], - [ - 19386, - 79 - ], - [ - 19592, - 27 - ], - [ - 19631, - 48 - ], - [ - 19687, - 78 - ], - [ - 19892, - 29 - ], - [ - 19930, - 50 - ], - [ - 19987, - 78 - ], - [ - 20192, - 29 - ], - [ - 20228, - 53 - ], - [ - 20287, - 78 - ], - [ - 20492, - 29 - ], - [ - 20527, - 55 - ], - [ - 20586, - 79 - ], - [ - 20792, - 29 - ], - [ - 20834, - 130 - ], - [ - 21092, - 29 - ], - [ - 21136, - 128 - ], - [ - 21392, - 33 - ], - [ - 21436, - 128 - ], - [ - 21692, - 39 - ], - [ - 21736, - 128 - ], - [ - 21992, - 40 - ], - [ - 22035, - 129 - ], - [ - 22292, - 172 - ], - [ - 22592, - 172 - ], - [ - 22892, - 172 - ], - [ - 23113, - 1 - ], - [ - 23192, - 37 - ], - [ - 23244, - 120 - ], - [ - 23412, - 3 - ], - [ - 23492, - 34 - ], - [ - 23547, - 117 - ], - [ - 23712, - 3 - ], - [ - 23792, - 31 - ], - [ - 23849, - 115 - ], - [ - 24011, - 5 - ], - [ - 24092, - 29 - ], - [ - 24151, - 113 - ], - [ - 24311, - 6 - ], - [ - 24392, - 27 - ], - [ - 24453, - 111 - ], - [ - 24611, - 7 - ], - [ - 24691, - 27 - ], - [ - 24755, - 109 - ], - [ - 24910, - 9 - ], - [ - 24991, - 26 - ], - [ - 25056, - 108 - ], - [ - 25210, - 10 - ], - [ - 25291, - 25 - ], - [ - 25357, - 107 - ], - [ - 25510, - 11 - ], - [ - 25591, - 24 - ], - [ - 25658, - 107 - ], - [ - 25809, - 12 - ], - [ - 25890, - 23 - ], - [ - 25959, - 107 - ], - [ - 26109, - 13 - ], - [ - 26190, - 23 - ], - [ - 26260, - 106 - ], - [ - 26409, - 14 - ], - [ - 26490, - 22 - ], - [ - 26560, - 107 - ], - [ - 26708, - 16 - ], - [ - 26790, - 21 - ], - [ - 26861, - 107 - ], - [ - 27008, - 17 - ], - [ - 27090, - 21 - ], - [ - 27161, - 108 - ], - [ - 27307, - 19 - ], - [ - 27389, - 21 - ], - [ - 27462, - 109 - ], - [ - 27607, - 20 - ], - [ - 27689, - 21 - ], - [ - 27762, - 110 - ], - [ - 27907, - 21 - ], - [ - 27989, - 21 - ], - [ - 28062, - 111 - ], - [ - 28206, - 23 - ], - [ - 28289, - 20 - ], - [ - 28363, - 111 - ], - [ - 28506, - 23 - ], - [ - 28588, - 21 - ], - [ - 28663, - 112 - ], - [ - 28806, - 24 - ], - [ - 28888, - 21 - ], - [ - 28963, - 114 - ], - [ - 29105, - 27 - ], - [ - 29187, - 22 - ], - [ - 29263, - 115 - ], - [ - 29405, - 28 - ], - [ - 29486, - 23 - ], - [ - 29563, - 45 - ], - [ - 29609, - 70 - ], - [ - 29705, - 29 - ], - [ - 29786, - 23 - ], - [ - 29863, - 44 - ], - [ - 29909, - 71 - ], - [ - 30004, - 32 - ], - [ - 30085, - 24 - ], - [ - 30163, - 44 - ], - [ - 30209, - 75 - ], - [ - 30304, - 33 - ], - [ - 30385, - 24 - ], - [ - 30462, - 45 - ], - [ - 30509, - 81 - ], - [ - 30603, - 36 - ], - [ - 30684, - 25 - ], - [ - 30762, - 45 - ], - [ - 30809, - 86 - ], - [ - 30903, - 37 - ], - [ - 30984, - 26 - ], - [ - 31062, - 45 - ], - [ - 31109, - 91 - ], - [ - 31203, - 39 - ], - [ - 31283, - 27 - ], - [ - 31361, - 45 - ], - [ - 31408, - 92 - ], - [ - 31502, - 41 - ], - [ - 31582, - 28 - ], - [ - 31661, - 31 - ], - [ - 31695, - 11 - ], - [ - 31708, - 92 - ], - [ - 31802, - 42 - ], - [ - 31881, - 30 - ], - [ - 31960, - 31 - ], - [ - 31996, - 10 - ], - [ - 32008, - 92 - ], - [ - 32102, - 44 - ], - [ - 32180, - 31 - ], - [ - 32260, - 29 - ], - [ - 32297, - 7 - ], - [ - 32308, - 92 - ], - [ - 32401, - 47 - ], - [ - 32478, - 34 - ], - [ - 32559, - 31 - ], - [ - 32599, - 4 - ], - [ - 32609, - 91 - ], - [ - 32701, - 49 - ], - [ - 32777, - 36 - ], - [ - 32858, - 33 - ], - [ - 32900, - 2 - ], - [ - 32910, - 90 - ], - [ - 33001, - 52 - ], - [ - 33075, - 39 - ], - [ - 33157, - 35 - ], - [ - 33201, - 2 - ], - [ - 33211, - 145 - ], - [ - 33373, - 42 - ], - [ - 33456, - 28 - ], - [ - 33486, - 8 - ], - [ - 33502, - 1 - ], - [ - 33510, - 150 - ], - [ - 33670, - 46 - ], - [ - 33756, - 28 - ], - [ - 33788, - 7 - ], - [ - 33802, - 4 - ], - [ - 33809, - 207 - ], - [ - 34055, - 29 - ], - [ - 34090, - 6 - ], - [ - 34101, - 217 - ], - [ - 34353, - 33 - ], - [ - 34393, - 1 - ], - [ - 34396, - 1 - ], - [ - 34399, - 9 - ], - [ - 34409, - 210 - ], - [ - 34652, - 37 - ], - [ - 34698, - 1 - ], - [ - 34700, - 8 - ], - [ - 34709, - 212 - ], - [ - 34950, - 41 - ], - [ - 34998, - 2 - ], - [ - 35005, - 218 - ], - [ - 35248, - 44 - ], - [ - 35298, - 1 - ], - [ - 35301, - 4 - ], - [ - 35306, - 1 - ], - [ - 35308, - 218 - ], - [ - 35545, - 47 - ], - [ - 35598, - 1 - ], - [ - 35600, - 3 - ], - [ - 35607, - 223 - ], - [ - 35841, - 52 - ], - [ - 35897, - 2 - ], - [ - 35900, - 6 - ], - [ - 35907, - 292 - ], - [ - 36201, - 1 - ], - [ - 36206, - 295 - ], - [ - 36506, - 296 - ], - [ - 36806, - 296 - ], - [ - 37107, - 296 - ], - [ - 37407, - 296 - ], - [ - 37708, - 294 - ], - [ - 38010, - 291 - ], - [ - 38312, - 288 - ], - [ - 38614, - 286 - ], - [ - 38914, - 285 - ], - [ - 39213, - 286 - ], - [ - 39513, - 288 - ], - [ - 39812, - 291 - ], - [ - 40111, - 293 - ], - [ - 40410, - 296 - ], - [ - 40710, - 298 - ], - [ - 41009, - 3691 - ] - ], - "point": [ - 151, - 80 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 2.5, - "y": 0.9009992, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.65724206, - "y": 0.9823676, - "z": -0.5409817 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 2.314337, - "y": 0.4326067, - "z": 1.587966 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.360633, - "y": 0.681210041, - "z": -1.58172143 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.80463612, - "y": 0.9764528, - "z": -0.339929283 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": 2.2832644, - "y": 0.686652839, - "z": -1.62682831 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.69950318, - "y": 1.6432997, - "z": -2.41544962 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 1.57630992, - "y": 0.682587, - "z": 2.26295185 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 1.74347711, - "y": 0.774509549, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.63684082, - "y": 1.63763475, - "z": -2.07341814 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": 2.43799829, - "y": 0.680819631, - "z": -1.76215351 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.26115906, - "y": 0.836844742, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.537682, - "y": 0.773138165, - "z": -0.9902473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 0.537682, - "y": 0.774509549, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.76215816, - "y": 1.14794159, - "z": -1.8453939 - }, - "rotation": { - "x": 0.0, - "y": 180.0005, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.636839, - "y": 1.14617419, - "z": -1.95940661 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.413, - "y": 0.794, - "z": -1.505 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.778841, - "y": 0.836844742, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.50984848, - "y": 0.9714989, - "z": -0.540981352 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": -1.628, - "y": 0.965303659, - "z": 0.084 - }, - "rotation": { - "x": 0.0, - "y": 104.999794, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.509848, - "y": 0.9759595, - "z": -0.742034137 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 2.28326273, - "y": 0.6864845, - "z": -1.76215172 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.60742116, - "y": 0.0365880169, - "z": 0.162606344 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.55089557, - "y": 0.8056051, - "z": -0.723487258 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": -1.878334, - "y": 0.97101, - "z": 0.0621762872 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.44001293, - "y": 0.6050128, - "z": -0.721385241 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.68482971, - "y": 1.13501811, - "z": -2.30082417 - }, - "rotation": { - "x": 0.0, - "y": 346.9008, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": 1.73104358, - "y": 0.691063941, - "z": 2.08251882 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 80330976, - "scene_num": 330 - }, - "task_id": "trial_T20190908_132529_662268", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3PPLDHC3CG0YN_30MVJZJNHP4M2S396HO3VTXGA30J9Z", - "high_descs": [ - "Turn around and walk to the black chair, turn left, walk to the dresser to the left of the boots. ", - "Pick up the keys to the right of the alarm clock. ", - "Move to the left side of the dresser on the right. ", - "Place the keys on the dresser to the right of the yellow container. ", - "Turn right and walk to the black side table to the left of the brown chair. ", - "Pick up the keys to the right of the lamp on the table. ", - "Turn left and walk back over to the left side of the dresser. ", - "Place the keys on the dresser to the right of the first set. " - ], - "task_desc": "To move two sets of keys to the dresser. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3HVVDCPGTHJVHW7MQNUNWGDGHHLTYI", - "high_descs": [ - "Turn right walk forward then turn left head to the last drawer", - "Pick up the keys at the drawer", - "Turn right then head to the cabinet", - "Put the keys on the cabinet beside the yellow vase", - "Turn right walk forward and head to the side table beside the couch", - "Pick up the keys on the side table ", - "Turn left then head to the cabinet", - "Put the keys beside the other on the cabinet" - ], - "task_desc": "Put two keys on the cabinet", - "votes": [ - 0, - 1, - 1 - ] - }, - { - "assignment_id": "A3MLUEOP3CCLXL_3V26SBZTBG5R8YQQS1LOWBNZ87GZZ0", - "high_descs": [ - "Turn around and walk to the end of the bed, turn left to go around the bed, then turn left to continue going around the bed then hang right and walk to the tall black shelf", - "Pick up the keys that are behind the alarm clock", - "Turn to the right and walk to the long black dresser, stand in front of the left side of the dresser", - "Place the keys on the dress to the right of the golden statues", - "Turn right and walk to the smaller black night stand that is sitting to the left of the chair at the end of the bed", - "Pick up the keys that are sitting to the right of the lamp", - "Turn left and walk forward, then turn left to continue around the bed, take a right and stand in front of the long black dresser. Stand toward the left side of the dresser", - "Place the keys on the dresser to the right of the other set of keys" - ], - "task_desc": "Place keys on a dresser", - "votes": [ - 1, - 1, - 0 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_135832_399583/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_135832_399583/traj_data.json deleted file mode 100644 index 10ab588dc..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_135832_399583/traj_data.json +++ /dev/null @@ -1,6167 +0,0 @@ -{ - "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": 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": 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": 11 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "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": 1, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 34 - }, - { - "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": 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": 38 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "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": 4, - "image_name": "000000213.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 88 - }, - { - "high_idx": 7, - "image_name": "000000397.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000398.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000399.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000400.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000401.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000402.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000403.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000404.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000405.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000406.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000407.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000408.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000409.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000410.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000411.png", - "low_idx": 89 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|5|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.51993944, - 8.51993944, - 6.70164584, - 6.70164584, - 1.739261032, - 1.739261032 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.648, - 9.648, - 7.98, - 7.98, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.13|+00.43|+01.68" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.51993944, - 8.51993944, - 6.70164584, - 6.70164584, - 1.739261032, - 1.739261032 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.13|+00.43|+01.68", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|6|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 6.9241848, - 6.9241848, - 9.23223116, - 9.23223116, - 2.730348, - 2.730348 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 6.30523444, - 6.30523444, - 8.56312752, - 8.56312752, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.73|+00.68|+02.31" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 6.9241848, - 6.9241848, - 9.23223116, - 9.23223116, - 2.730348, - 2.730348 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+01.73|+00.68|+02.31", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "KeyChain|+02.13|+00.43|+01.68" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 111, - 176, - 128, - 204 - ], - "mask": [ - [ - 52628, - 1 - ], - [ - 52928, - 1 - ], - [ - 53227, - 2 - ], - [ - 53527, - 1 - ], - [ - 53827, - 1 - ], - [ - 54126, - 2 - ], - [ - 54418, - 2 - ], - [ - 54426, - 1 - ], - [ - 54716, - 5 - ], - [ - 54726, - 1 - ], - [ - 55016, - 6 - ], - [ - 55024, - 3 - ], - [ - 55317, - 5 - ], - [ - 55323, - 5 - ], - [ - 55618, - 10 - ], - [ - 55912, - 1 - ], - [ - 55918, - 5 - ], - [ - 55924, - 3 - ], - [ - 56211, - 4 - ], - [ - 56219, - 3 - ], - [ - 56513, - 6 - ], - [ - 56815, - 5 - ], - [ - 56821, - 3 - ], - [ - 57116, - 6 - ], - [ - 57124, - 1 - ], - [ - 57416, - 3 - ], - [ - 57420, - 1 - ], - [ - 57424, - 1 - ], - [ - 57720, - 1 - ], - [ - 57722, - 2 - ], - [ - 58021, - 3 - ], - [ - 58322, - 2 - ], - [ - 58622, - 2 - ], - [ - 58921, - 4 - ], - [ - 59220, - 7 - ], - [ - 59520, - 8 - ], - [ - 59819, - 9 - ], - [ - 60119, - 8 - ], - [ - 60420, - 6 - ], - [ - 60721, - 4 - ], - [ - 61023, - 1 - ] - ], - "point": [ - 119, - 189 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+02.13|+00.43|+01.68", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 65 - ], - [ - 4970, - 3 - ], - [ - 4994, - 18 - ], - [ - 5018, - 9 - ], - [ - 5034, - 40 - ], - [ - 5134, - 66 - ], - [ - 5270, - 3 - ], - [ - 5295, - 17 - ], - [ - 5318, - 10 - ], - [ - 5336, - 37 - ], - [ - 5434, - 66 - ], - [ - 5570, - 4 - ], - [ - 5596, - 16 - ], - [ - 5619, - 11 - ], - [ - 5637, - 36 - ], - [ - 5734, - 66 - ], - [ - 5870, - 5 - ], - [ - 5895, - 18 - ], - [ - 5919, - 12 - ], - [ - 5938, - 35 - ], - [ - 6033, - 67 - ], - [ - 6170, - 7 - ], - [ - 6191, - 23 - ], - [ - 6218, - 14 - ], - [ - 6239, - 33 - ], - [ - 6333, - 67 - ], - [ - 6470, - 9 - ], - [ - 6490, - 43 - ], - [ - 6539, - 33 - ], - [ - 6633, - 67 - ], - [ - 6770, - 12 - ], - [ - 6789, - 44 - ], - [ - 6839, - 32 - ], - [ - 6932, - 68 - ], - [ - 7071, - 10 - ], - [ - 7088, - 46 - ], - [ - 7139, - 32 - ], - [ - 7232, - 68 - ], - [ - 7370, - 10 - ], - [ - 7387, - 50 - ], - [ - 7439, - 31 - ], - [ - 7531, - 69 - ], - [ - 7670, - 10 - ], - [ - 7688, - 81 - ], - [ - 7831, - 69 - ], - [ - 7970, - 10 - ], - [ - 7992, - 77 - ], - [ - 8131, - 69 - ], - [ - 8270, - 13 - ], - [ - 8293, - 75 - ], - [ - 8430, - 70 - ], - [ - 8570, - 17 - ], - [ - 8593, - 75 - ], - [ - 8730, - 70 - ], - [ - 8870, - 19 - ], - [ - 8893, - 74 - ], - [ - 9030, - 71 - ], - [ - 9169, - 98 - ], - [ - 9329, - 72 - ], - [ - 9469, - 98 - ], - [ - 9629, - 72 - ], - [ - 9769, - 98 - ], - [ - 9929, - 73 - ], - [ - 10069, - 98 - ], - [ - 10228, - 74 - ], - [ - 10368, - 99 - ], - [ - 10528, - 74 - ], - [ - 10668, - 99 - ], - [ - 10827, - 76 - ], - [ - 10968, - 99 - ], - [ - 11127, - 76 - ], - [ - 11268, - 99 - ], - [ - 11427, - 76 - ], - [ - 11567, - 100 - ], - [ - 11726, - 78 - ], - [ - 11867, - 99 - ], - [ - 12026, - 78 - ], - [ - 12167, - 99 - ], - [ - 12326, - 78 - ], - [ - 12467, - 99 - ], - [ - 12625, - 80 - ], - [ - 12766, - 100 - ], - [ - 12925, - 80 - ], - [ - 13066, - 100 - ], - [ - 13225, - 81 - ], - [ - 13366, - 100 - ], - [ - 13524, - 82 - ], - [ - 13666, - 100 - ], - [ - 13824, - 82 - ], - [ - 13965, - 101 - ], - [ - 14123, - 84 - ], - [ - 14265, - 101 - ], - [ - 14423, - 84 - ], - [ - 14565, - 101 - ], - [ - 14723, - 84 - ], - [ - 14864, - 102 - ], - [ - 15022, - 86 - ], - [ - 15164, - 102 - ], - [ - 15322, - 87 - ], - [ - 15463, - 103 - ], - [ - 15622, - 87 - ], - [ - 15763, - 103 - ], - [ - 15921, - 89 - ], - [ - 16062, - 104 - ], - [ - 16221, - 90 - ], - [ - 16362, - 103 - ], - [ - 16521, - 90 - ], - [ - 16661, - 104 - ], - [ - 16820, - 92 - ], - [ - 16961, - 104 - ], - [ - 17120, - 92 - ], - [ - 17260, - 105 - ], - [ - 17419, - 94 - ], - [ - 17560, - 105 - ], - [ - 17719, - 95 - ], - [ - 17859, - 106 - ], - [ - 18019, - 95 - ], - [ - 18159, - 106 - ], - [ - 18318, - 97 - ], - [ - 18458, - 107 - ], - [ - 18618, - 98 - ], - [ - 18757, - 108 - ], - [ - 18918, - 98 - ], - [ - 19057, - 108 - ], - [ - 19217, - 100 - ], - [ - 19356, - 109 - ], - [ - 19517, - 101 - ], - [ - 19655, - 110 - ], - [ - 19817, - 102 - ], - [ - 19954, - 111 - ], - [ - 20116, - 104 - ], - [ - 20253, - 112 - ], - [ - 20416, - 105 - ], - [ - 20552, - 113 - ], - [ - 20715, - 107 - ], - [ - 20851, - 113 - ], - [ - 21015, - 108 - ], - [ - 21150, - 114 - ], - [ - 21315, - 110 - ], - [ - 21449, - 115 - ], - [ - 21614, - 112 - ], - [ - 21748, - 116 - ], - [ - 21914, - 114 - ], - [ - 22046, - 118 - ], - [ - 22214, - 116 - ], - [ - 22344, - 120 - ], - [ - 22513, - 121 - ], - [ - 22641, - 123 - ], - [ - 22813, - 251 - ], - [ - 23113, - 251 - ], - [ - 23412, - 252 - ], - [ - 23712, - 252 - ], - [ - 24011, - 253 - ], - [ - 24311, - 253 - ], - [ - 24611, - 253 - ], - [ - 24910, - 254 - ], - [ - 25210, - 254 - ], - [ - 25510, - 255 - ], - [ - 25809, - 257 - ], - [ - 26109, - 257 - ], - [ - 26409, - 258 - ], - [ - 26708, - 260 - ], - [ - 27008, - 261 - ], - [ - 27307, - 264 - ], - [ - 27607, - 265 - ], - [ - 27907, - 266 - ], - [ - 28206, - 268 - ], - [ - 28506, - 269 - ], - [ - 28806, - 271 - ], - [ - 29105, - 273 - ], - [ - 29405, - 274 - ], - [ - 29705, - 275 - ], - [ - 30004, - 280 - ], - [ - 30304, - 286 - ], - [ - 30603, - 292 - ], - [ - 30903, - 297 - ], - [ - 31203, - 297 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 132 - ], - [ - 32839, - 161 - ], - [ - 33001, - 127 - ], - [ - 33144, - 282 - ], - [ - 33446, - 278 - ], - [ - 33748, - 275 - ], - [ - 34049, - 273 - ], - [ - 34350, - 271 - ], - [ - 34651, - 269 - ], - [ - 34952, - 267 - ], - [ - 35253, - 265 - ], - [ - 35554, - 264 - ], - [ - 35854, - 263 - ], - [ - 36154, - 263 - ], - [ - 36455, - 262 - ], - [ - 36734, - 4 - ], - [ - 36755, - 261 - ], - [ - 37033, - 6 - ], - [ - 37055, - 261 - ], - [ - 37333, - 6 - ], - [ - 37355, - 261 - ], - [ - 37633, - 6 - ], - [ - 37655, - 262 - ], - [ - 37934, - 3 - ], - [ - 37955, - 262 - ], - [ - 38255, - 262 - ], - [ - 38554, - 263 - ], - [ - 38854, - 263 - ], - [ - 39154, - 264 - ], - [ - 39453, - 266 - ], - [ - 39752, - 267 - ], - [ - 40052, - 268 - ], - [ - 40351, - 270 - ], - [ - 40650, - 272 - ], - [ - 40949, - 274 - ], - [ - 41247, - 278 - ], - [ - 41545, - 282 - ], - [ - 41843, - 288 - ], - [ - 42139, - 2561 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "KeyChain|+01.73|+00.68|+02.31" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 184, - 139, - 217, - 155 - ], - "mask": [ - [ - 41584, - 5 - ], - [ - 41594, - 3 - ], - [ - 41611, - 2 - ], - [ - 41887, - 11 - ], - [ - 41899, - 2 - ], - [ - 41910, - 5 - ], - [ - 42193, - 5 - ], - [ - 42202, - 1 - ], - [ - 42209, - 7 - ], - [ - 42494, - 4 - ], - [ - 42502, - 2 - ], - [ - 42508, - 10 - ], - [ - 42794, - 3 - ], - [ - 42801, - 1 - ], - [ - 42805, - 13 - ], - [ - 43096, - 2 - ], - [ - 43105, - 12 - ], - [ - 43395, - 4 - ], - [ - 43401, - 2 - ], - [ - 43405, - 1 - ], - [ - 43410, - 6 - ], - [ - 43694, - 6 - ], - [ - 43702, - 3 - ], - [ - 43711, - 4 - ], - [ - 43992, - 8 - ], - [ - 44001, - 3 - ], - [ - 44013, - 2 - ], - [ - 44291, - 8 - ], - [ - 44300, - 5 - ], - [ - 44590, - 7 - ], - [ - 44600, - 5 - ], - [ - 44891, - 5 - ], - [ - 44900, - 5 - ], - [ - 45192, - 3 - ], - [ - 45200, - 3 - ], - [ - 45499, - 3 - ], - [ - 45799, - 3 - ], - [ - 46098, - 3 - ], - [ - 46399, - 2 - ] - ], - "point": [ - 199, - 146 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+01.73|+00.68|+02.31", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 65 - ], - [ - 4970, - 3 - ], - [ - 4994, - 18 - ], - [ - 5018, - 9 - ], - [ - 5034, - 40 - ], - [ - 5134, - 66 - ], - [ - 5270, - 3 - ], - [ - 5295, - 17 - ], - [ - 5318, - 10 - ], - [ - 5336, - 37 - ], - [ - 5434, - 66 - ], - [ - 5570, - 4 - ], - [ - 5596, - 16 - ], - [ - 5619, - 11 - ], - [ - 5637, - 36 - ], - [ - 5734, - 66 - ], - [ - 5870, - 5 - ], - [ - 5895, - 18 - ], - [ - 5919, - 12 - ], - [ - 5938, - 35 - ], - [ - 6033, - 67 - ], - [ - 6170, - 7 - ], - [ - 6191, - 23 - ], - [ - 6218, - 14 - ], - [ - 6239, - 33 - ], - [ - 6333, - 67 - ], - [ - 6470, - 9 - ], - [ - 6490, - 43 - ], - [ - 6539, - 33 - ], - [ - 6633, - 67 - ], - [ - 6770, - 12 - ], - [ - 6789, - 44 - ], - [ - 6839, - 32 - ], - [ - 6932, - 68 - ], - [ - 7071, - 10 - ], - [ - 7088, - 46 - ], - [ - 7139, - 32 - ], - [ - 7232, - 68 - ], - [ - 7370, - 10 - ], - [ - 7387, - 50 - ], - [ - 7439, - 31 - ], - [ - 7531, - 69 - ], - [ - 7670, - 10 - ], - [ - 7688, - 81 - ], - [ - 7831, - 69 - ], - [ - 7970, - 10 - ], - [ - 7992, - 77 - ], - [ - 8131, - 69 - ], - [ - 8270, - 13 - ], - [ - 8293, - 75 - ], - [ - 8430, - 70 - ], - [ - 8570, - 17 - ], - [ - 8593, - 75 - ], - [ - 8730, - 70 - ], - [ - 8870, - 19 - ], - [ - 8893, - 74 - ], - [ - 9030, - 71 - ], - [ - 9169, - 98 - ], - [ - 9329, - 72 - ], - [ - 9469, - 98 - ], - [ - 9629, - 72 - ], - [ - 9769, - 98 - ], - [ - 9929, - 73 - ], - [ - 10069, - 98 - ], - [ - 10228, - 74 - ], - [ - 10368, - 99 - ], - [ - 10528, - 74 - ], - [ - 10668, - 99 - ], - [ - 10827, - 76 - ], - [ - 10968, - 99 - ], - [ - 11127, - 76 - ], - [ - 11268, - 99 - ], - [ - 11427, - 76 - ], - [ - 11567, - 100 - ], - [ - 11726, - 78 - ], - [ - 11867, - 99 - ], - [ - 12026, - 78 - ], - [ - 12167, - 99 - ], - [ - 12326, - 78 - ], - [ - 12467, - 99 - ], - [ - 12625, - 80 - ], - [ - 12766, - 100 - ], - [ - 12925, - 80 - ], - [ - 13066, - 100 - ], - [ - 13225, - 81 - ], - [ - 13366, - 100 - ], - [ - 13524, - 82 - ], - [ - 13666, - 100 - ], - [ - 13824, - 82 - ], - [ - 13965, - 101 - ], - [ - 14123, - 84 - ], - [ - 14265, - 101 - ], - [ - 14423, - 84 - ], - [ - 14565, - 101 - ], - [ - 14723, - 84 - ], - [ - 14864, - 102 - ], - [ - 15022, - 86 - ], - [ - 15164, - 102 - ], - [ - 15322, - 87 - ], - [ - 15463, - 103 - ], - [ - 15622, - 87 - ], - [ - 15763, - 103 - ], - [ - 15921, - 89 - ], - [ - 16062, - 104 - ], - [ - 16221, - 90 - ], - [ - 16362, - 103 - ], - [ - 16521, - 90 - ], - [ - 16661, - 104 - ], - [ - 16820, - 92 - ], - [ - 16961, - 104 - ], - [ - 17120, - 92 - ], - [ - 17260, - 105 - ], - [ - 17419, - 94 - ], - [ - 17560, - 105 - ], - [ - 17719, - 95 - ], - [ - 17859, - 106 - ], - [ - 18019, - 95 - ], - [ - 18159, - 106 - ], - [ - 18318, - 97 - ], - [ - 18458, - 107 - ], - [ - 18618, - 98 - ], - [ - 18757, - 108 - ], - [ - 18918, - 98 - ], - [ - 19057, - 108 - ], - [ - 19217, - 100 - ], - [ - 19356, - 109 - ], - [ - 19517, - 101 - ], - [ - 19655, - 110 - ], - [ - 19817, - 102 - ], - [ - 19954, - 111 - ], - [ - 20116, - 104 - ], - [ - 20253, - 112 - ], - [ - 20416, - 105 - ], - [ - 20552, - 113 - ], - [ - 20715, - 107 - ], - [ - 20851, - 113 - ], - [ - 21015, - 108 - ], - [ - 21150, - 114 - ], - [ - 21315, - 110 - ], - [ - 21449, - 115 - ], - [ - 21614, - 112 - ], - [ - 21748, - 116 - ], - [ - 21914, - 114 - ], - [ - 22046, - 118 - ], - [ - 22214, - 116 - ], - [ - 22344, - 120 - ], - [ - 22513, - 121 - ], - [ - 22641, - 123 - ], - [ - 22813, - 251 - ], - [ - 23113, - 251 - ], - [ - 23412, - 252 - ], - [ - 23712, - 252 - ], - [ - 24011, - 253 - ], - [ - 24311, - 253 - ], - [ - 24611, - 253 - ], - [ - 24910, - 254 - ], - [ - 25210, - 254 - ], - [ - 25510, - 255 - ], - [ - 25809, - 257 - ], - [ - 26109, - 257 - ], - [ - 26409, - 258 - ], - [ - 26708, - 260 - ], - [ - 27008, - 261 - ], - [ - 27307, - 264 - ], - [ - 27607, - 265 - ], - [ - 27907, - 266 - ], - [ - 28206, - 268 - ], - [ - 28506, - 269 - ], - [ - 28806, - 271 - ], - [ - 29105, - 273 - ], - [ - 29405, - 203 - ], - [ - 29609, - 70 - ], - [ - 29705, - 202 - ], - [ - 29909, - 71 - ], - [ - 30004, - 203 - ], - [ - 30209, - 75 - ], - [ - 30304, - 203 - ], - [ - 30509, - 81 - ], - [ - 30603, - 204 - ], - [ - 30809, - 86 - ], - [ - 30903, - 204 - ], - [ - 31109, - 91 - ], - [ - 31203, - 203 - ], - [ - 31408, - 92 - ], - [ - 31502, - 190 - ], - [ - 31695, - 11 - ], - [ - 31708, - 92 - ], - [ - 31802, - 189 - ], - [ - 31996, - 10 - ], - [ - 32008, - 92 - ], - [ - 32102, - 187 - ], - [ - 32297, - 7 - ], - [ - 32308, - 92 - ], - [ - 32401, - 189 - ], - [ - 32599, - 4 - ], - [ - 32609, - 91 - ], - [ - 32701, - 132 - ], - [ - 32839, - 52 - ], - [ - 32900, - 2 - ], - [ - 32910, - 90 - ], - [ - 33001, - 127 - ], - [ - 33144, - 48 - ], - [ - 33201, - 2 - ], - [ - 33211, - 215 - ], - [ - 33446, - 38 - ], - [ - 33486, - 8 - ], - [ - 33502, - 1 - ], - [ - 33510, - 214 - ], - [ - 33748, - 36 - ], - [ - 33788, - 7 - ], - [ - 33802, - 4 - ], - [ - 33809, - 214 - ], - [ - 34049, - 35 - ], - [ - 34090, - 6 - ], - [ - 34101, - 221 - ], - [ - 34350, - 36 - ], - [ - 34393, - 1 - ], - [ - 34396, - 1 - ], - [ - 34399, - 9 - ], - [ - 34409, - 212 - ], - [ - 34651, - 38 - ], - [ - 34698, - 1 - ], - [ - 34700, - 8 - ], - [ - 34709, - 211 - ], - [ - 34952, - 39 - ], - [ - 34998, - 2 - ], - [ - 35005, - 214 - ], - [ - 35253, - 39 - ], - [ - 35298, - 1 - ], - [ - 35301, - 4 - ], - [ - 35306, - 1 - ], - [ - 35308, - 210 - ], - [ - 35554, - 38 - ], - [ - 35598, - 1 - ], - [ - 35600, - 3 - ], - [ - 35607, - 211 - ], - [ - 35854, - 39 - ], - [ - 35897, - 2 - ], - [ - 35900, - 6 - ], - [ - 35907, - 210 - ], - [ - 36154, - 45 - ], - [ - 36201, - 1 - ], - [ - 36206, - 211 - ], - [ - 36455, - 46 - ], - [ - 36506, - 211 - ], - [ - 36734, - 4 - ], - [ - 36755, - 47 - ], - [ - 36806, - 210 - ], - [ - 37033, - 6 - ], - [ - 37055, - 47 - ], - [ - 37107, - 209 - ], - [ - 37333, - 6 - ], - [ - 37355, - 48 - ], - [ - 37407, - 209 - ], - [ - 37633, - 6 - ], - [ - 37655, - 48 - ], - [ - 37708, - 209 - ], - [ - 37934, - 3 - ], - [ - 37955, - 47 - ], - [ - 38010, - 207 - ], - [ - 38255, - 46 - ], - [ - 38312, - 205 - ], - [ - 38554, - 46 - ], - [ - 38614, - 203 - ], - [ - 38854, - 46 - ], - [ - 38914, - 203 - ], - [ - 39154, - 45 - ], - [ - 39213, - 205 - ], - [ - 39453, - 46 - ], - [ - 39513, - 206 - ], - [ - 39752, - 49 - ], - [ - 39812, - 207 - ], - [ - 40052, - 51 - ], - [ - 40111, - 209 - ], - [ - 40351, - 53 - ], - [ - 40410, - 211 - ], - [ - 40650, - 56 - ], - [ - 40710, - 212 - ], - [ - 40949, - 59 - ], - [ - 41009, - 214 - ], - [ - 41247, - 278 - ], - [ - 41545, - 282 - ], - [ - 41843, - 288 - ], - [ - 42139, - 2561 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.75, - "y": 0.9009992, - "z": 1.75 - }, - "object_poses": [ - { - "objectName": "Statue_15407ea7", - "position": { - "x": 2.437999, - "y": 0.691063941, - "z": -1.71704566 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.44001579, - "y": 0.4098128, - "z": 0.441706777 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 2.283264, - "y": 0.6806067, - "z": -1.671936 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.49607933, - "y": 0.223549545, - "z": 0.162613139 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.798, - "y": 0.05887407, - "z": 0.857 - }, - "rotation": { - "x": 0.0, - "y": 54.37355, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.63683987, - "y": 1.63781118, - "z": -1.95940733 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 2.12998486, - "y": 0.434815258, - "z": 1.67541146 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 2.26696157, - "y": 0.08423871, - "z": -1.63983345 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.58354783, - "y": 0.972123265, - "z": 0.4642827 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.73082983, - "y": 1.63763475, - "z": -2.07341719 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.02, - "y": 0.773138165, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.49437511, - "y": 0.03596342, - "z": 0.443208277 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 1.7310462, - "y": 0.682587, - "z": 2.30805779 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.73082924, - "y": 1.14617419, - "z": -1.95940578 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.74347711, - "y": 0.836844742, - "z": -0.401020527 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.66250467, - "y": 1.626018, - "z": -1.79132915 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": -1.628, - "y": 0.965303659, - "z": 0.084 - }, - "rotation": { - "x": 0.0, - "y": 104.999794, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65724206, - "y": 0.9759595, - "z": -0.5409817 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.6649282, - "y": 0.611290634, - "z": 0.07277411 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.878334, - "y": 0.972299635, - "z": 0.0621762872 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.63684309, - "y": 1.15200746, - "z": -2.41545224 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 1.57630837, - "y": 0.681210041, - "z": 2.12762856 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.43615162, - "y": 0.971910357, - "z": -0.5409812 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.68482971, - "y": 1.13501811, - "z": -2.30082417 - }, - "rotation": { - "x": 0.0, - "y": 346.9008, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.878333, - "y": 0.9808639, - "z": -0.339929461 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3878210614, - "scene_num": 330 - }, - "task_id": "trial_T20190908_135832_399583", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_384PI804XVSX51YMTFEOUJNA3JLS0G", - "high_descs": [ - "Turn around to your left head to the couch on your right ", - "Pick up the keys on the couch", - "Turn left move forward then head to the first cabinet", - "Put the keys on top of the cabinet", - "Turn right then walk toward the table beside the couch", - "Pick up the keys on the table", - "Turn left then walk forward head back to the cabinet ", - "Put the keys on the left side of the cabinet" - ], - "task_desc": "Put two set of keys on the cabinet", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AO33H4GL9KZX9_3BC8WZX3V6N94GI883XYO5J1Q8QRRG", - "high_descs": [ - "Turn around and go to the front of the brown arm chair in the left corner.", - "Pick up the keys on the left side of the arm chair seat. ", - "Turn left and go to the front left side of the black dresser.", - "Place the keys on top of the dresser on the right of the CD. ", - "Turn right and go to the lamp stand next to the arm chair in the right corner. ", - "Pick up the keys on the top of the lamp stand.", - "Turn around and go back to the left front side of the black dresser. ", - "Place the key on the top of the dresser on the left of the CD. " - ], - "task_desc": "Move two keys from the chair and lamp stand to the top of the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1MKCTVKE7J0ZP_3VHP9MDGRQB8VOOGZB79IL6WNHNCF7", - "high_descs": [ - "Turn around and go to the brown chair.", - "Pick up the keys on the brown chair.", - "Turn left and move forward, turn left to go around the bed, then turn right to face the dresser.", - "Put the keys on the dresser, to the right of the CD.", - "Turn right move forward until you reach the end of the bed, then turn right and move forward, then turn left to go to then nightstand next to the chair.", - "Pick up the keys on the nightstand.", - "Turn left and go forward, then turn left at the end of the bed, move forward, then turn right to face the dresser.", - "Put the keys on the dresser, to the left of the CD." - ], - "task_desc": "Put two sets of keys on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_140011_258829/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_140011_258829/traj_data.json deleted file mode 100644 index 985e3f9ec..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-KeyChain-None-Dresser-330/trial_T20190908_140011_258829/traj_data.json +++ /dev/null @@ -1,7144 +0,0 @@ -{ - "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": 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": 5 - }, - { - "high_idx": 0, - "image_name": "000000022.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000023.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000024.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000025.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 5 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 36 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "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": 42 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 89 - }, - { - "high_idx": 7, - "image_name": "000000381.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000382.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000383.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000384.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000385.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000386.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000387.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000388.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000389.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000390.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000391.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000392.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000393.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000394.png", - "low_idx": 90 - }, - { - "high_idx": 7, - "image_name": "000000395.png", - "low_idx": 90 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "KeyChain", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|-8|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.79800032, - -6.79800032, - -8.29367064, - -8.29367064, - 4.59176636, - 4.59176636 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.798, - -6.798, - -8.228, - -8.228, - 4.5512, - 4.5512 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.70|+01.15|-02.07" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - -6.79800032, - -6.79800032, - -8.29367064, - -8.29367064, - 4.59176636, - 4.59176636 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|-01.70|+01.15|-02.07", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "armchair" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|9|5|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "keychain" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.90067768, - 8.90067768, - 7.37487268, - 7.37487268, - 1.771666884, - 1.771666884 - ] - ], - "coordinateReceptacleObjectId": [ - "ArmChair", - [ - 9.648, - 9.648, - 7.98, - 7.98, - 0.055999998, - 0.055999998 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.23|+00.44|+01.84" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "keychain", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "KeyChain", - [ - 8.90067768, - 8.90067768, - 7.37487268, - 7.37487268, - 1.771666884, - 1.771666884 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "KeyChain|+02.23|+00.44|+01.84", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "PickupObject", - "objectId": "KeyChain|-01.70|+01.15|-02.07" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 101, - 130, - 158, - 152 - ], - "mask": [ - [ - 38834, - 2 - ], - [ - 39133, - 4 - ], - [ - 39432, - 4 - ], - [ - 39731, - 5 - ], - [ - 40030, - 5 - ], - [ - 40329, - 5 - ], - [ - 40626, - 7 - ], - [ - 40642, - 2 - ], - [ - 40925, - 7 - ], - [ - 40940, - 6 - ], - [ - 41224, - 8 - ], - [ - 41238, - 7 - ], - [ - 41525, - 8 - ], - [ - 41536, - 8 - ], - [ - 41825, - 7 - ], - [ - 41834, - 10 - ], - [ - 42108, - 3 - ], - [ - 42125, - 6 - ], - [ - 42132, - 11 - ], - [ - 42407, - 6 - ], - [ - 42423, - 6 - ], - [ - 42432, - 10 - ], - [ - 42706, - 9 - ], - [ - 42722, - 2 - ], - [ - 42726, - 1 - ], - [ - 42728, - 13 - ], - [ - 43004, - 19 - ], - [ - 43027, - 1 - ], - [ - 43029, - 1 - ], - [ - 43034, - 6 - ], - [ - 43303, - 20 - ], - [ - 43329, - 1 - ], - [ - 43335, - 6 - ], - [ - 43602, - 21 - ], - [ - 43628, - 2 - ], - [ - 43635, - 7 - ], - [ - 43901, - 28 - ], - [ - 43934, - 8 - ], - [ - 44201, - 16 - ], - [ - 44224, - 4 - ], - [ - 44233, - 11 - ], - [ - 44502, - 13 - ], - [ - 44534, - 16 - ], - [ - 44804, - 10 - ], - [ - 44834, - 7 - ], - [ - 44842, - 13 - ], - [ - 45106, - 7 - ], - [ - 45135, - 6 - ], - [ - 45148, - 11 - ], - [ - 45408, - 3 - ], - [ - 45437, - 2 - ], - [ - 45457, - 1 - ] - ], - "point": [ - 129, - 140 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "KeyChain|-01.70|+01.15|-02.07", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 28 - ], - [ - 4895, - 43 - ], - [ - 4939, - 161 - ], - [ - 5134, - 29 - ], - [ - 5195, - 36 - ], - [ - 5246, - 154 - ], - [ - 5434, - 29 - ], - [ - 5495, - 32 - ], - [ - 5549, - 92 - ], - [ - 5648, - 52 - ], - [ - 5734, - 29 - ], - [ - 5795, - 30 - ], - [ - 5852, - 85 - ], - [ - 5952, - 48 - ], - [ - 6033, - 31 - ], - [ - 6095, - 28 - ], - [ - 6153, - 82 - ], - [ - 6255, - 45 - ], - [ - 6333, - 31 - ], - [ - 6394, - 28 - ], - [ - 6455, - 79 - ], - [ - 6557, - 43 - ], - [ - 6633, - 32 - ], - [ - 6694, - 27 - ], - [ - 6756, - 77 - ], - [ - 6858, - 42 - ], - [ - 6932, - 34 - ], - [ - 6994, - 26 - ], - [ - 7057, - 75 - ], - [ - 7159, - 41 - ], - [ - 7232, - 34 - ], - [ - 7294, - 25 - ], - [ - 7358, - 74 - ], - [ - 7460, - 40 - ], - [ - 7531, - 36 - ], - [ - 7594, - 24 - ], - [ - 7659, - 73 - ], - [ - 7761, - 39 - ], - [ - 7831, - 37 - ], - [ - 7895, - 22 - ], - [ - 7959, - 73 - ], - [ - 8045, - 4 - ], - [ - 8062, - 38 - ], - [ - 8131, - 37 - ], - [ - 8195, - 22 - ], - [ - 8260, - 72 - ], - [ - 8345, - 4 - ], - [ - 8362, - 38 - ], - [ - 8430, - 39 - ], - [ - 8495, - 21 - ], - [ - 8560, - 73 - ], - [ - 8646, - 3 - ], - [ - 8662, - 38 - ], - [ - 8730, - 40 - ], - [ - 8795, - 21 - ], - [ - 8860, - 73 - ], - [ - 8962, - 38 - ], - [ - 9030, - 40 - ], - [ - 9095, - 21 - ], - [ - 9161, - 73 - ], - [ - 9262, - 38 - ], - [ - 9329, - 42 - ], - [ - 9395, - 20 - ], - [ - 9461, - 74 - ], - [ - 9562, - 38 - ], - [ - 9629, - 43 - ], - [ - 9694, - 21 - ], - [ - 9761, - 75 - ], - [ - 9861, - 39 - ], - [ - 9929, - 44 - ], - [ - 9994, - 22 - ], - [ - 10061, - 76 - ], - [ - 10160, - 40 - ], - [ - 10228, - 45 - ], - [ - 10294, - 22 - ], - [ - 10360, - 79 - ], - [ - 10460, - 40 - ], - [ - 10528, - 45 - ], - [ - 10594, - 22 - ], - [ - 10660, - 81 - ], - [ - 10758, - 42 - ], - [ - 10827, - 45 - ], - [ - 10894, - 22 - ], - [ - 10960, - 84 - ], - [ - 11056, - 44 - ], - [ - 11127, - 45 - ], - [ - 11194, - 23 - ], - [ - 11259, - 141 - ], - [ - 11427, - 45 - ], - [ - 11493, - 24 - ], - [ - 11559, - 141 - ], - [ - 11726, - 46 - ], - [ - 11793, - 25 - ], - [ - 11858, - 142 - ], - [ - 12026, - 45 - ], - [ - 12093, - 26 - ], - [ - 12158, - 142 - ], - [ - 12326, - 45 - ], - [ - 12393, - 26 - ], - [ - 12457, - 143 - ], - [ - 12625, - 46 - ], - [ - 12693, - 27 - ], - [ - 12756, - 144 - ], - [ - 12925, - 46 - ], - [ - 12993, - 28 - ], - [ - 13055, - 145 - ], - [ - 13225, - 46 - ], - [ - 13292, - 31 - ], - [ - 13353, - 147 - ], - [ - 13524, - 46 - ], - [ - 13592, - 32 - ], - [ - 13651, - 149 - ], - [ - 13824, - 46 - ], - [ - 13892, - 34 - ], - [ - 13949, - 151 - ], - [ - 14123, - 47 - ], - [ - 14192, - 38 - ], - [ - 14246, - 78 - ], - [ - 14391, - 9 - ], - [ - 14423, - 47 - ], - [ - 14492, - 43 - ], - [ - 14540, - 83 - ], - [ - 14691, - 9 - ], - [ - 14723, - 47 - ], - [ - 14792, - 131 - ], - [ - 14992, - 8 - ], - [ - 15022, - 50 - ], - [ - 15091, - 132 - ], - [ - 15292, - 8 - ], - [ - 15322, - 56 - ], - [ - 15391, - 132 - ], - [ - 15592, - 8 - ], - [ - 15622, - 63 - ], - [ - 15691, - 132 - ], - [ - 15893, - 7 - ], - [ - 15921, - 202 - ], - [ - 16193, - 7 - ], - [ - 16221, - 202 - ], - [ - 16494, - 6 - ], - [ - 16521, - 202 - ], - [ - 16794, - 6 - ], - [ - 16820, - 204 - ], - [ - 17094, - 6 - ], - [ - 17120, - 204 - ], - [ - 17395, - 5 - ], - [ - 17419, - 174 - ], - [ - 17601, - 23 - ], - [ - 17695, - 5 - ], - [ - 17719, - 170 - ], - [ - 17905, - 19 - ], - [ - 17996, - 4 - ], - [ - 18019, - 168 - ], - [ - 18207, - 17 - ], - [ - 18296, - 4 - ], - [ - 18318, - 168 - ], - [ - 18510, - 15 - ], - [ - 18596, - 4 - ], - [ - 18618, - 167 - ], - [ - 18811, - 14 - ], - [ - 18897, - 3 - ], - [ - 18918, - 166 - ], - [ - 19112, - 13 - ], - [ - 19197, - 3 - ], - [ - 19217, - 166 - ], - [ - 19413, - 12 - ], - [ - 19498, - 2 - ], - [ - 19517, - 59 - ], - [ - 19577, - 105 - ], - [ - 19714, - 11 - ], - [ - 19798, - 2 - ], - [ - 19817, - 59 - ], - [ - 19877, - 105 - ], - [ - 20014, - 12 - ], - [ - 20098, - 2 - ], - [ - 20116, - 59 - ], - [ - 20177, - 105 - ], - [ - 20315, - 11 - ], - [ - 20399, - 1 - ], - [ - 20416, - 59 - ], - [ - 20478, - 104 - ], - [ - 20596, - 4 - ], - [ - 20615, - 11 - ], - [ - 20699, - 1 - ], - [ - 20715, - 60 - ], - [ - 20778, - 104 - ], - [ - 20896, - 5 - ], - [ - 20915, - 11 - ], - [ - 21015, - 60 - ], - [ - 21077, - 105 - ], - [ - 21196, - 5 - ], - [ - 21216, - 11 - ], - [ - 21315, - 59 - ], - [ - 21377, - 105 - ], - [ - 21498, - 1 - ], - [ - 21515, - 12 - ], - [ - 21614, - 60 - ], - [ - 21677, - 106 - ], - [ - 21815, - 12 - ], - [ - 21914, - 60 - ], - [ - 21977, - 106 - ], - [ - 22115, - 12 - ], - [ - 22214, - 60 - ], - [ - 22277, - 106 - ], - [ - 22415, - 12 - ], - [ - 22513, - 60 - ], - [ - 22576, - 108 - ], - [ - 22714, - 14 - ], - [ - 22813, - 60 - ], - [ - 22876, - 109 - ], - [ - 23014, - 14 - ], - [ - 23113, - 60 - ], - [ - 23176, - 110 - ], - [ - 23313, - 15 - ], - [ - 23412, - 61 - ], - [ - 23476, - 111 - ], - [ - 23612, - 16 - ], - [ - 23712, - 61 - ], - [ - 23776, - 114 - ], - [ - 23910, - 18 - ], - [ - 24011, - 61 - ], - [ - 24075, - 117 - ], - [ - 24208, - 21 - ], - [ - 24311, - 61 - ], - [ - 24375, - 120 - ], - [ - 24506, - 23 - ], - [ - 24611, - 61 - ], - [ - 24675, - 61 - ], - [ - 24738, - 91 - ], - [ - 24910, - 62 - ], - [ - 24975, - 61 - ], - [ - 25038, - 91 - ], - [ - 25210, - 62 - ], - [ - 25275, - 61 - ], - [ - 25338, - 91 - ], - [ - 25510, - 61 - ], - [ - 25574, - 62 - ], - [ - 25638, - 92 - ], - [ - 25809, - 62 - ], - [ - 25874, - 62 - ], - [ - 25938, - 92 - ], - [ - 26109, - 62 - ], - [ - 26174, - 61 - ], - [ - 26238, - 162 - ], - [ - 26409, - 62 - ], - [ - 26474, - 61 - ], - [ - 26538, - 162 - ], - [ - 26708, - 63 - ], - [ - 26774, - 61 - ], - [ - 26838, - 162 - ], - [ - 27008, - 62 - ], - [ - 27073, - 62 - ], - [ - 27138, - 162 - ], - [ - 27307, - 63 - ], - [ - 27373, - 62 - ], - [ - 27438, - 162 - ], - [ - 27607, - 63 - ], - [ - 27673, - 62 - ], - [ - 27738, - 162 - ], - [ - 27907, - 63 - ], - [ - 27973, - 62 - ], - [ - 28038, - 162 - ], - [ - 28206, - 64 - ], - [ - 28273, - 62 - ], - [ - 28338, - 162 - ], - [ - 28506, - 63 - ], - [ - 28573, - 62 - ], - [ - 28638, - 162 - ], - [ - 28806, - 63 - ], - [ - 28872, - 63 - ], - [ - 28938, - 162 - ], - [ - 29105, - 64 - ], - [ - 29172, - 63 - ], - [ - 29238, - 162 - ], - [ - 29405, - 64 - ], - [ - 29472, - 63 - ], - [ - 29538, - 162 - ], - [ - 29705, - 64 - ], - [ - 29772, - 63 - ], - [ - 29838, - 162 - ], - [ - 30004, - 64 - ], - [ - 30072, - 63 - ], - [ - 30138, - 162 - ], - [ - 30304, - 64 - ], - [ - 30371, - 64 - ], - [ - 30438, - 162 - ], - [ - 30603, - 65 - ], - [ - 30671, - 64 - ], - [ - 30738, - 162 - ], - [ - 30903, - 65 - ], - [ - 30971, - 64 - ], - [ - 31038, - 162 - ], - [ - 31203, - 65 - ], - [ - 31271, - 64 - ], - [ - 31338, - 162 - ], - [ - 31502, - 65 - ], - [ - 31571, - 64 - ], - [ - 31638, - 162 - ], - [ - 31802, - 65 - ], - [ - 31870, - 65 - ], - [ - 31938, - 162 - ], - [ - 32102, - 65 - ], - [ - 32170, - 65 - ], - [ - 32238, - 162 - ], - [ - 32401, - 66 - ], - [ - 32470, - 65 - ], - [ - 32538, - 162 - ], - [ - 32701, - 66 - ], - [ - 32769, - 66 - ], - [ - 32838, - 162 - ], - [ - 33001, - 67 - ], - [ - 33069, - 66 - ], - [ - 33138, - 297 - ], - [ - 33438, - 113 - ], - [ - 33599, - 136 - ], - [ - 33738, - 112 - ], - [ - 33900, - 134 - ], - [ - 34038, - 111 - ], - [ - 34200, - 134 - ], - [ - 34338, - 111 - ], - [ - 34500, - 134 - ], - [ - 34637, - 113 - ], - [ - 34800, - 134 - ], - [ - 34937, - 113 - ], - [ - 35100, - 134 - ], - [ - 35237, - 113 - ], - [ - 35400, - 134 - ], - [ - 35537, - 113 - ], - [ - 35700, - 134 - ], - [ - 35837, - 113 - ], - [ - 36000, - 134 - ], - [ - 36137, - 114 - ], - [ - 36300, - 134 - ], - [ - 36437, - 115 - ], - [ - 36600, - 134 - ], - [ - 36737, - 115 - ], - [ - 36900, - 134 - ], - [ - 37037, - 115 - ], - [ - 37200, - 134 - ], - [ - 37337, - 115 - ], - [ - 37500, - 134 - ], - [ - 37637, - 115 - ], - [ - 37800, - 134 - ], - [ - 37937, - 115 - ], - [ - 38100, - 134 - ], - [ - 38237, - 115 - ], - [ - 38400, - 134 - ], - [ - 38537, - 116 - ], - [ - 38700, - 135 - ], - [ - 38836, - 117 - ], - [ - 39000, - 135 - ], - [ - 39136, - 117 - ], - [ - 39300, - 135 - ], - [ - 39436, - 117 - ], - [ - 39600, - 254 - ], - [ - 39900, - 255 - ], - [ - 40200, - 4500 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "KeyChain|+02.23|+00.44|+01.84" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 133, - 151, - 137, - 159 - ], - "mask": [ - [ - 45137, - 1 - ], - [ - 45437, - 1 - ], - [ - 46333, - 2 - ], - [ - 46634, - 4 - ], - [ - 46936, - 2 - ], - [ - 47237, - 1 - ], - [ - 47537, - 1 - ] - ], - "point": [ - 134, - 154 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "KeyChain|+02.23|+00.44|+01.84", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 28 - ], - [ - 4895, - 43 - ], - [ - 4939, - 161 - ], - [ - 5134, - 29 - ], - [ - 5195, - 36 - ], - [ - 5246, - 154 - ], - [ - 5434, - 29 - ], - [ - 5495, - 32 - ], - [ - 5549, - 92 - ], - [ - 5648, - 52 - ], - [ - 5734, - 29 - ], - [ - 5795, - 30 - ], - [ - 5852, - 85 - ], - [ - 5952, - 48 - ], - [ - 6033, - 31 - ], - [ - 6095, - 28 - ], - [ - 6153, - 82 - ], - [ - 6255, - 45 - ], - [ - 6333, - 31 - ], - [ - 6394, - 28 - ], - [ - 6455, - 79 - ], - [ - 6557, - 43 - ], - [ - 6633, - 32 - ], - [ - 6694, - 27 - ], - [ - 6756, - 77 - ], - [ - 6858, - 42 - ], - [ - 6932, - 34 - ], - [ - 6994, - 26 - ], - [ - 7057, - 75 - ], - [ - 7159, - 41 - ], - [ - 7232, - 34 - ], - [ - 7294, - 25 - ], - [ - 7358, - 74 - ], - [ - 7460, - 40 - ], - [ - 7531, - 36 - ], - [ - 7594, - 24 - ], - [ - 7659, - 73 - ], - [ - 7761, - 39 - ], - [ - 7831, - 37 - ], - [ - 7895, - 22 - ], - [ - 7959, - 73 - ], - [ - 8045, - 4 - ], - [ - 8062, - 38 - ], - [ - 8131, - 37 - ], - [ - 8195, - 22 - ], - [ - 8260, - 72 - ], - [ - 8345, - 4 - ], - [ - 8362, - 38 - ], - [ - 8430, - 39 - ], - [ - 8495, - 21 - ], - [ - 8560, - 73 - ], - [ - 8646, - 3 - ], - [ - 8662, - 38 - ], - [ - 8730, - 40 - ], - [ - 8795, - 21 - ], - [ - 8860, - 73 - ], - [ - 8962, - 38 - ], - [ - 9030, - 40 - ], - [ - 9095, - 21 - ], - [ - 9161, - 73 - ], - [ - 9262, - 38 - ], - [ - 9329, - 42 - ], - [ - 9395, - 20 - ], - [ - 9461, - 74 - ], - [ - 9562, - 38 - ], - [ - 9629, - 43 - ], - [ - 9694, - 21 - ], - [ - 9761, - 75 - ], - [ - 9861, - 39 - ], - [ - 9929, - 44 - ], - [ - 9994, - 22 - ], - [ - 10061, - 76 - ], - [ - 10160, - 40 - ], - [ - 10228, - 45 - ], - [ - 10294, - 22 - ], - [ - 10360, - 79 - ], - [ - 10460, - 40 - ], - [ - 10528, - 45 - ], - [ - 10594, - 22 - ], - [ - 10660, - 81 - ], - [ - 10758, - 42 - ], - [ - 10827, - 45 - ], - [ - 10894, - 22 - ], - [ - 10960, - 84 - ], - [ - 11056, - 44 - ], - [ - 11127, - 45 - ], - [ - 11194, - 23 - ], - [ - 11259, - 141 - ], - [ - 11427, - 45 - ], - [ - 11493, - 24 - ], - [ - 11559, - 141 - ], - [ - 11726, - 46 - ], - [ - 11793, - 25 - ], - [ - 11858, - 142 - ], - [ - 12026, - 45 - ], - [ - 12093, - 26 - ], - [ - 12158, - 142 - ], - [ - 12326, - 45 - ], - [ - 12393, - 26 - ], - [ - 12457, - 143 - ], - [ - 12625, - 46 - ], - [ - 12693, - 27 - ], - [ - 12756, - 144 - ], - [ - 12925, - 46 - ], - [ - 12993, - 28 - ], - [ - 13055, - 145 - ], - [ - 13225, - 46 - ], - [ - 13292, - 31 - ], - [ - 13353, - 147 - ], - [ - 13524, - 46 - ], - [ - 13592, - 32 - ], - [ - 13651, - 149 - ], - [ - 13824, - 46 - ], - [ - 13892, - 34 - ], - [ - 13949, - 151 - ], - [ - 14123, - 47 - ], - [ - 14192, - 38 - ], - [ - 14246, - 78 - ], - [ - 14391, - 9 - ], - [ - 14423, - 47 - ], - [ - 14492, - 43 - ], - [ - 14540, - 83 - ], - [ - 14691, - 9 - ], - [ - 14723, - 47 - ], - [ - 14792, - 131 - ], - [ - 14992, - 8 - ], - [ - 15022, - 50 - ], - [ - 15091, - 132 - ], - [ - 15292, - 8 - ], - [ - 15322, - 56 - ], - [ - 15391, - 132 - ], - [ - 15592, - 8 - ], - [ - 15622, - 63 - ], - [ - 15691, - 132 - ], - [ - 15893, - 7 - ], - [ - 15921, - 202 - ], - [ - 16193, - 7 - ], - [ - 16221, - 202 - ], - [ - 16494, - 6 - ], - [ - 16521, - 202 - ], - [ - 16794, - 6 - ], - [ - 16820, - 204 - ], - [ - 17094, - 6 - ], - [ - 17120, - 204 - ], - [ - 17395, - 5 - ], - [ - 17419, - 174 - ], - [ - 17601, - 23 - ], - [ - 17695, - 5 - ], - [ - 17719, - 170 - ], - [ - 17905, - 19 - ], - [ - 17996, - 4 - ], - [ - 18019, - 168 - ], - [ - 18207, - 17 - ], - [ - 18296, - 4 - ], - [ - 18318, - 168 - ], - [ - 18510, - 15 - ], - [ - 18596, - 4 - ], - [ - 18618, - 167 - ], - [ - 18811, - 14 - ], - [ - 18897, - 3 - ], - [ - 18918, - 166 - ], - [ - 19112, - 13 - ], - [ - 19197, - 3 - ], - [ - 19217, - 166 - ], - [ - 19413, - 12 - ], - [ - 19498, - 2 - ], - [ - 19517, - 59 - ], - [ - 19577, - 105 - ], - [ - 19714, - 11 - ], - [ - 19798, - 2 - ], - [ - 19817, - 59 - ], - [ - 19877, - 105 - ], - [ - 20014, - 12 - ], - [ - 20098, - 2 - ], - [ - 20116, - 59 - ], - [ - 20177, - 105 - ], - [ - 20315, - 11 - ], - [ - 20399, - 1 - ], - [ - 20416, - 59 - ], - [ - 20478, - 104 - ], - [ - 20596, - 4 - ], - [ - 20615, - 11 - ], - [ - 20699, - 1 - ], - [ - 20715, - 60 - ], - [ - 20778, - 104 - ], - [ - 20896, - 5 - ], - [ - 20915, - 11 - ], - [ - 21015, - 60 - ], - [ - 21077, - 105 - ], - [ - 21196, - 5 - ], - [ - 21216, - 11 - ], - [ - 21315, - 59 - ], - [ - 21377, - 105 - ], - [ - 21498, - 1 - ], - [ - 21515, - 12 - ], - [ - 21614, - 60 - ], - [ - 21677, - 106 - ], - [ - 21815, - 12 - ], - [ - 21914, - 60 - ], - [ - 21977, - 106 - ], - [ - 22115, - 12 - ], - [ - 22214, - 60 - ], - [ - 22277, - 106 - ], - [ - 22415, - 12 - ], - [ - 22513, - 60 - ], - [ - 22576, - 108 - ], - [ - 22714, - 14 - ], - [ - 22813, - 60 - ], - [ - 22876, - 109 - ], - [ - 23014, - 14 - ], - [ - 23113, - 60 - ], - [ - 23176, - 110 - ], - [ - 23313, - 15 - ], - [ - 23412, - 61 - ], - [ - 23476, - 111 - ], - [ - 23612, - 16 - ], - [ - 23712, - 61 - ], - [ - 23776, - 114 - ], - [ - 23910, - 18 - ], - [ - 24011, - 61 - ], - [ - 24075, - 117 - ], - [ - 24208, - 21 - ], - [ - 24311, - 61 - ], - [ - 24375, - 120 - ], - [ - 24506, - 23 - ], - [ - 24611, - 61 - ], - [ - 24675, - 61 - ], - [ - 24738, - 91 - ], - [ - 24910, - 62 - ], - [ - 24975, - 61 - ], - [ - 25038, - 91 - ], - [ - 25210, - 62 - ], - [ - 25275, - 61 - ], - [ - 25338, - 91 - ], - [ - 25510, - 61 - ], - [ - 25574, - 62 - ], - [ - 25638, - 92 - ], - [ - 25809, - 62 - ], - [ - 25874, - 62 - ], - [ - 25938, - 92 - ], - [ - 26109, - 62 - ], - [ - 26174, - 61 - ], - [ - 26238, - 162 - ], - [ - 26409, - 62 - ], - [ - 26474, - 61 - ], - [ - 26538, - 162 - ], - [ - 26708, - 63 - ], - [ - 26774, - 61 - ], - [ - 26838, - 162 - ], - [ - 27008, - 62 - ], - [ - 27073, - 62 - ], - [ - 27138, - 162 - ], - [ - 27307, - 63 - ], - [ - 27373, - 62 - ], - [ - 27438, - 162 - ], - [ - 27607, - 63 - ], - [ - 27673, - 62 - ], - [ - 27738, - 162 - ], - [ - 27907, - 63 - ], - [ - 27973, - 62 - ], - [ - 28038, - 162 - ], - [ - 28206, - 64 - ], - [ - 28273, - 62 - ], - [ - 28338, - 162 - ], - [ - 28506, - 63 - ], - [ - 28573, - 62 - ], - [ - 28638, - 162 - ], - [ - 28806, - 63 - ], - [ - 28872, - 63 - ], - [ - 28938, - 162 - ], - [ - 29105, - 64 - ], - [ - 29172, - 63 - ], - [ - 29238, - 162 - ], - [ - 29405, - 64 - ], - [ - 29472, - 63 - ], - [ - 29538, - 70 - ], - [ - 29609, - 91 - ], - [ - 29705, - 64 - ], - [ - 29772, - 63 - ], - [ - 29838, - 69 - ], - [ - 29909, - 91 - ], - [ - 30004, - 64 - ], - [ - 30072, - 63 - ], - [ - 30138, - 69 - ], - [ - 30209, - 91 - ], - [ - 30304, - 64 - ], - [ - 30371, - 64 - ], - [ - 30438, - 69 - ], - [ - 30509, - 91 - ], - [ - 30603, - 65 - ], - [ - 30671, - 64 - ], - [ - 30738, - 69 - ], - [ - 30809, - 91 - ], - [ - 30903, - 65 - ], - [ - 30971, - 64 - ], - [ - 31038, - 69 - ], - [ - 31109, - 91 - ], - [ - 31203, - 65 - ], - [ - 31271, - 64 - ], - [ - 31338, - 68 - ], - [ - 31408, - 92 - ], - [ - 31502, - 65 - ], - [ - 31571, - 64 - ], - [ - 31638, - 54 - ], - [ - 31695, - 11 - ], - [ - 31708, - 92 - ], - [ - 31802, - 65 - ], - [ - 31870, - 65 - ], - [ - 31938, - 53 - ], - [ - 31996, - 10 - ], - [ - 32008, - 92 - ], - [ - 32102, - 65 - ], - [ - 32170, - 65 - ], - [ - 32238, - 51 - ], - [ - 32297, - 7 - ], - [ - 32308, - 92 - ], - [ - 32401, - 66 - ], - [ - 32470, - 65 - ], - [ - 32538, - 52 - ], - [ - 32599, - 4 - ], - [ - 32609, - 91 - ], - [ - 32701, - 66 - ], - [ - 32769, - 66 - ], - [ - 32838, - 53 - ], - [ - 32900, - 2 - ], - [ - 32910, - 90 - ], - [ - 33001, - 67 - ], - [ - 33069, - 66 - ], - [ - 33138, - 54 - ], - [ - 33201, - 2 - ], - [ - 33211, - 224 - ], - [ - 33438, - 46 - ], - [ - 33486, - 8 - ], - [ - 33502, - 1 - ], - [ - 33510, - 41 - ], - [ - 33599, - 136 - ], - [ - 33738, - 46 - ], - [ - 33788, - 7 - ], - [ - 33802, - 4 - ], - [ - 33809, - 41 - ], - [ - 33900, - 134 - ], - [ - 34038, - 46 - ], - [ - 34090, - 6 - ], - [ - 34101, - 48 - ], - [ - 34200, - 134 - ], - [ - 34338, - 48 - ], - [ - 34393, - 1 - ], - [ - 34396, - 1 - ], - [ - 34399, - 9 - ], - [ - 34409, - 40 - ], - [ - 34500, - 134 - ], - [ - 34637, - 52 - ], - [ - 34698, - 1 - ], - [ - 34700, - 8 - ], - [ - 34709, - 41 - ], - [ - 34800, - 134 - ], - [ - 34937, - 54 - ], - [ - 34998, - 2 - ], - [ - 35005, - 45 - ], - [ - 35100, - 134 - ], - [ - 35237, - 55 - ], - [ - 35298, - 1 - ], - [ - 35301, - 4 - ], - [ - 35306, - 1 - ], - [ - 35308, - 42 - ], - [ - 35400, - 134 - ], - [ - 35537, - 55 - ], - [ - 35598, - 1 - ], - [ - 35600, - 3 - ], - [ - 35607, - 43 - ], - [ - 35700, - 134 - ], - [ - 35837, - 56 - ], - [ - 35897, - 2 - ], - [ - 35900, - 6 - ], - [ - 35907, - 43 - ], - [ - 36000, - 134 - ], - [ - 36137, - 62 - ], - [ - 36201, - 1 - ], - [ - 36206, - 45 - ], - [ - 36300, - 134 - ], - [ - 36437, - 64 - ], - [ - 36506, - 46 - ], - [ - 36600, - 134 - ], - [ - 36737, - 65 - ], - [ - 36806, - 46 - ], - [ - 36900, - 134 - ], - [ - 37037, - 65 - ], - [ - 37107, - 45 - ], - [ - 37200, - 134 - ], - [ - 37337, - 66 - ], - [ - 37407, - 45 - ], - [ - 37500, - 134 - ], - [ - 37637, - 66 - ], - [ - 37708, - 44 - ], - [ - 37800, - 134 - ], - [ - 37937, - 65 - ], - [ - 38010, - 42 - ], - [ - 38100, - 134 - ], - [ - 38237, - 64 - ], - [ - 38312, - 40 - ], - [ - 38400, - 134 - ], - [ - 38537, - 63 - ], - [ - 38614, - 39 - ], - [ - 38700, - 135 - ], - [ - 38836, - 64 - ], - [ - 38914, - 39 - ], - [ - 39000, - 135 - ], - [ - 39136, - 63 - ], - [ - 39213, - 40 - ], - [ - 39300, - 135 - ], - [ - 39436, - 63 - ], - [ - 39513, - 40 - ], - [ - 39600, - 201 - ], - [ - 39812, - 42 - ], - [ - 39900, - 203 - ], - [ - 40111, - 44 - ], - [ - 40200, - 204 - ], - [ - 40410, - 296 - ], - [ - 40710, - 298 - ], - [ - 41009, - 3691 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.5, - "y": 0.9009992, - "z": 1.75 - }, - "object_poses": [ - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.6994971, - "y": 1.63793039, - "z": -1.73138523 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.6995002, - "y": 1.63793039, - "z": -2.07341766 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": 2.36063051, - "y": 0.6816989, - "z": -1.76215267 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.509851, - "y": 0.9823676, - "z": 0.46428293 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.65724254, - "y": 0.971910357, - "z": -0.339928925 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 2.59507728, - "y": 0.433210015, - "z": 1.75364041 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": -1.73082709, - "y": 1.1465646, - "z": -1.73138285 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.50984848, - "y": 0.9779565, - "z": -0.540981352 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.668169, - "y": 1.15200746, - "z": -1.95940626 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.55220532, - "y": 0.222420111, - "z": 0.34866786 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.66492844, - "y": 0.4156906, - "z": 0.164257213 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 2.22516942, - "y": 0.442916721, - "z": 1.84371817 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.55220342, - "y": 0.216307, - "z": -0.443392038 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 1.74347711, - "y": 0.773138165, - "z": -0.106407106 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.657243, - "y": 0.971675038, - "z": -0.138876021 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.69950008, - "y": 1.14794159, - "z": -2.07341766 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.80463517, - "y": 0.9706196, - "z": -0.742034853 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 2.410725, - "y": 0.5136745, - "z": 1.84108567 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 0.652, - "y": 0.794, - "z": -1.531 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": -1.80463564, - "y": 0.973002553, - "z": -0.540982068 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.778841, - "y": 0.773138165, - "z": -0.695633948 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.80463767, - "y": 0.9759595, - "z": 0.2632293 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": -1.5524714, - "y": 0.611290634, - "z": 0.07277441 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": -1.72115457, - "y": 0.410202, - "z": -0.7213859 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.58354485, - "y": 0.9779565, - "z": -0.7420343 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": -1.4361527, - "y": 0.9725137, - "z": -0.138875484 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.87833357, - "y": 0.971910357, - "z": -0.138876557 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": 1.73104453, - "y": 0.68111527, - "z": 2.1727345 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.65724409, - "y": 0.9823676, - "z": 0.263229668 - }, - "rotation": { - "x": 0.0, - "y": 89.99987, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 607499676, - "scene_num": 330 - }, - "task_id": "trial_T20190908_140011_258829", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_36AHBNMV1U3O07BP4XU8RCVUEUTYDY", - "high_descs": [ - "Walk forward then turn left head towards the last cabinet on your right", - "Pick up the keys on the cabinet beside the pen", - "Turn right then head to the drawer on your left", - "Put the keys on the left side of the drawer ", - "Turn right walk forward then turn right head to the couch", - "Pick up the keys under the pillow on the couch", - "Turn left walk forward head to the drawer on your right", - "Put the keys in front of the other keys by the edge of the cabinet" - ], - "task_desc": "Put the two keys on the cabinet", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3E13VNJ1NQM8ICG8KMOA4M0XZCJI19", - "high_descs": [ - "walk over to the right side of the bed on the left, keep walking to the end of the room where the cabinet is on the right, turn to face the cabinet", - "grab the keys off of the cabinet there", - "turn right and walk to the dresser on the left ahead", - "place the keys down on top of the left side of the dresser", - "turn right and walk to the foot of the bed on the right, keep walking though and walk over to the small chair in the corner of the room ahead", - "grab the keys off of the small chair there", - "turn left and walk back over to the dresser at the far end of the room up ahead on the left", - "place the keys down on top of the left side of the dresser again" - ], - "task_desc": "place two sets of keys on top of the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3SFPSMFRSRTB3_3X66WABAJZ9QWOOSH22Q732EIJR3GG", - "high_descs": [ - "Turn left, proceed to dresser closest to window. Turn right to face dresser.", - "Pick up keys from behind pen on dresser.", - "Turn right, proceed to next dresser on left. Turn left to face dresser.", - "Place keys on dresser, below the cd and the left of phone.", - "Turn around, proceed to wall. Turn left to face chair.", - "Remove keys from under left side of pillow on chair.", - "Turn left, go to end of bed. Turn left, go to center of first dresser. Turn right to face. dresser.", - "Place keys on dresser, directly on cd behind the other set of keys." - ], - "task_desc": "Move a pen and keys to a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043544_600540/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043544_600540/traj_data.json deleted file mode 100644 index 857139ade..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043544_600540/traj_data.json +++ /dev/null @@ -1,6185 +0,0 @@ -{ - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 17 - }, - { - "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": 1, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 32 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000264.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000265.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000357.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000358.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000359.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000360.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000361.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000362.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000363.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000364.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000365.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000366.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000367.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000368.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000369.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000370.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000371.png", - "low_idx": 69 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-14|12|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -13.92386244, - -13.92386244, - 10.50305748, - 10.50305748, - 1.6892941, - 1.6892941 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -12.167908, - -12.167908, - 9.360716, - 9.360716, - 0.104, - 0.104 - ] - ], - "forceVisible": true, - "objectId": "Pen|-03.48|+00.42|+02.63" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -13.92386244, - -13.92386244, - 10.50305748, - 10.50305748, - 1.6892941, - 1.6892941 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-03.48|+00.42|+02.63", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-11|7|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -10.997272, - -10.997272, - 8.59915544, - 8.59915544, - 1.6892941, - 1.6892941 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -12.167908, - -12.167908, - 9.360716, - 9.360716, - 0.104, - 0.104 - ] - ], - "forceVisible": true, - "objectId": "Pen|-02.75|+00.42|+02.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -10.997272, - -10.997272, - 8.59915544, - 8.59915544, - 1.6892941, - 1.6892941 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-02.75|+00.42|+02.15", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-03.48|+00.42|+02.63" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 124, - 207, - 164, - 208 - ], - "mask": [ - [ - 61927, - 35 - ], - [ - 62224, - 41 - ] - ], - "point": [ - 144, - 206 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|-03.48|+00.42|+02.63", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 18 - ], - [ - 29218, - 28 - ], - [ - 29278, - 25 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 18 - ], - [ - 29518, - 28 - ], - [ - 29578, - 25 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 18 - ], - [ - 29818, - 28 - ], - [ - 29877, - 26 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 19 - ], - [ - 30118, - 85 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 19 - ], - [ - 30418, - 85 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 18 - ], - [ - 30717, - 86 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 18 - ], - [ - 31017, - 87 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 19 - ], - [ - 31317, - 87 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 19 - ], - [ - 31617, - 87 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 19 - ], - [ - 31917, - 87 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 18 - ], - [ - 32217, - 87 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 19 - ], - [ - 32517, - 87 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 19 - ], - [ - 32817, - 87 - ], - [ - 32921, - 45 - ], - [ - 33000, - 29 - ], - [ - 33046, - 19 - ], - [ - 33117, - 87 - ], - [ - 33221, - 46 - ], - [ - 33300, - 29 - ], - [ - 33346, - 18 - ], - [ - 33417, - 88 - ], - [ - 33521, - 46 - ], - [ - 33600, - 28 - ], - [ - 33645, - 19 - ], - [ - 33717, - 88 - ], - [ - 33822, - 45 - ], - [ - 33900, - 28 - ], - [ - 33945, - 19 - ], - [ - 34017, - 88 - ], - [ - 34122, - 45 - ], - [ - 34200, - 28 - ], - [ - 34245, - 19 - ], - [ - 34316, - 89 - ], - [ - 34422, - 46 - ], - [ - 34500, - 27 - ], - [ - 34545, - 19 - ], - [ - 34616, - 89 - ], - [ - 34722, - 46 - ], - [ - 34800, - 27 - ], - [ - 34844, - 21 - ], - [ - 34916, - 89 - ], - [ - 35022, - 46 - ], - [ - 35100, - 27 - ], - [ - 35144, - 161 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 162 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 162 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 163 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 163 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 163 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 163 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 164 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 164 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-02.75|+00.42|+02.15" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 134, - 202, - 171, - 204 - ], - "mask": [ - [ - 60434, - 26 - ], - [ - 60734, - 38 - ], - [ - 61065, - 4 - ] - ], - "point": [ - 152, - 202 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|-02.75|+00.42|+02.15", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 18 - ], - [ - 29218, - 28 - ], - [ - 29278, - 25 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 18 - ], - [ - 29518, - 28 - ], - [ - 29578, - 25 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 18 - ], - [ - 29818, - 28 - ], - [ - 29877, - 26 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 19 - ], - [ - 30118, - 85 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 19 - ], - [ - 30418, - 85 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 18 - ], - [ - 30717, - 86 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 18 - ], - [ - 31017, - 87 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 19 - ], - [ - 31317, - 87 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 19 - ], - [ - 31617, - 87 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 19 - ], - [ - 31917, - 87 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 18 - ], - [ - 32217, - 87 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 19 - ], - [ - 32517, - 87 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 19 - ], - [ - 32817, - 87 - ], - [ - 32921, - 45 - ], - [ - 33000, - 29 - ], - [ - 33046, - 19 - ], - [ - 33117, - 87 - ], - [ - 33221, - 46 - ], - [ - 33300, - 29 - ], - [ - 33346, - 18 - ], - [ - 33417, - 88 - ], - [ - 33521, - 46 - ], - [ - 33600, - 28 - ], - [ - 33645, - 19 - ], - [ - 33717, - 88 - ], - [ - 33822, - 45 - ], - [ - 33900, - 28 - ], - [ - 33945, - 19 - ], - [ - 34017, - 88 - ], - [ - 34122, - 45 - ], - [ - 34200, - 28 - ], - [ - 34245, - 19 - ], - [ - 34316, - 89 - ], - [ - 34422, - 46 - ], - [ - 34500, - 27 - ], - [ - 34545, - 19 - ], - [ - 34616, - 89 - ], - [ - 34722, - 46 - ], - [ - 34800, - 27 - ], - [ - 34844, - 21 - ], - [ - 34916, - 89 - ], - [ - 35022, - 46 - ], - [ - 35100, - 27 - ], - [ - 35144, - 44 - ], - [ - 35190, - 115 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 45 - ], - [ - 35490, - 116 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 45 - ], - [ - 35790, - 116 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 163 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 163 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 163 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 163 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 164 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 164 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan229", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": -0.25, - "y": 0.922051549, - "z": 2.75 - }, - "object_poses": [ - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -2.749318, - "y": 0.414699525, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_b87ac3be", - "position": { - "x": -5.92759275, - "y": 0.733064, - "z": 2.55149078 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -2.89564753, - "y": 0.420346081, - "z": 2.530569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -0.425153017, - "y": 0.7726754, - "z": 0.172807932 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -3.48096561, - "y": 0.422323525, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -3.18830633, - "y": 0.422323525, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -0.425153017, - "y": 0.774652839, - "z": 1.02385235 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -5.695654, - "y": 0.407248229, - "z": 1.9483645 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -2.60298824, - "y": 0.4119136, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -2.89564753, - "y": 0.415584326, - "z": 2.244984 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -5.788829, - "y": 0.726517856, - "z": 2.55149078 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -0.403339475, - "y": 0.769996, - "z": 1.37815642 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -1.396024, - "y": 0.397734165, - "z": 3.63200951 - }, - "rotation": { - "x": 0.0, - "y": 209.03656, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -3.42713547, - "y": 0.431512237, - "z": 0.399393231 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -5.74257374, - "y": 0.721913636, - "z": 2.25050926 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_3a2ac9e3", - "position": { - "x": -3.426, - "y": 0.635, - "z": 2.439 - }, - "rotation": { - "x": 0.0, - "y": 330.427948, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -5.720118, - "y": 0.407988548, - "z": 2.30563569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0e7ad8bb", - "position": { - "x": -2.147, - "y": 0.615, - "z": 0.59 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 42.94562 - } - }, - { - "objectName": "WateringCan_f71b5fc6", - "position": { - "x": -5.238764, - "y": 0.0201935917, - "z": 0.136437342 - }, - "rotation": { - "x": -0.002103566, - "y": 0.000306327129, - "z": 0.000320422638 - } - }, - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -2.749318, - "y": 0.414699525, - "z": 2.435374 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -1.53706014, - "y": 0.396496, - "z": 3.50170374 - }, - "rotation": { - "x": 0.0, - "y": 209.03656, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -3.041977, - "y": 0.414234132, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_2407c22b", - "position": { - "x": 0.0340102427, - "y": 0.0217030942, - "z": 3.09199619 - }, - "rotation": { - "x": 359.987549, - "y": 259.598633, - "z": 359.9935 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -3.18830633, - "y": 0.412989348, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -2.749318, - "y": 0.422323525, - "z": 2.14978886 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_10eaeb6a", - "position": { - "x": -0.334, - "y": 0.765, - "z": 0.722 - }, - "rotation": { - "x": 0.0, - "y": 296.906128, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -0.205000013, - "y": 0.7736754, - "z": 1.73526537 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_b87ac3be", - "position": { - "x": -2.981728, - "y": 0.5270792, - "z": 2.361493 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_2bdb1f8f", - "position": { - "x": -0.1815925, - "y": 0.7597089, - "z": 1.552922 - }, - "rotation": { - "x": 0.0, - "y": 301.397, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1392372521, - "scene_num": 229 - }, - "task_id": "trial_T20190908_043544_600540", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AISNLDPD2DFEG_33LK57MYLWMMMXIE112ZZW6URIGZSE", - "high_descs": [ - "Turn right, go forward a bit, turn left, go forward, turn left at the coffee table", - "Pick up the pen closest to the edge of the coffee table", - "Turn right, go forward a bit, turn left, go forward a bit, turn right and go to the tv", - "Put the pen in front of the tv", - "Turn around, go forward, turn right at the coffee table", - "Pick up the pen on the coffee table", - "Turn left, go forward, turn right, go forward a bit, turn left and go to the tv", - "Put the pen in front of the tv" - ], - "task_desc": "Put two pens in front of the tv", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A002160837SWJFPIAI7L7_3MMN5BL1W2LI39YGWXB4JM29KZ4M3Z", - "high_descs": [ - "Walk straight to the far end of the table in the middle of the room.", - "Pick up the pen on the right.", - "Turn right and head to the dresser with the TV on top.", - "Place the pen on top of the magazine on the dresser.", - "Turn around and walk to the other side of the table.", - "Pick up the pen in between the magazines.", - "Turn left and go back to the dresser.", - "Place this pen on the right side of the dresser." - ], - "task_desc": "Place two pens on the dresser that has the TV.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A320QA9HJFUOZO_3R8YZBNQ9KZRP7XVQ2LBDCYUZ127QP", - "high_descs": [ - "Walk forward then turn right to face the coffee table", - "Pick up the right most pen from the coffee table", - "Turn right and walk up to the TV stand", - "Put the pen down on the TV stand", - "Turn around and walk up to the right side of the coffee table", - "Pick up the white pen nearest the books from the coffee table", - "Turn left and walk back to the TV stand", - "Put the pen on the TV stand" - ], - "task_desc": "Put the pens on the TV stand", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043626_173426/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043626_173426/traj_data.json deleted file mode 100644 index 0f007e193..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043626_173426/traj_data.json +++ /dev/null @@ -1,6866 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "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": 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": 20 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 22 - }, - { - "high_idx": 1, - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "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": 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": 28 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "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": 38 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 66 - }, - { - "high_idx": 5, - "image_name": "000000316.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 94 - }, - { - "high_idx": 7, - "image_name": "000000418.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000419.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000420.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000421.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000422.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000423.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000424.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000425.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000426.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000427.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000428.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000429.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000430.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000431.png", - "low_idx": 95 - }, - { - "high_idx": 7, - "image_name": "000000432.png", - "low_idx": 95 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|12|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -13.338544, - -13.338544, - 10.50305748, - 10.50305748, - 1.6746112, - 1.6746112 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - -12.167908, - -12.167908, - 9.360716, - 9.360716, - 0.104, - 0.104 - ] - ], - "forceVisible": true, - "objectId": "Pen|-03.33|+00.42|+02.63" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -13.338544, - -13.338544, - 10.50305748, - 10.50305748, - 1.6746112, - 1.6746112 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-03.33|+00.42|+02.63", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|2|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -0.915530204, - -0.915530204, - 2.39332056, - 2.39332056, - 3.10869, - 3.10869 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -1.224, - -1.224, - 2.48, - 2.48, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.23|+00.78|+00.60" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -0.915530204, - -0.915530204, - 2.39332056, - 2.39332056, - 3.10869, - 3.10869 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.23|+00.78|+00.60", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "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": "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": "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": "Pen|-03.33|+00.42|+02.63" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 147, - 207, - 186, - 208 - ], - "mask": [ - [ - 61949, - 36 - ], - [ - 62247, - 40 - ] - ], - "point": [ - 166, - 206 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|-03.33|+00.42|+02.63", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 28 - ], - [ - 29252, - 51 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 28 - ], - [ - 29552, - 51 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 28 - ], - [ - 29852, - 51 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 30 - ], - [ - 30152, - 51 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 53 - ], - [ - 30452, - 51 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 53 - ], - [ - 30752, - 51 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 3 - ], - [ - 30964, - 37 - ], - [ - 31052, - 52 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 4 - ], - [ - 31263, - 38 - ], - [ - 31352, - 52 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 4 - ], - [ - 31563, - 38 - ], - [ - 31652, - 52 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 3 - ], - [ - 31863, - 38 - ], - [ - 31952, - 52 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 3 - ], - [ - 32163, - 38 - ], - [ - 32252, - 52 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 4 - ], - [ - 32463, - 141 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 4 - ], - [ - 32762, - 142 - ], - [ - 32921, - 45 - ], - [ - 33000, - 29 - ], - [ - 33046, - 4 - ], - [ - 33062, - 142 - ], - [ - 33221, - 46 - ], - [ - 33300, - 29 - ], - [ - 33346, - 3 - ], - [ - 33362, - 143 - ], - [ - 33521, - 46 - ], - [ - 33600, - 28 - ], - [ - 33645, - 4 - ], - [ - 33662, - 143 - ], - [ - 33822, - 45 - ], - [ - 33900, - 28 - ], - [ - 33945, - 4 - ], - [ - 33961, - 144 - ], - [ - 34122, - 45 - ], - [ - 34200, - 28 - ], - [ - 34245, - 4 - ], - [ - 34261, - 144 - ], - [ - 34422, - 46 - ], - [ - 34500, - 27 - ], - [ - 34545, - 3 - ], - [ - 34561, - 144 - ], - [ - 34722, - 46 - ], - [ - 34800, - 27 - ], - [ - 34844, - 4 - ], - [ - 34861, - 144 - ], - [ - 35022, - 46 - ], - [ - 35100, - 27 - ], - [ - 35144, - 4 - ], - [ - 35161, - 144 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 4 - ], - [ - 35460, - 146 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 162 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 163 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 163 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 163 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 163 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 164 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 164 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "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": "PickupObject", - "objectId": "Pen|-00.23|+00.78|+00.60" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 129, - 112, - 131, - 135 - ], - "mask": [ - [ - 33431, - 1 - ], - [ - 33730, - 2 - ], - [ - 34030, - 2 - ], - [ - 34330, - 2 - ], - [ - 34630, - 2 - ], - [ - 34930, - 2 - ], - [ - 35230, - 2 - ], - [ - 35530, - 2 - ], - [ - 35830, - 2 - ], - [ - 36130, - 2 - ], - [ - 36430, - 1 - ], - [ - 36730, - 1 - ], - [ - 37030, - 1 - ], - [ - 37329, - 2 - ], - [ - 37629, - 2 - ], - [ - 37929, - 2 - ], - [ - 38229, - 2 - ], - [ - 38529, - 2 - ], - [ - 38829, - 2 - ], - [ - 39129, - 2 - ], - [ - 39429, - 2 - ], - [ - 39729, - 2 - ], - [ - 40029, - 1 - ], - [ - 40329, - 1 - ] - ], - "point": [ - 130, - 122 - ] - } - }, - "high_idx": 5 - }, - { - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|-00.23|+00.78|+00.60", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 28 - ], - [ - 29252, - 51 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 28 - ], - [ - 29552, - 51 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 28 - ], - [ - 29852, - 51 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 30 - ], - [ - 30152, - 51 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 53 - ], - [ - 30452, - 51 - ], - [ - 30520, - 44 - ], - [ - 30600, - 31 - ], - [ - 30648, - 53 - ], - [ - 30752, - 51 - ], - [ - 30820, - 44 - ], - [ - 30900, - 31 - ], - [ - 30948, - 3 - ], - [ - 30964, - 37 - ], - [ - 31052, - 52 - ], - [ - 31120, - 45 - ], - [ - 31200, - 31 - ], - [ - 31247, - 4 - ], - [ - 31263, - 38 - ], - [ - 31352, - 52 - ], - [ - 31420, - 45 - ], - [ - 31500, - 30 - ], - [ - 31547, - 4 - ], - [ - 31563, - 38 - ], - [ - 31652, - 52 - ], - [ - 31720, - 45 - ], - [ - 31800, - 30 - ], - [ - 31847, - 3 - ], - [ - 31863, - 38 - ], - [ - 31952, - 52 - ], - [ - 32021, - 44 - ], - [ - 32100, - 30 - ], - [ - 32147, - 3 - ], - [ - 32163, - 38 - ], - [ - 32252, - 52 - ], - [ - 32321, - 45 - ], - [ - 32400, - 29 - ], - [ - 32446, - 4 - ], - [ - 32463, - 61 - ], - [ - 32526, - 78 - ], - [ - 32621, - 45 - ], - [ - 32700, - 29 - ], - [ - 32746, - 4 - ], - [ - 32762, - 62 - ], - [ - 32826, - 78 - ], - [ - 32921, - 45 - ], - [ - 33000, - 29 - ], - [ - 33046, - 4 - ], - [ - 33062, - 62 - ], - [ - 33126, - 78 - ], - [ - 33221, - 46 - ], - [ - 33300, - 29 - ], - [ - 33346, - 3 - ], - [ - 33362, - 62 - ], - [ - 33426, - 79 - ], - [ - 33521, - 46 - ], - [ - 33600, - 28 - ], - [ - 33645, - 4 - ], - [ - 33662, - 62 - ], - [ - 33726, - 79 - ], - [ - 33822, - 45 - ], - [ - 33900, - 28 - ], - [ - 33945, - 4 - ], - [ - 33961, - 63 - ], - [ - 34026, - 79 - ], - [ - 34122, - 45 - ], - [ - 34200, - 28 - ], - [ - 34245, - 4 - ], - [ - 34261, - 63 - ], - [ - 34327, - 78 - ], - [ - 34422, - 46 - ], - [ - 34500, - 27 - ], - [ - 34545, - 3 - ], - [ - 34561, - 64 - ], - [ - 34627, - 78 - ], - [ - 34722, - 46 - ], - [ - 34800, - 27 - ], - [ - 34844, - 4 - ], - [ - 34861, - 64 - ], - [ - 34927, - 78 - ], - [ - 35022, - 46 - ], - [ - 35100, - 27 - ], - [ - 35144, - 4 - ], - [ - 35161, - 64 - ], - [ - 35227, - 78 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 4 - ], - [ - 35460, - 66 - ], - [ - 35527, - 79 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 82 - ], - [ - 35827, - 79 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 163 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 163 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 163 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 163 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 164 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 164 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan229", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -4.75, - "y": 0.922051549, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -0.163459063, - "y": 0.770699561, - "z": 0.3146487 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -2.89564753, - "y": 0.414699525, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -0.228882551, - "y": 0.7771725, - "z": 0.59833014 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -3.041977, - "y": 0.4119136, - "z": 2.14978886 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -5.696319, - "y": 0.722996, - "z": 2.1000185 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -1.53706014, - "y": 0.396496, - "z": 3.50170374 - }, - "rotation": { - "x": 0.0, - "y": 209.03656, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -1.26148939, - "y": 0.397734165, - "z": 3.62685728 - }, - "rotation": { - "x": 0.0, - "y": 299.03656, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -5.788829, - "y": 0.7254421, - "z": 2.401 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_3a2ac9e3", - "position": { - "x": -3.426, - "y": 0.635, - "z": 2.439 - }, - "rotation": { - "x": 0.0, - "y": 330.427948, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -1.24498439, - "y": 0.398087025, - "z": 3.40909362 - }, - "rotation": { - "x": 0.0, - "y": 29.0365543, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0e7ad8bb", - "position": { - "x": -2.147, - "y": 0.615, - "z": 0.59 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 42.94562 - } - }, - { - "objectName": "WateringCan_f71b5fc6", - "position": { - "x": -5.238764, - "y": 0.0201935917, - "z": 0.136437342 - }, - "rotation": { - "x": -0.002103566, - "y": 0.000306327129, - "z": 0.000320422638 - } - }, - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -2.60298824, - "y": 0.414699525, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -2.89564753, - "y": 0.4166667, - "z": 2.530569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -3.18830633, - "y": 0.414234132, - "z": 2.530569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_2407c22b", - "position": { - "x": 0.0340102427, - "y": 0.0217030942, - "z": 3.09199619 - }, - "rotation": { - "x": 359.987549, - "y": 259.598633, - "z": 359.9935 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -5.788829, - "y": 0.7229894, - "z": 2.25050926 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -3.334636, - "y": 0.4186528, - "z": 2.62576437 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_10eaeb6a", - "position": { - "x": -3.42713547, - "y": 0.4307963, - "z": 0.535032332 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -3.334636, - "y": 0.420346081, - "z": 2.05459356 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_b87ac3be", - "position": { - "x": -2.749318, - "y": 0.423063964, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_2bdb1f8f", - "position": { - "x": -0.228882551, - "y": 0.7756794, - "z": 0.8820116 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1798336573, - "scene_num": 229 - }, - "task_id": "trial_T20190908_043626_173426", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AU34T9OMHN4Z4_3IXQG4FA2WF8ZKJZMHM5WJU18SZB95", - "high_descs": [ - "Turn around and go to the small table in the middle of the room", - "Pick up the pen from the table beside the remote", - "Turn right and go to the TV stand", - "Put the pen on the stand below the TV", - "Turn around and go to the table in the back right corner", - "Pick up the pen from the table", - "Turn around and go back to the TV stand ", - "Put the pen on the TV stand to the left of the first pen" - ], - "task_desc": "Moving two pens to the TV stand", - "votes": [ - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3ZV9H2YQQGOE8LSU0ZHRSK40I043WR", - "high_descs": [ - "Turn and walk to the coffee table in front of the couch. ", - "Pick up the pen form the coffee table to the right of the remote. ", - "walk to the television stand on the right. ", - "Put the pen down in the front of the television. ", - "Turn and walk to the desk in the right corner of the room. ", - "Pick up the pen to the left of the tissues. ", - "Walk back over to the television stand. ", - "Put the pen down to the left of the first pen. " - ], - "task_desc": "To move two pens to the television stand. ", - "votes": [ - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3TU5ZICBRGIVPL2E07DHRCUPBPF8QT", - "high_descs": [ - "Turn around and walk past the coffee table, then turn right and go to the other side of it.", - "Pick up the pen near the corner of the table.", - "Turn right and walk to the TV stand.", - "Place the pencil on the TV stand in the center, right in front of the TV.", - "Turn around and go right, all the way to the corner of the r oom with the painting in it.", - "Pick up the pen on the table.", - "Turn around and walk back to the TV stand.", - "Place the pen on the TV stand to the left of the pencil." - ], - "task_desc": "Place two writing utensils on a TV stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043711_689596/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043711_689596/traj_data.json deleted file mode 100644 index 22a63e525..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-229/trial_T20190908_043711_689596/traj_data.json +++ /dev/null @@ -1,6747 +0,0 @@ -{ - "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": 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": 0, - "image_name": "000000087.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "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": 1, - "image_name": "000000102.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 22 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 23 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 34 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 62 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000290.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000291.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000292.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000293.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000294.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000295.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000296.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000297.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000298.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000299.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000300.png", - "low_idx": 63 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 91 - }, - { - "high_idx": 7, - "image_name": "000000412.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000413.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000414.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000415.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000416.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000417.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000418.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000419.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000420.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000421.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000422.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000423.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000424.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000425.png", - "low_idx": 92 - }, - { - "high_idx": 7, - "image_name": "000000426.png", - "low_idx": 92 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-23|4|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -22.56887056, - -22.56887056, - 1.369947432, - 1.369947432, - 2.9376948, - 2.9376948 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -22.276, - -22.276, - 1.172, - 1.172, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-05.64|+00.73|+00.34" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -22.56887056, - -22.56887056, - 1.369947432, - 1.369947432, - 2.9376948, - 2.9376948 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-05.64|+00.73|+00.34", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|5|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -1.084452628, - -1.084452628, - 5.22693872, - 5.22693872, - 3.1026112, - 3.1026112 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -0.82, - -0.82, - 6.084, - 6.084, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.27|+00.78|+01.31" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-20|10|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -1.084452628, - -1.084452628, - 5.22693872, - 5.22693872, - 3.1026112, - 3.1026112 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -23.08, - -23.08, - 9.604, - 9.604, - 0.084, - 0.084 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.27|+00.78|+01.31", - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-05.64|+00.73|+00.34" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 121, - 118, - 145, - 120 - ], - "mask": [ - [ - 35231, - 15 - ], - [ - 35521, - 22 - ], - [ - 35823, - 11 - ] - ], - "point": [ - 133, - 118 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Pen|-05.64|+00.73|+00.34", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 102 - ], - [ - 29274, - 29 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 102 - ], - [ - 29573, - 30 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 102 - ], - [ - 29873, - 30 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 103 - ], - [ - 30173, - 30 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 103 - ], - [ - 30473, - 30 - ], - [ - 30527, - 37 - ], - [ - 30600, - 31 - ], - [ - 30648, - 155 - ], - [ - 30839, - 5 - ], - [ - 30854, - 10 - ], - [ - 30900, - 31 - ], - [ - 30948, - 156 - ], - [ - 31156, - 9 - ], - [ - 31200, - 31 - ], - [ - 31247, - 157 - ], - [ - 31457, - 8 - ], - [ - 31500, - 30 - ], - [ - 31547, - 157 - ], - [ - 31758, - 7 - ], - [ - 31800, - 30 - ], - [ - 31847, - 157 - ], - [ - 32059, - 6 - ], - [ - 32100, - 30 - ], - [ - 32147, - 157 - ], - [ - 32359, - 7 - ], - [ - 32400, - 29 - ], - [ - 32446, - 158 - ], - [ - 32659, - 7 - ], - [ - 32700, - 29 - ], - [ - 32746, - 158 - ], - [ - 32960, - 6 - ], - [ - 33000, - 29 - ], - [ - 33046, - 158 - ], - [ - 33260, - 7 - ], - [ - 33300, - 29 - ], - [ - 33346, - 159 - ], - [ - 33560, - 7 - ], - [ - 33600, - 28 - ], - [ - 33645, - 160 - ], - [ - 33860, - 7 - ], - [ - 33900, - 28 - ], - [ - 33945, - 160 - ], - [ - 34159, - 8 - ], - [ - 34200, - 28 - ], - [ - 34245, - 160 - ], - [ - 34422, - 17 - ], - [ - 34458, - 10 - ], - [ - 34500, - 27 - ], - [ - 34545, - 160 - ], - [ - 34722, - 23 - ], - [ - 34757, - 11 - ], - [ - 34800, - 27 - ], - [ - 34844, - 161 - ], - [ - 35022, - 27 - ], - [ - 35056, - 12 - ], - [ - 35100, - 27 - ], - [ - 35144, - 161 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 162 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 162 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 163 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 163 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 163 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 163 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 164 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 164 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-00.27|+00.78|+01.31" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 133, - 129, - 135, - 172 - ], - "mask": [ - [ - 38535, - 1 - ], - [ - 38835, - 1 - ], - [ - 39134, - 2 - ], - [ - 39434, - 2 - ], - [ - 39734, - 2 - ], - [ - 40034, - 2 - ], - [ - 40334, - 2 - ], - [ - 40634, - 2 - ], - [ - 40934, - 2 - ], - [ - 41234, - 2 - ], - [ - 41534, - 2 - ], - [ - 41834, - 2 - ], - [ - 42134, - 2 - ], - [ - 42434, - 2 - ], - [ - 42734, - 2 - ], - [ - 43034, - 2 - ], - [ - 43334, - 2 - ], - [ - 43634, - 2 - ], - [ - 43934, - 2 - ], - [ - 44234, - 2 - ], - [ - 44534, - 2 - ], - [ - 44833, - 3 - ], - [ - 45133, - 3 - ], - [ - 45433, - 3 - ], - [ - 45733, - 3 - ], - [ - 46033, - 3 - ], - [ - 46333, - 3 - ], - [ - 46633, - 3 - ], - [ - 46933, - 3 - ], - [ - 47233, - 3 - ], - [ - 47533, - 3 - ], - [ - 47833, - 3 - ], - [ - 48133, - 3 - ], - [ - 48433, - 3 - ], - [ - 48733, - 2 - ], - [ - 49033, - 2 - ], - [ - 49333, - 2 - ], - [ - 49633, - 2 - ], - [ - 49933, - 2 - ], - [ - 50233, - 2 - ], - [ - 50533, - 2 - ], - [ - 50833, - 2 - ], - [ - 51133, - 2 - ], - [ - 51433, - 1 - ] - ], - "point": [ - 134, - 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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|-00.27|+00.78|+01.31", - "placeStationary": true, - "receptacleObjectId": "Dresser|-05.77|+00.02|+02.40" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 75, - 271, - 191 - ], - "mask": [ - [ - 22455, - 1 - ], - [ - 22755, - 2 - ], - [ - 23053, - 4 - ], - [ - 23353, - 4 - ], - [ - 23653, - 4 - ], - [ - 23953, - 5 - ], - [ - 24253, - 5 - ], - [ - 24552, - 6 - ], - [ - 24852, - 7 - ], - [ - 25151, - 8 - ], - [ - 25451, - 8 - ], - [ - 25750, - 9 - ], - [ - 25800, - 29 - ], - [ - 26017, - 43 - ], - [ - 26100, - 35 - ], - [ - 26152, - 10 - ], - [ - 26284, - 17 - ], - [ - 26317, - 43 - ], - [ - 26400, - 35 - ], - [ - 26452, - 10 - ], - [ - 26584, - 18 - ], - [ - 26617, - 43 - ], - [ - 26700, - 35 - ], - [ - 26751, - 10 - ], - [ - 26885, - 17 - ], - [ - 26918, - 43 - ], - [ - 27000, - 35 - ], - [ - 27051, - 10 - ], - [ - 27185, - 17 - ], - [ - 27218, - 43 - ], - [ - 27300, - 34 - ], - [ - 27351, - 10 - ], - [ - 27485, - 17 - ], - [ - 27518, - 43 - ], - [ - 27600, - 34 - ], - [ - 27651, - 10 - ], - [ - 27785, - 17 - ], - [ - 27818, - 43 - ], - [ - 27900, - 34 - ], - [ - 27950, - 11 - ], - [ - 28085, - 17 - ], - [ - 28118, - 44 - ], - [ - 28200, - 34 - ], - [ - 28250, - 10 - ], - [ - 28385, - 17 - ], - [ - 28418, - 44 - ], - [ - 28500, - 33 - ], - [ - 28550, - 10 - ], - [ - 28685, - 17 - ], - [ - 28719, - 43 - ], - [ - 28800, - 33 - ], - [ - 28850, - 10 - ], - [ - 28985, - 18 - ], - [ - 29019, - 44 - ], - [ - 29100, - 33 - ], - [ - 29149, - 102 - ], - [ - 29274, - 29 - ], - [ - 29319, - 44 - ], - [ - 29400, - 32 - ], - [ - 29449, - 102 - ], - [ - 29573, - 30 - ], - [ - 29619, - 44 - ], - [ - 29700, - 32 - ], - [ - 29749, - 102 - ], - [ - 29873, - 30 - ], - [ - 29919, - 44 - ], - [ - 30000, - 32 - ], - [ - 30048, - 103 - ], - [ - 30173, - 30 - ], - [ - 30220, - 44 - ], - [ - 30300, - 32 - ], - [ - 30348, - 103 - ], - [ - 30473, - 30 - ], - [ - 30527, - 37 - ], - [ - 30600, - 31 - ], - [ - 30648, - 114 - ], - [ - 30765, - 38 - ], - [ - 30839, - 5 - ], - [ - 30854, - 10 - ], - [ - 30900, - 31 - ], - [ - 30948, - 114 - ], - [ - 31065, - 39 - ], - [ - 31156, - 9 - ], - [ - 31200, - 31 - ], - [ - 31247, - 115 - ], - [ - 31365, - 39 - ], - [ - 31457, - 8 - ], - [ - 31500, - 30 - ], - [ - 31547, - 115 - ], - [ - 31665, - 39 - ], - [ - 31758, - 7 - ], - [ - 31800, - 30 - ], - [ - 31847, - 115 - ], - [ - 31964, - 40 - ], - [ - 32059, - 6 - ], - [ - 32100, - 30 - ], - [ - 32147, - 115 - ], - [ - 32264, - 40 - ], - [ - 32359, - 7 - ], - [ - 32400, - 29 - ], - [ - 32446, - 116 - ], - [ - 32564, - 40 - ], - [ - 32659, - 7 - ], - [ - 32700, - 29 - ], - [ - 32746, - 116 - ], - [ - 32864, - 40 - ], - [ - 32960, - 6 - ], - [ - 33000, - 29 - ], - [ - 33046, - 116 - ], - [ - 33164, - 40 - ], - [ - 33260, - 7 - ], - [ - 33300, - 29 - ], - [ - 33346, - 116 - ], - [ - 33464, - 41 - ], - [ - 33560, - 7 - ], - [ - 33600, - 28 - ], - [ - 33645, - 117 - ], - [ - 33764, - 41 - ], - [ - 33860, - 7 - ], - [ - 33900, - 28 - ], - [ - 33945, - 117 - ], - [ - 34064, - 41 - ], - [ - 34159, - 8 - ], - [ - 34200, - 28 - ], - [ - 34245, - 117 - ], - [ - 34364, - 41 - ], - [ - 34422, - 17 - ], - [ - 34458, - 10 - ], - [ - 34500, - 27 - ], - [ - 34545, - 117 - ], - [ - 34664, - 41 - ], - [ - 34722, - 23 - ], - [ - 34757, - 11 - ], - [ - 34800, - 27 - ], - [ - 34844, - 118 - ], - [ - 34964, - 41 - ], - [ - 35022, - 27 - ], - [ - 35056, - 12 - ], - [ - 35100, - 27 - ], - [ - 35144, - 117 - ], - [ - 35264, - 41 - ], - [ - 35322, - 47 - ], - [ - 35400, - 26 - ], - [ - 35444, - 118 - ], - [ - 35563, - 43 - ], - [ - 35623, - 46 - ], - [ - 35700, - 26 - ], - [ - 35744, - 118 - ], - [ - 35863, - 43 - ], - [ - 35923, - 46 - ], - [ - 36000, - 26 - ], - [ - 36043, - 163 - ], - [ - 36223, - 46 - ], - [ - 36300, - 26 - ], - [ - 36343, - 163 - ], - [ - 36523, - 47 - ], - [ - 36600, - 25 - ], - [ - 36643, - 163 - ], - [ - 36823, - 47 - ], - [ - 36900, - 25 - ], - [ - 36943, - 163 - ], - [ - 37123, - 47 - ], - [ - 37200, - 25 - ], - [ - 37242, - 164 - ], - [ - 37424, - 47 - ], - [ - 37500, - 24 - ], - [ - 37542, - 164 - ], - [ - 37724, - 47 - ], - [ - 37800, - 24 - ], - [ - 37842, - 165 - ], - [ - 38024, - 47 - ], - [ - 38100, - 24 - ], - [ - 38142, - 165 - ], - [ - 38324, - 47 - ], - [ - 38400, - 24 - ], - [ - 38441, - 166 - ], - [ - 38624, - 48 - ], - [ - 38700, - 23 - ], - [ - 38741, - 166 - ], - [ - 38925, - 47 - ], - [ - 39000, - 23 - ], - [ - 39041, - 166 - ], - [ - 39225, - 47 - ], - [ - 39300, - 23 - ], - [ - 39341, - 166 - ], - [ - 39525, - 46 - ], - [ - 39600, - 23 - ], - [ - 39640, - 167 - ], - [ - 39825, - 46 - ], - [ - 39900, - 270 - ], - [ - 40200, - 269 - ], - [ - 40500, - 268 - ], - [ - 40800, - 266 - ], - [ - 41226, - 4 - ], - [ - 41356, - 10 - ], - [ - 41526, - 3 - ], - [ - 41657, - 8 - ], - [ - 41827, - 2 - ], - [ - 41957, - 7 - ], - [ - 42127, - 2 - ], - [ - 42258, - 5 - ], - [ - 42427, - 2 - ], - [ - 42557, - 6 - ], - [ - 42727, - 2 - ], - [ - 42856, - 6 - ], - [ - 43027, - 2 - ], - [ - 43156, - 5 - ], - [ - 43200, - 1 - ], - [ - 43327, - 2 - ], - [ - 43455, - 6 - ], - [ - 43500, - 2 - ], - [ - 43627, - 3 - ], - [ - 43754, - 6 - ], - [ - 43800, - 3 - ], - [ - 43928, - 2 - ], - [ - 44054, - 5 - ], - [ - 44100, - 4 - ], - [ - 44228, - 2 - ], - [ - 44353, - 5 - ], - [ - 44400, - 5 - ], - [ - 44528, - 2 - ], - [ - 44652, - 6 - ], - [ - 44701, - 5 - ], - [ - 44828, - 2 - ], - [ - 44952, - 5 - ], - [ - 45002, - 5 - ], - [ - 45128, - 2 - ], - [ - 45251, - 5 - ], - [ - 45303, - 5 - ], - [ - 45428, - 2 - ], - [ - 45550, - 6 - ], - [ - 45604, - 5 - ], - [ - 45728, - 2 - ], - [ - 45850, - 5 - ], - [ - 45905, - 5 - ], - [ - 46029, - 2 - ], - [ - 46149, - 5 - ], - [ - 46206, - 5 - ], - [ - 46329, - 2 - ], - [ - 46448, - 5 - ], - [ - 46507, - 5 - ], - [ - 46629, - 2 - ], - [ - 46748, - 5 - ], - [ - 46808, - 5 - ], - [ - 46929, - 2 - ], - [ - 47047, - 5 - ], - [ - 47109, - 5 - ], - [ - 47229, - 2 - ], - [ - 47346, - 5 - ], - [ - 47410, - 4 - ], - [ - 47529, - 2 - ], - [ - 47646, - 5 - ], - [ - 47711, - 4 - ], - [ - 47830, - 1 - ], - [ - 47945, - 5 - ], - [ - 48012, - 4 - ], - [ - 48130, - 2 - ], - [ - 48244, - 5 - ], - [ - 48313, - 4 - ], - [ - 48430, - 2 - ], - [ - 48544, - 4 - ], - [ - 48614, - 4 - ], - [ - 48730, - 2 - ], - [ - 48843, - 5 - ], - [ - 48915, - 4 - ], - [ - 49030, - 2 - ], - [ - 49142, - 5 - ], - [ - 49216, - 4 - ], - [ - 49330, - 2 - ], - [ - 49441, - 5 - ], - [ - 49517, - 4 - ], - [ - 49630, - 2 - ], - [ - 49741, - 5 - ], - [ - 49818, - 4 - ], - [ - 49931, - 1 - ], - [ - 50040, - 5 - ], - [ - 50119, - 4 - ], - [ - 50231, - 1 - ], - [ - 50339, - 5 - ], - [ - 50420, - 4 - ], - [ - 50531, - 2 - ], - [ - 50639, - 4 - ], - [ - 50721, - 4 - ], - [ - 50831, - 2 - ], - [ - 50938, - 5 - ], - [ - 51022, - 4 - ], - [ - 51131, - 2 - ], - [ - 51237, - 5 - ], - [ - 51323, - 4 - ], - [ - 51431, - 2 - ], - [ - 51537, - 4 - ], - [ - 51624, - 4 - ], - [ - 51731, - 2 - ], - [ - 51836, - 5 - ], - [ - 51925, - 4 - ], - [ - 52032, - 1 - ], - [ - 52135, - 5 - ], - [ - 52226, - 4 - ], - [ - 52332, - 1 - ], - [ - 52435, - 4 - ], - [ - 52527, - 4 - ], - [ - 52632, - 1 - ], - [ - 52734, - 5 - ], - [ - 52828, - 4 - ], - [ - 52932, - 2 - ], - [ - 53033, - 5 - ], - [ - 53129, - 4 - ], - [ - 53232, - 2 - ], - [ - 53333, - 4 - ], - [ - 53430, - 4 - ], - [ - 53532, - 2 - ], - [ - 53632, - 4 - ], - [ - 53731, - 4 - ], - [ - 53832, - 2 - ], - [ - 53931, - 5 - ], - [ - 54032, - 4 - ], - [ - 54133, - 1 - ], - [ - 54231, - 4 - ], - [ - 54333, - 3 - ], - [ - 54433, - 1 - ], - [ - 54530, - 4 - ], - [ - 54634, - 3 - ], - [ - 54733, - 1 - ], - [ - 54829, - 5 - ], - [ - 54935, - 3 - ], - [ - 55033, - 2 - ], - [ - 55129, - 4 - ], - [ - 55236, - 3 - ], - [ - 55333, - 2 - ], - [ - 55428, - 4 - ], - [ - 55537, - 3 - ], - [ - 55633, - 2 - ], - [ - 55727, - 4 - ], - [ - 55838, - 3 - ], - [ - 55933, - 2 - ], - [ - 56027, - 4 - ], - [ - 56139, - 3 - ], - [ - 56234, - 1 - ], - [ - 56326, - 4 - ], - [ - 56440, - 3 - ], - [ - 56534, - 1 - ], - [ - 56625, - 4 - ], - [ - 56741, - 3 - ], - [ - 56925, - 4 - ], - [ - 57042, - 3 - ], - [ - 57224, - 4 - ] - ], - "point": [ - 135, - 132 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan229", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -2.75, - "y": 0.922051549, - "z": 1.75 - }, - "object_poses": [ - { - "objectName": "Pencil_24adbade", - "position": { - "x": -5.42256355, - "y": 0.7316754, - "z": 0.391973674 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -5.64221764, - "y": 0.7344237, - "z": 0.342486858 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -3.18830633, - "y": 0.414587, - "z": 2.530569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -5.695654, - "y": 0.407988548, - "z": 2.86163568 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -1.34351039, - "y": 0.3976672, - "z": 3.60285735 - }, - "rotation": { - "x": 0.0, - "y": 209.03656, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -2.89564753, - "y": 0.41666007, - "z": 2.14978886 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_6ede4fbf", - "position": { - "x": -3.041977, - "y": 0.4119136, - "z": 2.435374 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_3a2ac9e3", - "position": { - "x": -3.426, - "y": 0.635, - "z": 2.439 - }, - "rotation": { - "x": 0.0, - "y": 330.427948, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_5ef9825c", - "position": { - "x": -2.89564753, - "y": 0.414587, - "z": 2.435374 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0e7ad8bb", - "position": { - "x": -2.147, - "y": 0.615, - "z": 0.59 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 42.94562 - } - }, - { - "objectName": "WateringCan_f71b5fc6", - "position": { - "x": -5.238764, - "y": 0.0201935917, - "z": 0.136437342 - }, - "rotation": { - "x": -0.002103566, - "y": 0.000306327129, - "z": 0.000320422638 - } - }, - { - "objectName": "TissueBox_a3f43f31", - "position": { - "x": -5.83508348, - "y": 0.724699557, - "z": 2.55149078 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_f698a6b5", - "position": { - "x": -2.60298824, - "y": 0.4166667, - "z": 2.340179 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_1dea4742", - "position": { - "x": -5.696319, - "y": 0.72776264, - "z": 2.85247254 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_2407c22b", - "position": { - "x": 0.0340102427, - "y": 0.0217030942, - "z": 3.09199619 - }, - "rotation": { - "x": 359.987549, - "y": 259.598633, - "z": 359.9935 - } - }, - { - "objectName": "CellPhone_c0754d90", - "position": { - "x": -2.824864, - "y": 0.430055678, - "z": 0.670671463 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_f9493ff1", - "position": { - "x": -0.271113157, - "y": 0.7756528, - "z": 1.30673468 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_10eaeb6a", - "position": { - "x": -0.334, - "y": 0.765, - "z": 0.722 - }, - "rotation": { - "x": 0.0, - "y": 296.906128, - "z": 0.0 - } - }, - { - "objectName": "Pencil_24adbade", - "position": { - "x": -5.71746063, - "y": 0.732446253, - "z": 0.2929997 - }, - "rotation": { - "x": 0.0, - "y": 89.9999, - "z": 0.0 - } - }, - { - "objectName": "Statue_b87ac3be", - "position": { - "x": -2.749318, - "y": 0.4267347, - "z": 2.14978886 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_2bdb1f8f", - "position": { - "x": -2.749318, - "y": 0.419679374, - "z": 2.530569 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 853675117, - "scene_num": 229 - }, - "task_id": "trial_T20190908_043711_689596", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3PPLDHC3CG0YN_33CKWXB73M1PXHYCG7ENB1Z9O3211J", - "high_descs": [ - "Turn left and walk to the white table with the plant on it on the left.", - "Pick up the pen to the right of the plant. ", - "Turn around and walk to the television on the left. ", - "Put the pen down on the television stand to the left of the remote. ", - "Walk to the couch, turn left, walk straight ahead to the wooden tables. ", - "Pick up the pen from the left wooden table. ", - "Turn around and walk to the television stand. ", - "Put the pen down on the television stand and on top of the remote on the right. " - ], - "task_desc": "To move to pens to the television stand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2DN53DIE3049T_39GXDJN2OWVNUTYVM67RXZTXRDIV8P", - "high_descs": [ - "Turn to the left, walk to the small table that is on the left of the tv", - "Pick up the pen that is on the table", - "Turn around, walk the pen to the tv stand", - "Place the pen on the tv stand", - "Turn to the left, take a few steps, then walk to the desk in front of the window", - "Pick up the pen that is on the desk", - "Turn around, walk the pen to the tv stand", - "Place the pen on the tv stand" - ], - "task_desc": "Pick up pens from the room, place on tv stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3A0VPWPASCO9J_3WQQ9FUS6DB8LF0PHPGRWNZQOJ48BU", - "high_descs": [ - "Go to the round table in the corner.", - "Pick up the pen on the table.", - "Turn around and go to the TV stand on the left.", - "Put the pen down on the TV stand.", - "Go to the small table under the window.", - "Pick up the pen on the table.", - "Turn and go to the TV stand.", - "Put the pen down on the TV stand." - ], - "task_desc": "Set two pens on the TV stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190908_063003_015125/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190908_063003_015125/traj_data.json deleted file mode 100644 index c903194d6..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190908_063003_015125/traj_data.json +++ /dev/null @@ -1,4724 +0,0 @@ -{ - "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": 0, - "image_name": "000000046.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 5 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 1, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000052.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000053.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000054.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000055.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 7 - }, - { - "high_idx": 1, - "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": 2, - "image_name": "000000076.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 9 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 10 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 11 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000136.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000137.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000138.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000139.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000140.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000141.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000142.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 18 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 26 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 27 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 27 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 28 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000224.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000225.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000226.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000227.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000228.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000229.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000230.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000231.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000232.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000233.png", - "low_idx": 29 - }, - { - "high_idx": 6, - "image_name": "000000234.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000235.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000236.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000237.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000238.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000239.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000240.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000241.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000242.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000243.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000244.png", - "low_idx": 30 - }, - { - "high_idx": 6, - "image_name": "000000245.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 31 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 32 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 37 - }, - { - "high_idx": 7, - "image_name": "000000286.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000287.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000288.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000289.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000290.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000291.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000292.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000293.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000294.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000295.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000296.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000297.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000298.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000299.png", - "low_idx": 38 - }, - { - "high_idx": 7, - "image_name": "000000300.png", - "low_idx": 38 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|8|3|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -3.129632236, - -3.129632236, - 7.21943808, - 7.21943808, - 2.7334112, - 2.7334112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.78|+00.68|+01.80" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -3.129632236, - -3.129632236, - 7.21943808, - 7.21943808, - 2.7334112, - 2.7334112 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.78|+00.68|+01.80", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|9|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -1.695718, - -1.695718, - 9.457996, - 9.457996, - 2.7334112, - 2.7334112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.42|+00.68|+02.36" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|12|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -1.695718, - -1.695718, - 9.457996, - 9.457996, - 2.7334112, - 2.7334112 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -2.636, - -2.636, - 11.872, - 11.872, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.42|+00.68|+02.36", - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "Pen|-00.78|+00.68|+01.80" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 95, - 168, - 126, - 169 - ], - "mask": [ - [ - 50195, - 29 - ], - [ - 50495, - 32 - ] - ], - "point": [ - 110, - 167 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Pen|-00.78|+00.68|+01.80", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 17 - ], - [ - 9509, - 2 - ], - [ - 9674, - 17 - ], - [ - 9810, - 1 - ], - [ - 9974, - 17 - ], - [ - 10273, - 19 - ], - [ - 10573, - 19 - ], - [ - 10873, - 20 - ], - [ - 11173, - 20 - ], - [ - 11311, - 1 - ], - [ - 11473, - 21 - ], - [ - 11611, - 1 - ], - [ - 11772, - 22 - ], - [ - 11911, - 1 - ], - [ - 12072, - 23 - ], - [ - 12372, - 23 - ], - [ - 12672, - 23 - ], - [ - 12812, - 1 - ], - [ - 12971, - 25 - ], - [ - 13112, - 1 - ], - [ - 13271, - 25 - ], - [ - 13412, - 1 - ], - [ - 13571, - 26 - ], - [ - 13712, - 1 - ], - [ - 13871, - 26 - ], - [ - 14170, - 28 - ], - [ - 14470, - 28 - ], - [ - 14613, - 1 - ], - [ - 14770, - 29 - ], - [ - 14913, - 1 - ], - [ - 15070, - 29 - ], - [ - 15113, - 4 - ], - [ - 15213, - 1 - ], - [ - 15370, - 30 - ], - [ - 15408, - 9 - ], - [ - 15513, - 1 - ], - [ - 15669, - 48 - ], - [ - 15969, - 48 - ], - [ - 16114, - 1 - ], - [ - 16269, - 48 - ], - [ - 16414, - 1 - ], - [ - 16569, - 47 - ], - [ - 16714, - 1 - ], - [ - 16868, - 48 - ], - [ - 17014, - 1 - ], - [ - 17168, - 48 - ], - [ - 17314, - 1 - ], - [ - 17468, - 48 - ], - [ - 17768, - 48 - ], - [ - 17915, - 1 - ], - [ - 18067, - 49 - ], - [ - 18215, - 1 - ], - [ - 18367, - 49 - ], - [ - 18515, - 1 - ], - [ - 18667, - 49 - ], - [ - 18815, - 1 - ], - [ - 18967, - 48 - ], - [ - 19115, - 1 - ], - [ - 19267, - 48 - ], - [ - 19416, - 1 - ], - [ - 19566, - 49 - ], - [ - 19716, - 1 - ], - [ - 19866, - 49 - ], - [ - 20016, - 1 - ], - [ - 20166, - 49 - ], - [ - 20316, - 1 - ], - [ - 20466, - 49 - ], - [ - 20616, - 1 - ], - [ - 20765, - 50 - ], - [ - 20916, - 1 - ], - [ - 21065, - 51 - ], - [ - 21216, - 2 - ], - [ - 21365, - 78 - ], - [ - 21515, - 3 - ], - [ - 21665, - 153 - ], - [ - 21964, - 154 - ], - [ - 22264, - 154 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 156 - ], - [ - 23763, - 156 - ], - [ - 24063, - 156 - ], - [ - 24363, - 157 - ], - [ - 24662, - 158 - ], - [ - 24962, - 158 - ], - [ - 25262, - 158 - ], - [ - 25562, - 158 - ], - [ - 25862, - 159 - ], - [ - 26161, - 160 - ], - [ - 26461, - 160 - ], - [ - 26761, - 160 - ], - [ - 27061, - 160 - ], - [ - 27360, - 161 - ], - [ - 27660, - 162 - ], - [ - 27960, - 162 - ], - [ - 28260, - 162 - ], - [ - 28559, - 163 - ], - [ - 28859, - 163 - ], - [ - 29159, - 164 - ], - [ - 29459, - 164 - ], - [ - 29759, - 164 - ], - [ - 30058, - 165 - ], - [ - 30358, - 165 - ], - [ - 30658, - 165 - ], - [ - 30958, - 166 - ], - [ - 31257, - 167 - ], - [ - 31557, - 167 - ], - [ - 31857, - 167 - ], - [ - 32157, - 167 - ], - [ - 32456, - 169 - ], - [ - 32756, - 169 - ], - [ - 33056, - 169 - ], - [ - 33356, - 169 - ], - [ - 33656, - 169 - ], - [ - 33955, - 170 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 173 - ], - [ - 36653, - 24 - ], - [ - 36696, - 131 - ], - [ - 36953, - 24 - ], - [ - 36996, - 131 - ], - [ - 37253, - 23 - ], - [ - 37296, - 131 - ], - [ - 37553, - 23 - ], - [ - 37596, - 132 - ], - [ - 37852, - 24 - ], - [ - 37896, - 132 - ], - [ - 38152, - 24 - ], - [ - 38196, - 132 - ], - [ - 38452, - 24 - ], - [ - 38496, - 132 - ], - [ - 38752, - 24 - ], - [ - 38796, - 132 - ], - [ - 39051, - 24 - ], - [ - 39095, - 133 - ], - [ - 39351, - 24 - ], - [ - 39395, - 132 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-00.42|+00.68|+02.36" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 153, - 171, - 202, - 173 - ], - "mask": [ - [ - 51158, - 42 - ], - [ - 51453, - 50 - ], - [ - 51756, - 44 - ] - ], - "point": [ - 177, - 171 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|-00.42|+00.68|+02.36", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.66|-00.01|+02.97" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 50, - 32, - 227, - 190 - ], - "mask": [ - [ - 9374, - 17 - ], - [ - 9509, - 2 - ], - [ - 9674, - 17 - ], - [ - 9810, - 1 - ], - [ - 9974, - 17 - ], - [ - 10273, - 19 - ], - [ - 10573, - 19 - ], - [ - 10873, - 20 - ], - [ - 11173, - 20 - ], - [ - 11311, - 1 - ], - [ - 11473, - 21 - ], - [ - 11611, - 1 - ], - [ - 11772, - 22 - ], - [ - 11911, - 1 - ], - [ - 12072, - 23 - ], - [ - 12372, - 23 - ], - [ - 12672, - 23 - ], - [ - 12812, - 1 - ], - [ - 12971, - 25 - ], - [ - 13112, - 1 - ], - [ - 13271, - 25 - ], - [ - 13412, - 1 - ], - [ - 13571, - 26 - ], - [ - 13712, - 1 - ], - [ - 13871, - 26 - ], - [ - 14170, - 28 - ], - [ - 14470, - 28 - ], - [ - 14613, - 1 - ], - [ - 14770, - 29 - ], - [ - 14913, - 1 - ], - [ - 15070, - 29 - ], - [ - 15113, - 4 - ], - [ - 15213, - 1 - ], - [ - 15370, - 30 - ], - [ - 15408, - 9 - ], - [ - 15513, - 1 - ], - [ - 15669, - 48 - ], - [ - 15969, - 48 - ], - [ - 16114, - 1 - ], - [ - 16269, - 48 - ], - [ - 16414, - 1 - ], - [ - 16569, - 47 - ], - [ - 16714, - 1 - ], - [ - 16868, - 48 - ], - [ - 17014, - 1 - ], - [ - 17168, - 48 - ], - [ - 17314, - 1 - ], - [ - 17468, - 48 - ], - [ - 17768, - 48 - ], - [ - 17915, - 1 - ], - [ - 18067, - 49 - ], - [ - 18215, - 1 - ], - [ - 18367, - 49 - ], - [ - 18515, - 1 - ], - [ - 18667, - 49 - ], - [ - 18815, - 1 - ], - [ - 18967, - 48 - ], - [ - 19115, - 1 - ], - [ - 19267, - 48 - ], - [ - 19416, - 1 - ], - [ - 19566, - 49 - ], - [ - 19716, - 1 - ], - [ - 19866, - 49 - ], - [ - 20016, - 1 - ], - [ - 20166, - 49 - ], - [ - 20316, - 1 - ], - [ - 20466, - 49 - ], - [ - 20616, - 1 - ], - [ - 20765, - 50 - ], - [ - 20916, - 1 - ], - [ - 21065, - 51 - ], - [ - 21216, - 2 - ], - [ - 21365, - 78 - ], - [ - 21515, - 3 - ], - [ - 21665, - 153 - ], - [ - 21964, - 154 - ], - [ - 22264, - 154 - ], - [ - 22564, - 155 - ], - [ - 22864, - 155 - ], - [ - 23164, - 155 - ], - [ - 23463, - 156 - ], - [ - 23763, - 156 - ], - [ - 24063, - 156 - ], - [ - 24363, - 157 - ], - [ - 24662, - 158 - ], - [ - 24962, - 158 - ], - [ - 25262, - 158 - ], - [ - 25562, - 158 - ], - [ - 25862, - 159 - ], - [ - 26161, - 160 - ], - [ - 26461, - 160 - ], - [ - 26761, - 160 - ], - [ - 27061, - 160 - ], - [ - 27360, - 161 - ], - [ - 27660, - 162 - ], - [ - 27960, - 162 - ], - [ - 28260, - 162 - ], - [ - 28559, - 163 - ], - [ - 28859, - 163 - ], - [ - 29159, - 164 - ], - [ - 29459, - 164 - ], - [ - 29759, - 164 - ], - [ - 30058, - 165 - ], - [ - 30358, - 165 - ], - [ - 30658, - 165 - ], - [ - 30958, - 166 - ], - [ - 31257, - 167 - ], - [ - 31557, - 167 - ], - [ - 31857, - 167 - ], - [ - 32157, - 167 - ], - [ - 32456, - 169 - ], - [ - 32756, - 169 - ], - [ - 33056, - 169 - ], - [ - 33356, - 169 - ], - [ - 33656, - 169 - ], - [ - 33955, - 170 - ], - [ - 34255, - 171 - ], - [ - 34555, - 171 - ], - [ - 34855, - 171 - ], - [ - 35154, - 172 - ], - [ - 35454, - 172 - ], - [ - 35754, - 173 - ], - [ - 36054, - 173 - ], - [ - 36354, - 173 - ], - [ - 36653, - 24 - ], - [ - 36696, - 131 - ], - [ - 36953, - 24 - ], - [ - 36996, - 131 - ], - [ - 37253, - 23 - ], - [ - 37296, - 131 - ], - [ - 37553, - 23 - ], - [ - 37596, - 30 - ], - [ - 37665, - 63 - ], - [ - 37852, - 24 - ], - [ - 37896, - 28 - ], - [ - 37968, - 60 - ], - [ - 38152, - 24 - ], - [ - 38196, - 58 - ], - [ - 38265, - 63 - ], - [ - 38452, - 24 - ], - [ - 38496, - 132 - ], - [ - 38752, - 24 - ], - [ - 38796, - 132 - ], - [ - 39051, - 24 - ], - [ - 39095, - 133 - ], - [ - 39351, - 24 - ], - [ - 39395, - 132 - ], - [ - 39651, - 176 - ], - [ - 39951, - 176 - ], - [ - 40251, - 176 - ], - [ - 40550, - 178 - ], - [ - 40851, - 177 - ], - [ - 41156, - 6 - ], - [ - 41320, - 5 - ], - [ - 41457, - 5 - ], - [ - 41620, - 4 - ], - [ - 41758, - 5 - ], - [ - 41919, - 5 - ], - [ - 42058, - 6 - ], - [ - 42219, - 4 - ], - [ - 42359, - 5 - ], - [ - 42519, - 4 - ], - [ - 42659, - 6 - ], - [ - 42818, - 4 - ], - [ - 42960, - 5 - ], - [ - 43118, - 4 - ], - [ - 43260, - 6 - ], - [ - 43417, - 4 - ], - [ - 43561, - 5 - ], - [ - 43717, - 4 - ], - [ - 43862, - 5 - ], - [ - 44016, - 4 - ], - [ - 44162, - 5 - ], - [ - 44316, - 4 - ], - [ - 44463, - 5 - ], - [ - 44616, - 4 - ], - [ - 44763, - 5 - ], - [ - 44915, - 4 - ], - [ - 45064, - 5 - ], - [ - 45215, - 4 - ], - [ - 45364, - 6 - ], - [ - 45514, - 4 - ], - [ - 45665, - 5 - ], - [ - 45814, - 4 - ], - [ - 45966, - 5 - ], - [ - 46113, - 4 - ], - [ - 46266, - 5 - ], - [ - 46413, - 4 - ], - [ - 46567, - 5 - ], - [ - 46713, - 3 - ], - [ - 46867, - 5 - ], - [ - 47012, - 4 - ], - [ - 47168, - 5 - ], - [ - 47312, - 3 - ], - [ - 47468, - 5 - ], - [ - 47611, - 4 - ], - [ - 47769, - 5 - ], - [ - 47911, - 4 - ], - [ - 48070, - 4 - ], - [ - 48210, - 4 - ], - [ - 48370, - 5 - ], - [ - 48510, - 4 - ], - [ - 48671, - 5 - ], - [ - 48810, - 3 - ], - [ - 48971, - 5 - ], - [ - 49109, - 4 - ], - [ - 49272, - 5 - ], - [ - 49409, - 3 - ], - [ - 49573, - 4 - ], - [ - 49708, - 4 - ], - [ - 49873, - 5 - ], - [ - 50008, - 3 - ], - [ - 50174, - 4 - ], - [ - 50307, - 4 - ], - [ - 50474, - 5 - ], - [ - 50607, - 3 - ], - [ - 50775, - 4 - ], - [ - 50907, - 3 - ], - [ - 51075, - 5 - ], - [ - 51206, - 3 - ], - [ - 51376, - 5 - ], - [ - 51506, - 3 - ], - [ - 51677, - 4 - ], - [ - 51805, - 4 - ], - [ - 51977, - 4 - ], - [ - 52105, - 3 - ], - [ - 52278, - 4 - ], - [ - 52404, - 4 - ], - [ - 52578, - 5 - ], - [ - 52704, - 3 - ], - [ - 52879, - 4 - ], - [ - 53003, - 4 - ], - [ - 53179, - 5 - ], - [ - 53303, - 3 - ], - [ - 53480, - 4 - ], - [ - 53603, - 3 - ], - [ - 53781, - 4 - ], - [ - 53902, - 3 - ], - [ - 54081, - 4 - ], - [ - 54202, - 3 - ], - [ - 54382, - 4 - ], - [ - 54501, - 3 - ], - [ - 54682, - 4 - ], - [ - 54801, - 3 - ], - [ - 54983, - 4 - ], - [ - 55100, - 3 - ], - [ - 55283, - 4 - ], - [ - 55400, - 3 - ], - [ - 55584, - 4 - ], - [ - 55700, - 3 - ], - [ - 55885, - 5 - ], - [ - 55998, - 4 - ], - [ - 56185, - 4 - ], - [ - 56299, - 3 - ], - [ - 56486, - 3 - ], - [ - 56599, - 2 - ], - [ - 56786, - 3 - ], - [ - 56899, - 2 - ] - ], - "point": [ - 138, - 110 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.5, - "y": 0.9017602, - "z": 2.25 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": 2.003009, - "y": 0.7245, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.782408059, - "y": 0.6833528, - "z": 1.80485952 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.90541613, - "y": 0.7326363, - "z": 0.2360227 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.4239295, - "y": 0.6833528, - "z": 2.364499 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.386311144, - "y": 0.6689956, - "z": 2.72851777 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.66208363, - "y": 0.106117465, - "z": -0.9165435 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.42392844, - "y": 0.6778471, - "z": 1.99140668 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.51504421, - "y": 0.727130532, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.7317453, - "y": 1.5044353, - "z": -1.16612148 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.6327728, - "y": 1.83552992, - "z": 1.34803641 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.94955647, - "y": 0.6697653, - "z": 2.81530952 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.8720286, - "y": 0.678465664, - "z": 1.99140537 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.6031674, - "y": 0.681197, - "z": 1.61831391 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.5135463, - "y": 0.6833528, - "z": 1.24522185 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.6682143, - "y": 0.9794614, - "z": -1.603857 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.8297901, - "y": 1.549, - "z": -1.5335114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": 1.80782306, - "y": 0.7288216, - "z": -0.7489966 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": -0.848040342, - "y": 0.09549071, - "z": -1.07109654 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.90541625, - "y": 0.726496, - "z": 0.4822775 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 1.71023023, - "y": 0.726590157, - "z": -0.256486982 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.71539557, - "y": 0.318533123, - "z": -0.270219 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.8556831, - "y": 0.666999638, - "z": 3.07568932 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.745123148, - "y": 0.06383839, - "z": 2.09177852 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1939887898, - "scene_num": 318 - }, - "task_id": "trial_T20190908_063003_015125", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AKW57KYG90X61_3IQ1VMJRYW13GAE7G3M918AVQ9J9AB", - "high_descs": [ - "move left to the table", - "pick up the pen", - "move to the right side of the table", - "drop the pen on that side", - "move to the left side of the table", - "pick up another pen", - "move to the right side of the table", - "drop the pen there" - ], - "task_desc": "drop two pens on the table", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2JBNDG0U9IA6I_3MRNMEIQW8NWFJISPAG1WI9WB3OLD7", - "high_descs": [ - "Turn around walk straight slightly then face the right at the desk", - "Pick up the blue pen next to the clock", - "Turn to the right walk straight slightly then back to the left and face the drawers", - "Place the blue pen on top of the brown dresser stand", - "Turn left then walk straight slightly and turn to the right and face the desk", - "Pick up the blue pen next to the keys", - "Turn to the right walk straight slightly then back to the left and face the drawers", - "Place the blue pen on top of the brown dresser stand" - ], - "task_desc": "Moving blue pens from a desk to another location ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AT3C00TKZK13L_3PDJHANYK8XV8EKNO2TPYK6XD49H6T", - "high_descs": [ - "Walk towards the desk", - "Grab a pen from the desk", - "Walk towards the other side of the desk", - "Place pen on the desk ", - "Walk to the other side of the desk", - "Grab a pen from the desk", - "Walk to the other side of the desk", - "Put pen on the desk" - ], - "task_desc": "Grab two pen and put them on the other side of the desk", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190910_101622_375359/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190910_101622_375359/traj_data.json deleted file mode 100644 index 0a560dece..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190910_101622_375359/traj_data.json +++ /dev/null @@ -1,5567 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 14 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 17 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000082.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000083.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 18 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000143.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000144.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000145.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "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": 4, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "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": 42 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 64 - }, - { - "high_idx": 7, - "image_name": "000000331.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000332.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000333.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000334.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000335.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000336.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000337.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000338.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000339.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000340.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000341.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000342.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000343.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000344.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000345.png", - "low_idx": 65 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-2|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 6.450548, - 6.450548, - -2.0109676, - -2.0109676, - 2.9305452, - 2.9305452 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.61|+00.73|-00.50" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 6.450548, - 6.450548, - -2.0109676, - -2.0109676, - 2.9305452, - 2.9305452 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.61|+00.73|-00.50", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|3|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -3.488108, - -3.488108, - 5.727068, - 5.727068, - 2.7334112, - 2.7334112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - -2.612, - -2.612, - 7.203076, - 7.203076, - 0.028, - 0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.87|+00.68|+01.43" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -3.488108, - -3.488108, - 5.727068, - 5.727068, - 2.7334112, - 2.7334112 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|-00.87|+00.68|+01.43", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.61|+00.73|-00.50" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 126, - 124, - 172, - 125 - ], - "mask": [ - [ - 37026, - 47 - ], - [ - 37328, - 42 - ] - ], - "point": [ - 149, - 123 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.61|+00.73|-00.50", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 192 - ], - [ - 3335, - 193 - ], - [ - 3634, - 194 - ], - [ - 3934, - 194 - ], - [ - 4234, - 194 - ], - [ - 4533, - 196 - ], - [ - 4833, - 196 - ], - [ - 5133, - 196 - ], - [ - 5432, - 197 - ], - [ - 5732, - 198 - ], - [ - 6031, - 199 - ], - [ - 6331, - 199 - ], - [ - 6631, - 199 - ], - [ - 6930, - 201 - ], - [ - 7230, - 201 - ], - [ - 7530, - 201 - ], - [ - 7829, - 202 - ], - [ - 8129, - 203 - ], - [ - 8428, - 204 - ], - [ - 8728, - 204 - ], - [ - 9028, - 204 - ], - [ - 9327, - 206 - ], - [ - 9627, - 206 - ], - [ - 9927, - 206 - ], - [ - 10226, - 207 - ], - [ - 10526, - 208 - ], - [ - 10825, - 209 - ], - [ - 11125, - 209 - ], - [ - 11425, - 209 - ], - [ - 11724, - 211 - ], - [ - 12024, - 211 - ], - [ - 12324, - 211 - ], - [ - 12623, - 212 - ], - [ - 12923, - 213 - ], - [ - 13223, - 213 - ], - [ - 13522, - 214 - ], - [ - 13822, - 214 - ], - [ - 14121, - 216 - ], - [ - 14421, - 216 - ], - [ - 14721, - 216 - ], - [ - 15020, - 217 - ], - [ - 15320, - 218 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 116 - ], - [ - 50782, - 115 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-00.87|+00.68|+01.43" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 119, - 129, - 121, - 137 - ], - "mask": [ - [ - 38520, - 2 - ], - [ - 38820, - 2 - ], - [ - 39120, - 2 - ], - [ - 39420, - 2 - ], - [ - 39719, - 3 - ], - [ - 40019, - 3 - ], - [ - 40320, - 1 - ], - [ - 40620, - 1 - ], - [ - 40920, - 1 - ] - ], - "point": [ - 120, - 132 - ] - } - }, - "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": "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": "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": "PutObject", - "forceAction": true, - "objectId": "Pen|-00.87|+00.68|+01.43", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 192 - ], - [ - 3335, - 193 - ], - [ - 3634, - 194 - ], - [ - 3934, - 194 - ], - [ - 4234, - 194 - ], - [ - 4533, - 122 - ], - [ - 4656, - 73 - ], - [ - 4833, - 122 - ], - [ - 4956, - 73 - ], - [ - 5133, - 122 - ], - [ - 5257, - 72 - ], - [ - 5432, - 122 - ], - [ - 5557, - 72 - ], - [ - 5732, - 122 - ], - [ - 5857, - 73 - ], - [ - 6031, - 123 - ], - [ - 6158, - 72 - ], - [ - 6331, - 124 - ], - [ - 6458, - 72 - ], - [ - 6631, - 124 - ], - [ - 6758, - 72 - ], - [ - 6930, - 125 - ], - [ - 7058, - 73 - ], - [ - 7230, - 125 - ], - [ - 7358, - 73 - ], - [ - 7530, - 125 - ], - [ - 7658, - 73 - ], - [ - 7829, - 126 - ], - [ - 7957, - 74 - ], - [ - 8129, - 126 - ], - [ - 8257, - 75 - ], - [ - 8428, - 127 - ], - [ - 8557, - 75 - ], - [ - 8728, - 127 - ], - [ - 8857, - 75 - ], - [ - 9028, - 127 - ], - [ - 9157, - 75 - ], - [ - 9327, - 128 - ], - [ - 9457, - 76 - ], - [ - 9627, - 128 - ], - [ - 9757, - 76 - ], - [ - 9927, - 128 - ], - [ - 10057, - 76 - ], - [ - 10226, - 129 - ], - [ - 10357, - 76 - ], - [ - 10526, - 129 - ], - [ - 10657, - 77 - ], - [ - 10825, - 130 - ], - [ - 10957, - 77 - ], - [ - 11125, - 130 - ], - [ - 11257, - 77 - ], - [ - 11425, - 130 - ], - [ - 11557, - 77 - ], - [ - 11724, - 131 - ], - [ - 11857, - 78 - ], - [ - 12024, - 131 - ], - [ - 12157, - 78 - ], - [ - 12324, - 131 - ], - [ - 12457, - 78 - ], - [ - 12623, - 132 - ], - [ - 12757, - 78 - ], - [ - 12923, - 132 - ], - [ - 13057, - 79 - ], - [ - 13223, - 132 - ], - [ - 13357, - 79 - ], - [ - 13522, - 133 - ], - [ - 13657, - 79 - ], - [ - 13822, - 133 - ], - [ - 13957, - 79 - ], - [ - 14121, - 134 - ], - [ - 14257, - 80 - ], - [ - 14421, - 134 - ], - [ - 14557, - 80 - ], - [ - 14721, - 135 - ], - [ - 14857, - 80 - ], - [ - 15020, - 217 - ], - [ - 15320, - 218 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 116 - ], - [ - 50782, - 115 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 0.5, - "y": 0.9017602, - "z": 2.5 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.782409668, - "y": 0.6757, - "z": 2.364498 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.8720291, - "y": 0.6773067, - "z": 2.17795157 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": 1.41762173, - "y": 0.434838116, - "z": 1.32672918 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.872027, - "y": 0.6833528, - "z": 1.431767 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.60316956, - "y": 0.6813754, - "z": 2.36449862 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 2.10060215, - "y": 0.7306588, - "z": -0.0102321655 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 2.00300932, - "y": 0.7266471, - "z": 0.4822775 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.6087718, - "y": 0.5219685, - "z": -0.6394564 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.600201964, - "y": 0.06933537, - "z": 2.16383171 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.56213975, - "y": 1.8410269, - "z": 1.34803641 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.867, - "y": 1.49893832, - "z": -0.719627142 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.6327728, - "y": 1.83552992, - "z": 2.48124051 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.949557245, - "y": 0.66993475, - "z": 3.075689 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": -0.692787468, - "y": 0.681197, - "z": 1.61831367 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.612637, - "y": 0.7326363, - "z": -0.5027419 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.603169, - "y": 0.678465664, - "z": 2.17795253 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.63, - "y": 1.871, - "z": 3.047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.8297901, - "y": 1.549, - "z": -1.5335114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.7618079, - "y": 0.67083776, - "z": 2.72851658 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.75690246, - "y": 0.435465425, - "z": 1.79066563 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.58726192, - "y": 0.432995975, - "z": 1.79066563 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": 1.71023011, - "y": 0.726590157, - "z": -0.7489966 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": -0.692786336, - "y": 0.6813754, - "z": 1.24522126 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": 1.61263728, - "y": 0.7245, - "z": 0.4822775 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.5135463, - "y": 0.6757, - "z": 1.24522185 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2391432528, - "scene_num": 318 - }, - "task_id": "trial_T20190910_101622_375359", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AO33H4GL9KZX9_39GHHAVOMI8DKXBZTE3VDZ2YU34J48", - "high_descs": [ - "Turn left and go to the right side of the desk on the left.", - "Pick up the blue pen on the left of the CD.", - "Turn left and right and go to the front of the brown dresser. ", - "Place the blue pen on the top of the brown dresser. ", - "Turn right and go to left side of the desk on the left.", - "Pick up the blue pen near the lamp.", - "Turn around to go back to the brown dresser.", - "Place the blue pen on the left of the first blue pen." - ], - "task_desc": "Put the blue pens on the top of the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1S1K7134S2VUC_3TMFV4NEPBV09IY0CGCNJ1CBYLK8WA", - "high_descs": [ - "Turn left, move to the desk that is near the window.", - "Pick up the blue pen from the desk.", - "Turn right, move to the dresser.", - "Put the pen on the dresser.", - "Turn right, move to the desk that is far from the window.", - "Pick up the blue pen from the desk.", - "Turn right, move to the dresser.", - "Put the pen on the dresser." - ], - "task_desc": "Place two blue pens onto a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3VFJCI1K42GAU1NWWKE5OFLSUR1GRI", - "high_descs": [ - "Turn left walk forward then turn left facing the desk", - "Pick up the pen on the desk", - "Turn right then head to the drawer under the table", - "Put the pen on top of the drawer", - "Turn right walk forward then turn left in between the two double deck", - "Pick up the pen on the desk under the deck", - "Turn right then head to the drawer on your right", - "Put the pen beside the other pen on top of the drawer" - ], - "task_desc": "Put two pens on top of the drawer", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190912_171559_010465/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190912_171559_010465/traj_data.json deleted file mode 100644 index 93303cb95..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-318/trial_T20190912_171559_010465/traj_data.json +++ /dev/null @@ -1,5005 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 7 - }, - { - "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": 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": 1, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000067.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "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": 21 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 3, - "image_name": "000000111.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000112.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000113.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000114.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000115.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000116.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000117.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000118.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000119.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "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": 4, - "image_name": "000000132.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 5, - "image_name": "000000173.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000174.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000175.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000176.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 5, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 6, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000190.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000191.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000192.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000193.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000194.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000195.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000196.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000197.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000198.png", - "low_idx": 34 - }, - { - "high_idx": 6, - "image_name": "000000199.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000200.png", - "low_idx": 35 - }, - { - "high_idx": 6, - "image_name": "000000201.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000202.png", - "low_idx": 36 - }, - { - "high_idx": 6, - "image_name": "000000203.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000204.png", - "low_idx": 37 - }, - { - "high_idx": 6, - "image_name": "000000205.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000206.png", - "low_idx": 38 - }, - { - "high_idx": 6, - "image_name": "000000207.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000209.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000210.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000211.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000214.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000215.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000216.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000217.png", - "low_idx": 39 - }, - { - "high_idx": 6, - "image_name": "000000218.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000219.png", - "low_idx": 40 - }, - { - "high_idx": 6, - "image_name": "000000220.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000221.png", - "low_idx": 41 - }, - { - "high_idx": 6, - "image_name": "000000222.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000223.png", - "low_idx": 42 - }, - { - "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": 7, - "image_name": "000000235.png", - "low_idx": 44 - }, - { - "high_idx": 7, - "image_name": "000000236.png", - "low_idx": 44 - }, - { - "high_idx": 7, - "image_name": "000000237.png", - "low_idx": 44 - }, - { - "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 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-1|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 7.23129272, - 7.23129272, - -1.025947808, - -1.025947808, - 2.9286112, - 2.9286112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.81|+00.73|-00.26" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 7.23129272, - 7.23129272, - -1.025947808, - -1.025947808, - 2.9286112, - 2.9286112 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.81|+00.73|-00.26", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|4|-1|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 8.012036, - 8.012036, - -1.025947808, - -1.025947808, - 2.9286112, - 2.9286112 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 7.252, - 7.252, - -0.468, - -0.468, - -0.048, - -0.048 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.00|+00.73|-00.26" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|-5|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 8.012036, - 8.012036, - -1.025947808, - -1.025947808, - 2.9286112, - 2.9286112 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -3.092, - -3.092, - -5.252, - -5.252, - -0.028, - -0.028 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.00|+00.73|-00.26", - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - } - }, - { - "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": "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": "PickupObject", - "objectId": "Pen|+01.81|+00.73|-00.26" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 129, - 157, - 170, - 158 - ], - "mask": [ - [ - 46929, - 42 - ], - [ - 47232, - 36 - ] - ], - "point": [ - 149, - 156 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.81|+00.73|-00.26", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 192 - ], - [ - 3335, - 193 - ], - [ - 3634, - 194 - ], - [ - 3934, - 194 - ], - [ - 4234, - 194 - ], - [ - 4533, - 196 - ], - [ - 4833, - 196 - ], - [ - 5133, - 196 - ], - [ - 5432, - 197 - ], - [ - 5732, - 198 - ], - [ - 6031, - 199 - ], - [ - 6331, - 199 - ], - [ - 6631, - 199 - ], - [ - 6930, - 201 - ], - [ - 7230, - 201 - ], - [ - 7530, - 201 - ], - [ - 7829, - 202 - ], - [ - 8129, - 203 - ], - [ - 8428, - 204 - ], - [ - 8728, - 204 - ], - [ - 9028, - 204 - ], - [ - 9327, - 99 - ], - [ - 9434, - 99 - ], - [ - 9627, - 95 - ], - [ - 9738, - 95 - ], - [ - 9927, - 93 - ], - [ - 10040, - 93 - ], - [ - 10226, - 92 - ], - [ - 10342, - 91 - ], - [ - 10526, - 91 - ], - [ - 10643, - 91 - ], - [ - 10825, - 91 - ], - [ - 10944, - 90 - ], - [ - 11125, - 90 - ], - [ - 11244, - 90 - ], - [ - 11425, - 90 - ], - [ - 11545, - 89 - ], - [ - 11724, - 90 - ], - [ - 11845, - 90 - ], - [ - 12024, - 90 - ], - [ - 12127, - 5 - ], - [ - 12145, - 90 - ], - [ - 12324, - 90 - ], - [ - 12427, - 5 - ], - [ - 12445, - 90 - ], - [ - 12623, - 91 - ], - [ - 12728, - 3 - ], - [ - 12745, - 90 - ], - [ - 12923, - 91 - ], - [ - 13045, - 91 - ], - [ - 13223, - 91 - ], - [ - 13344, - 92 - ], - [ - 13522, - 93 - ], - [ - 13644, - 92 - ], - [ - 13822, - 94 - ], - [ - 13943, - 93 - ], - [ - 14121, - 96 - ], - [ - 14242, - 95 - ], - [ - 14421, - 96 - ], - [ - 14541, - 96 - ], - [ - 14721, - 98 - ], - [ - 14839, - 98 - ], - [ - 15020, - 101 - ], - [ - 15137, - 100 - ], - [ - 15320, - 106 - ], - [ - 15432, - 106 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 116 - ], - [ - 50782, - 115 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "PickupObject", - "objectId": "Pen|+02.00|+00.73|-00.26" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 131, - 129, - 168, - 130 - ], - "mask": [ - [ - 38531, - 38 - ], - [ - 38834, - 32 - ] - ], - "point": [ - 149, - 128 - ] - } - }, - "high_idx": 5 - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+02.00|+00.73|-00.26", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.77|-00.01|-01.31" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 18, - 11, - 238, - 173 - ], - "mask": [ - [ - 3035, - 192 - ], - [ - 3335, - 193 - ], - [ - 3634, - 194 - ], - [ - 3934, - 194 - ], - [ - 4234, - 194 - ], - [ - 4533, - 122 - ], - [ - 4656, - 73 - ], - [ - 4833, - 122 - ], - [ - 4956, - 73 - ], - [ - 5133, - 122 - ], - [ - 5257, - 72 - ], - [ - 5432, - 122 - ], - [ - 5557, - 72 - ], - [ - 5732, - 122 - ], - [ - 5857, - 73 - ], - [ - 6031, - 123 - ], - [ - 6158, - 72 - ], - [ - 6331, - 124 - ], - [ - 6458, - 72 - ], - [ - 6631, - 124 - ], - [ - 6758, - 72 - ], - [ - 6930, - 125 - ], - [ - 7058, - 73 - ], - [ - 7230, - 125 - ], - [ - 7358, - 73 - ], - [ - 7530, - 125 - ], - [ - 7658, - 73 - ], - [ - 7829, - 126 - ], - [ - 7957, - 74 - ], - [ - 8129, - 126 - ], - [ - 8257, - 75 - ], - [ - 8428, - 127 - ], - [ - 8557, - 75 - ], - [ - 8728, - 127 - ], - [ - 8857, - 75 - ], - [ - 9028, - 127 - ], - [ - 9157, - 75 - ], - [ - 9327, - 99 - ], - [ - 9434, - 21 - ], - [ - 9457, - 76 - ], - [ - 9627, - 95 - ], - [ - 9738, - 17 - ], - [ - 9757, - 76 - ], - [ - 9927, - 93 - ], - [ - 10040, - 15 - ], - [ - 10057, - 76 - ], - [ - 10226, - 92 - ], - [ - 10342, - 13 - ], - [ - 10357, - 76 - ], - [ - 10526, - 91 - ], - [ - 10643, - 12 - ], - [ - 10657, - 77 - ], - [ - 10825, - 91 - ], - [ - 10944, - 11 - ], - [ - 10957, - 77 - ], - [ - 11125, - 90 - ], - [ - 11244, - 11 - ], - [ - 11257, - 77 - ], - [ - 11425, - 90 - ], - [ - 11545, - 10 - ], - [ - 11557, - 77 - ], - [ - 11724, - 90 - ], - [ - 11845, - 10 - ], - [ - 11857, - 78 - ], - [ - 12024, - 90 - ], - [ - 12127, - 5 - ], - [ - 12145, - 10 - ], - [ - 12157, - 78 - ], - [ - 12324, - 90 - ], - [ - 12427, - 5 - ], - [ - 12445, - 10 - ], - [ - 12457, - 78 - ], - [ - 12623, - 91 - ], - [ - 12728, - 3 - ], - [ - 12745, - 10 - ], - [ - 12757, - 78 - ], - [ - 12923, - 91 - ], - [ - 13045, - 10 - ], - [ - 13057, - 79 - ], - [ - 13223, - 91 - ], - [ - 13344, - 11 - ], - [ - 13357, - 79 - ], - [ - 13522, - 93 - ], - [ - 13644, - 11 - ], - [ - 13657, - 79 - ], - [ - 13822, - 94 - ], - [ - 13943, - 12 - ], - [ - 13957, - 79 - ], - [ - 14121, - 96 - ], - [ - 14242, - 13 - ], - [ - 14257, - 80 - ], - [ - 14421, - 96 - ], - [ - 14541, - 14 - ], - [ - 14557, - 80 - ], - [ - 14721, - 98 - ], - [ - 14839, - 17 - ], - [ - 14857, - 80 - ], - [ - 15020, - 101 - ], - [ - 15137, - 100 - ], - [ - 15320, - 106 - ], - [ - 15432, - 106 - ], - [ - 15620, - 218 - ], - [ - 15919, - 219 - ], - [ - 16219, - 219 - ], - [ - 16518, - 221 - ], - [ - 16818, - 221 - ], - [ - 17118, - 221 - ], - [ - 17418, - 221 - ], - [ - 17718, - 221 - ], - [ - 18019, - 219 - ], - [ - 18325, - 7 - ], - [ - 18529, - 6 - ], - [ - 18626, - 7 - ], - [ - 18828, - 7 - ], - [ - 18926, - 7 - ], - [ - 19128, - 6 - ], - [ - 19227, - 7 - ], - [ - 19428, - 6 - ], - [ - 19527, - 7 - ], - [ - 19727, - 7 - ], - [ - 19828, - 7 - ], - [ - 20027, - 6 - ], - [ - 20128, - 7 - ], - [ - 20327, - 6 - ], - [ - 20429, - 7 - ], - [ - 20626, - 7 - ], - [ - 20729, - 7 - ], - [ - 20926, - 6 - ], - [ - 21030, - 7 - ], - [ - 21226, - 6 - ], - [ - 21331, - 6 - ], - [ - 21525, - 7 - ], - [ - 21631, - 6 - ], - [ - 21825, - 6 - ], - [ - 21932, - 6 - ], - [ - 22125, - 6 - ], - [ - 22232, - 6 - ], - [ - 22424, - 7 - ], - [ - 22533, - 6 - ], - [ - 22724, - 6 - ], - [ - 22833, - 6 - ], - [ - 23024, - 6 - ], - [ - 23134, - 6 - ], - [ - 23323, - 6 - ], - [ - 23434, - 6 - ], - [ - 23623, - 6 - ], - [ - 23735, - 6 - ], - [ - 23923, - 6 - ], - [ - 24035, - 6 - ], - [ - 24222, - 6 - ], - [ - 24336, - 6 - ], - [ - 24522, - 6 - ], - [ - 24636, - 6 - ], - [ - 24822, - 6 - ], - [ - 24937, - 6 - ], - [ - 25121, - 6 - ], - [ - 25237, - 6 - ], - [ - 25421, - 6 - ], - [ - 25538, - 6 - ], - [ - 25721, - 6 - ], - [ - 25838, - 6 - ], - [ - 26020, - 6 - ], - [ - 26139, - 6 - ], - [ - 26320, - 6 - ], - [ - 26439, - 6 - ], - [ - 26620, - 6 - ], - [ - 26740, - 6 - ], - [ - 26919, - 6 - ], - [ - 27040, - 6 - ], - [ - 27219, - 6 - ], - [ - 27341, - 6 - ], - [ - 27519, - 5 - ], - [ - 27641, - 6 - ], - [ - 27818, - 6 - ], - [ - 27942, - 6 - ], - [ - 28118, - 6 - ], - [ - 28243, - 5 - ], - [ - 28418, - 5 - ], - [ - 28543, - 6 - ], - [ - 28717, - 6 - ], - [ - 28844, - 5 - ], - [ - 29017, - 6 - ], - [ - 29144, - 6 - ], - [ - 29317, - 5 - ], - [ - 29445, - 5 - ], - [ - 29616, - 6 - ], - [ - 29745, - 6 - ], - [ - 29916, - 6 - ], - [ - 30046, - 5 - ], - [ - 30216, - 5 - ], - [ - 30346, - 175 - ], - [ - 30647, - 174 - ], - [ - 30947, - 7 - ], - [ - 31114, - 6 - ], - [ - 31248, - 6 - ], - [ - 31414, - 6 - ], - [ - 31548, - 6 - ], - [ - 31714, - 5 - ], - [ - 31849, - 5 - ], - [ - 32014, - 5 - ], - [ - 32149, - 6 - ], - [ - 32314, - 5 - ], - [ - 32450, - 5 - ], - [ - 32613, - 5 - ], - [ - 32750, - 6 - ], - [ - 32913, - 5 - ], - [ - 33051, - 5 - ], - [ - 33213, - 5 - ], - [ - 33351, - 6 - ], - [ - 33512, - 5 - ], - [ - 33652, - 5 - ], - [ - 33812, - 5 - ], - [ - 33952, - 6 - ], - [ - 34112, - 5 - ], - [ - 34253, - 5 - ], - [ - 34411, - 5 - ], - [ - 34554, - 5 - ], - [ - 34711, - 5 - ], - [ - 34854, - 5 - ], - [ - 35011, - 5 - ], - [ - 35155, - 5 - ], - [ - 35310, - 5 - ], - [ - 35455, - 5 - ], - [ - 35610, - 5 - ], - [ - 35756, - 5 - ], - [ - 35910, - 4 - ], - [ - 36056, - 5 - ], - [ - 36209, - 5 - ], - [ - 36357, - 5 - ], - [ - 36509, - 5 - ], - [ - 36657, - 5 - ], - [ - 36809, - 4 - ], - [ - 36958, - 5 - ], - [ - 37108, - 5 - ], - [ - 37258, - 5 - ], - [ - 37408, - 5 - ], - [ - 37559, - 5 - ], - [ - 37708, - 4 - ], - [ - 37859, - 5 - ], - [ - 38007, - 5 - ], - [ - 38160, - 5 - ], - [ - 38307, - 5 - ], - [ - 38460, - 5 - ], - [ - 38607, - 4 - ], - [ - 38761, - 5 - ], - [ - 38906, - 5 - ], - [ - 39061, - 5 - ], - [ - 39206, - 5 - ], - [ - 39362, - 5 - ], - [ - 39506, - 4 - ], - [ - 39662, - 5 - ], - [ - 39805, - 5 - ], - [ - 39963, - 5 - ], - [ - 40105, - 4 - ], - [ - 40263, - 5 - ], - [ - 40405, - 4 - ], - [ - 40564, - 5 - ], - [ - 40704, - 5 - ], - [ - 40864, - 5 - ], - [ - 41004, - 4 - ], - [ - 41165, - 5 - ], - [ - 41304, - 4 - ], - [ - 41466, - 4 - ], - [ - 41603, - 5 - ], - [ - 41766, - 5 - ], - [ - 41903, - 4 - ], - [ - 42067, - 4 - ], - [ - 42203, - 4 - ], - [ - 42367, - 5 - ], - [ - 42502, - 5 - ], - [ - 42668, - 5 - ], - [ - 42802, - 4 - ], - [ - 42968, - 5 - ], - [ - 43102, - 4 - ], - [ - 43269, - 4 - ], - [ - 43401, - 5 - ], - [ - 43569, - 5 - ], - [ - 43701, - 4 - ], - [ - 43870, - 4 - ], - [ - 44001, - 4 - ], - [ - 44170, - 5 - ], - [ - 44300, - 4 - ], - [ - 44471, - 4 - ], - [ - 44600, - 4 - ], - [ - 44771, - 5 - ], - [ - 44900, - 4 - ], - [ - 45072, - 4 - ], - [ - 45199, - 4 - ], - [ - 45372, - 5 - ], - [ - 45499, - 4 - ], - [ - 45673, - 4 - ], - [ - 45799, - 4 - ], - [ - 45973, - 5 - ], - [ - 46098, - 4 - ], - [ - 46274, - 4 - ], - [ - 46398, - 4 - ], - [ - 46574, - 5 - ], - [ - 46698, - 4 - ], - [ - 46875, - 4 - ], - [ - 46997, - 4 - ], - [ - 47175, - 5 - ], - [ - 47297, - 4 - ], - [ - 47476, - 4 - ], - [ - 47597, - 3 - ], - [ - 47777, - 4 - ], - [ - 47896, - 4 - ], - [ - 48077, - 4 - ], - [ - 48196, - 4 - ], - [ - 48378, - 3 - ], - [ - 48496, - 3 - ], - [ - 48678, - 4 - ], - [ - 48795, - 4 - ], - [ - 48979, - 3 - ], - [ - 49095, - 4 - ], - [ - 49279, - 4 - ], - [ - 49395, - 3 - ], - [ - 49580, - 3 - ], - [ - 49694, - 4 - ], - [ - 49880, - 4 - ], - [ - 49994, - 4 - ], - [ - 50181, - 3 - ], - [ - 50294, - 3 - ], - [ - 50481, - 116 - ], - [ - 50782, - 115 - ], - [ - 51082, - 5 - ], - [ - 51192, - 4 - ], - [ - 51383, - 4 - ], - [ - 51492, - 4 - ], - [ - 51683, - 4 - ], - [ - 51792, - 3 - ] - ], - "point": [ - 128, - 101 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan318", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.25, - "y": 0.9017602, - "z": 1.0 - }, - "object_poses": [ - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.949556231, - "y": 0.6671691, - "z": 2.728516 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.799997032, - "y": 0.7374924, - "z": -1.48638725 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.4938239, - "y": 0.5041254, - "z": 2.71155429 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.7317453, - "y": 1.5027765, - "z": -0.273132682 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.46123597, - "y": 1.5027765, - "z": -0.4963799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 2.003009, - "y": 0.7321528, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.692786336, - "y": 0.6833528, - "z": 1.24522126 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": 1.80782318, - "y": 0.7321528, - "z": -0.256486952 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.532160163, - "y": 0.5160706, - "z": 2.23511887 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": 1.67208219, - "y": 0.440193444, - "z": 1.69787812 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.82201922, - "y": 0.106268533, - "z": -0.270219028 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.58726192, - "y": 0.433147073, - "z": 1.79066563 - }, - "rotation": { - "x": 0.0, - "y": 179.999954, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": -0.5135468, - "y": 0.678465664, - "z": 1.431768 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Book_e6f8caea", - "position": { - "x": 1.905416, - "y": 0.729997, - "z": -0.7489966 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Box_18733c85", - "position": { - "x": -0.493, - "y": 0.2, - "z": -0.286 - }, - "rotation": { - "x": 0.0, - "y": 84.024086, - "z": 0.0 - } - }, - { - "objectName": "TennisRacket_26349961", - "position": { - "x": -1.345, - "y": 0.288, - "z": 0.233 - }, - "rotation": { - "x": 30.0002918, - "y": 269.9998, - "z": 179.9999 - } - }, - { - "objectName": "Pen_0af89765", - "position": { - "x": -0.692788, - "y": 0.6833528, - "z": 1.80485976 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_7ade8b6b", - "position": { - "x": 2.00300932, - "y": 0.7277491, - "z": 0.482277632 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_0dfd6e27", - "position": { - "x": -0.7317453, - "y": 1.58593035, - "z": -0.4963799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_d7daf237", - "position": { - "x": -0.8297901, - "y": 1.549, - "z": -1.5335114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_4ae13037", - "position": { - "x": -0.799997032, - "y": 0.0971817449, - "z": -1.40332913 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_268d954a", - "position": { - "x": 1.51504433, - "y": 0.727130532, - "z": 0.728532434 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_7ad6fb52", - "position": { - "x": -0.729207456, - "y": 0.5160706, - "z": 2.30547523 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e7609414", - "position": { - "x": -0.543242455, - "y": 0.9783024, - "z": -1.32223451 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_1ecf44c2", - "position": { - "x": 1.90541613, - "y": 0.7306588, - "z": -0.010232158 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_425b94ea", - "position": { - "x": -0.603169, - "y": 0.675700068, - "z": 2.17795253 - }, - "rotation": { - "x": 0.0, - "y": 89.9998245, - "z": 0.0 - } - }, - { - "objectName": "Mug_31b7f025", - "position": { - "x": -0.600201964, - "y": 0.06383839, - "z": 2.307938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 591748564, - "scene_num": 318 - }, - "task_id": "trial_T20190912_171559_010465", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3F51C49T9A34D_3QFUFYSY91WXFVP3AOCAY1A61XP4FU", - "high_descs": [ - "turn to the right and go forward a few steps and turn to the left and go to the desk", - "pick up the front blue pen from the desk", - "turn to the right and take a few steps and turn to the right and go to the dresser", - "put the blue pen right of the CD on the top of the dresser", - "turn to the right and go forward a few steps and turn to the right and go to the desk", - "pick up the back blue pen from the desk", - "turn to the right and take a few steps and turn to the right and go to the dresser", - "put the blue pen right on the CD on the top of the dresser" - ], - "task_desc": "Place two blue pens on top of a dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2DN53DIE3049T_3S3AMIZX3XM3CFOMCXN2TZJ9HX5DCK", - "high_descs": [ - "Turn to the right, walk to the desk", - "Pick up the pen from the desk", - "Turn around, walk to the table that is under the bed", - "Place the pen on the table", - "Turn around, walk back to the desk", - "Pick up the second pen from the desk", - "Turn around, walk to the table that is under the bed", - "Place the pen on the table" - ], - "task_desc": "Place two pens on a table", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AKW57KYG90X61_3UOUJI6MTGVDWFA3PO9EHC874F9XU1", - "high_descs": [ - "move forward to the table ", - "pick up the pen ", - "\nmove right to the drawer", - "\ndrop the pen on the drawer", - "turn around to the table", - "pick up another pen", - "turn around to the drawer", - "drop the pen on the drawer" - ], - "task_desc": "drop two pens on the drawer", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190907_212826_574375/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190907_212826_574375/traj_data.json deleted file mode 100644 index 9c65b7696..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190907_212826_574375/traj_data.json +++ /dev/null @@ -1,6023 +0,0 @@ -{ - "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": 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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 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": 21 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 24 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "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": 28 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 30 - }, - { - "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": 4, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 31 - }, - { - "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": 31 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 47 - }, - { - "high_idx": 5, - "image_name": "000000266.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 65 - }, - { - "high_idx": 7, - "image_name": "000000369.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000370.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000371.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000372.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000373.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000374.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000375.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000376.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000377.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000378.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000379.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000380.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000381.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000382.png", - "low_idx": 66 - }, - { - "high_idx": 7, - "image_name": "000000383.png", - "low_idx": 66 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|15" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - -6.4450116, - -6.4450116, - -8.01721, - -8.01721, - 6.10979556, - 6.10979556 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - -6.3108, - -6.3108, - -8.1004, - -8.1004, - 6.0556, - 6.0556 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.61|+01.53|-02.00" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - -6.4450116, - -6.4450116, - -8.01721, - -8.01721, - 6.10979556, - 6.10979556 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Pen|-01.61|+01.53|-02.00", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-3|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 4.77157496, - 4.77157496, - -2.7019704, - -2.7019704, - 1.5557956, - 1.5557956 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.052, - -1.052, - 1.5016, - 1.5016 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.19|+00.39|-00.68" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 4.77157496, - 4.77157496, - -2.7019704, - -2.7019704, - 1.5557956, - 1.5557956 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.19|+00.39|-00.68", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|-01.61|+01.53|-02.00" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 121, - 98, - 179, - 100 - ], - "mask": [ - [ - 29225, - 15 - ], - [ - 29525, - 52 - ], - [ - 29821, - 59 - ] - ], - "point": [ - 150, - 98 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "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": "Pen|-01.61|+01.53|-02.00", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 35 - ], - [ - 21114, - 147 - ], - [ - 21361, - 36 - ], - [ - 21414, - 148 - ], - [ - 21660, - 37 - ], - [ - 21714, - 148 - ], - [ - 21959, - 37 - ], - [ - 22014, - 149 - ], - [ - 22258, - 38 - ], - [ - 22314, - 149 - ], - [ - 22557, - 39 - ], - [ - 22615, - 148 - ], - [ - 22857, - 39 - ], - [ - 22915, - 148 - ], - [ - 23158, - 38 - ], - [ - 23215, - 149 - ], - [ - 23458, - 37 - ], - [ - 23515, - 149 - ], - [ - 23759, - 36 - ], - [ - 23815, - 149 - ], - [ - 24059, - 36 - ], - [ - 24115, - 150 - ], - [ - 24359, - 36 - ], - [ - 24415, - 150 - ], - [ - 24660, - 35 - ], - [ - 24715, - 150 - ], - [ - 24975, - 20 - ], - [ - 25015, - 151 - ], - [ - 25275, - 20 - ], - [ - 25314, - 152 - ], - [ - 25575, - 20 - ], - [ - 25614, - 152 - ], - [ - 25814, - 12 - ], - [ - 25875, - 19 - ], - [ - 25914, - 152 - ], - [ - 26113, - 14 - ], - [ - 26174, - 20 - ], - [ - 26214, - 153 - ], - [ - 26413, - 14 - ], - [ - 26474, - 20 - ], - [ - 26514, - 153 - ], - [ - 26713, - 15 - ], - [ - 26774, - 20 - ], - [ - 26814, - 153 - ], - [ - 27012, - 16 - ], - [ - 27074, - 20 - ], - [ - 27114, - 154 - ], - [ - 27312, - 17 - ], - [ - 27374, - 20 - ], - [ - 27414, - 154 - ], - [ - 27612, - 17 - ], - [ - 27673, - 21 - ], - [ - 27714, - 154 - ], - [ - 27911, - 19 - ], - [ - 27973, - 21 - ], - [ - 28014, - 155 - ], - [ - 28211, - 20 - ], - [ - 28273, - 21 - ], - [ - 28314, - 155 - ], - [ - 28511, - 20 - ], - [ - 28573, - 21 - ], - [ - 28614, - 155 - ], - [ - 28810, - 22 - ], - [ - 28873, - 21 - ], - [ - 28914, - 155 - ], - [ - 29110, - 22 - ], - [ - 29172, - 22 - ], - [ - 29214, - 156 - ], - [ - 29410, - 23 - ], - [ - 29472, - 22 - ], - [ - 29514, - 156 - ], - [ - 29709, - 23 - ], - [ - 29772, - 22 - ], - [ - 29814, - 156 - ], - [ - 30009, - 23 - ], - [ - 30072, - 22 - ], - [ - 30113, - 158 - ], - [ - 30309, - 23 - ], - [ - 30372, - 22 - ], - [ - 30413, - 158 - ], - [ - 30608, - 23 - ], - [ - 30671, - 23 - ], - [ - 30713, - 54 - ], - [ - 30779, - 92 - ], - [ - 30908, - 23 - ], - [ - 30971, - 23 - ], - [ - 31013, - 54 - ], - [ - 31079, - 93 - ], - [ - 31207, - 24 - ], - [ - 31271, - 23 - ], - [ - 31313, - 54 - ], - [ - 31379, - 93 - ], - [ - 31507, - 23 - ], - [ - 31571, - 23 - ], - [ - 31613, - 54 - ], - [ - 31679, - 93 - ], - [ - 31807, - 23 - ], - [ - 31871, - 23 - ], - [ - 31913, - 54 - ], - [ - 31979, - 93 - ], - [ - 32106, - 24 - ], - [ - 32170, - 24 - ], - [ - 32212, - 55 - ], - [ - 32279, - 94 - ], - [ - 32406, - 24 - ], - [ - 32470, - 24 - ], - [ - 32512, - 55 - ], - [ - 32579, - 94 - ], - [ - 32706, - 23 - ], - [ - 32770, - 25 - ], - [ - 32812, - 55 - ], - [ - 32879, - 94 - ], - [ - 33005, - 24 - ], - [ - 33070, - 25 - ], - [ - 33112, - 55 - ], - [ - 33179, - 95 - ], - [ - 33305, - 24 - ], - [ - 33370, - 25 - ], - [ - 33411, - 56 - ], - [ - 33480, - 94 - ], - [ - 33605, - 23 - ], - [ - 33669, - 30 - ], - [ - 33711, - 56 - ], - [ - 33780, - 94 - ], - [ - 33904, - 24 - ], - [ - 33969, - 31 - ], - [ - 34011, - 56 - ], - [ - 34080, - 95 - ], - [ - 34204, - 24 - ], - [ - 34269, - 98 - ], - [ - 34380, - 95 - ], - [ - 34504, - 24 - ], - [ - 34569, - 98 - ], - [ - 34680, - 95 - ], - [ - 34803, - 24 - ], - [ - 34869, - 98 - ], - [ - 34980, - 96 - ], - [ - 35103, - 24 - ], - [ - 35168, - 208 - ], - [ - 35403, - 24 - ], - [ - 35468, - 208 - ], - [ - 35702, - 31 - ], - [ - 35767, - 209 - ], - [ - 36002, - 275 - ], - [ - 36301, - 276 - ], - [ - 36601, - 276 - ], - [ - 36901, - 277 - ], - [ - 37200, - 278 - ], - [ - 37500, - 278 - ], - [ - 37800, - 279 - ], - [ - 38100, - 279 - ], - [ - 38400, - 279 - ], - [ - 38700, - 279 - ], - [ - 39000, - 280 - ], - [ - 39300, - 280 - ], - [ - 39600, - 280 - ], - [ - 39900, - 281 - ], - [ - 40200, - 281 - ], - [ - 40500, - 281 - ], - [ - 40800, - 242 - ], - [ - 41051, - 31 - ], - [ - 41100, - 240 - ], - [ - 41353, - 29 - ], - [ - 41400, - 238 - ], - [ - 41655, - 27 - ], - [ - 41700, - 237 - ], - [ - 41957, - 25 - ], - [ - 42000, - 236 - ], - [ - 42258, - 25 - ], - [ - 42300, - 236 - ], - [ - 42559, - 24 - ], - [ - 42600, - 235 - ], - [ - 42860, - 23 - ], - [ - 42900, - 235 - ], - [ - 43161, - 23 - ], - [ - 43200, - 235 - ], - [ - 43462, - 22 - ], - [ - 43500, - 235 - ], - [ - 43762, - 22 - ], - [ - 43800, - 235 - ], - [ - 44047, - 3 - ], - [ - 44062, - 23 - ], - [ - 44100, - 235 - ], - [ - 44347, - 4 - ], - [ - 44363, - 22 - ], - [ - 44400, - 235 - ], - [ - 44647, - 4 - ], - [ - 44663, - 22 - ], - [ - 44700, - 235 - ], - [ - 44948, - 2 - ], - [ - 44963, - 22 - ], - [ - 45000, - 236 - ], - [ - 45263, - 23 - ], - [ - 45300, - 236 - ], - [ - 45563, - 23 - ], - [ - 45600, - 237 - ], - [ - 45863, - 23 - ], - [ - 45900, - 238 - ], - [ - 46163, - 24 - ], - [ - 46200, - 238 - ], - [ - 46462, - 25 - ], - [ - 46500, - 239 - ], - [ - 46762, - 25 - ], - [ - 46800, - 240 - ], - [ - 47061, - 27 - ], - [ - 47100, - 242 - ], - [ - 47360, - 28 - ], - [ - 47400, - 244 - ], - [ - 47658, - 30 - ], - [ - 47700, - 246 - ], - [ - 47957, - 31 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.19|+00.39|-00.68" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 114, - 195, - 152, - 195 - ], - "mask": [ - [ - 58314, - 39 - ] - ], - "point": [ - 133, - 194 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.19|+00.39|-00.68", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 35 - ], - [ - 21114, - 147 - ], - [ - 21361, - 36 - ], - [ - 21414, - 148 - ], - [ - 21660, - 37 - ], - [ - 21714, - 148 - ], - [ - 21959, - 37 - ], - [ - 22014, - 149 - ], - [ - 22258, - 38 - ], - [ - 22314, - 149 - ], - [ - 22557, - 39 - ], - [ - 22615, - 148 - ], - [ - 22857, - 39 - ], - [ - 22915, - 148 - ], - [ - 23158, - 38 - ], - [ - 23215, - 149 - ], - [ - 23458, - 37 - ], - [ - 23515, - 149 - ], - [ - 23759, - 36 - ], - [ - 23815, - 149 - ], - [ - 24059, - 36 - ], - [ - 24115, - 150 - ], - [ - 24359, - 36 - ], - [ - 24415, - 150 - ], - [ - 24660, - 35 - ], - [ - 24715, - 150 - ], - [ - 24975, - 20 - ], - [ - 25015, - 151 - ], - [ - 25275, - 20 - ], - [ - 25314, - 152 - ], - [ - 25575, - 20 - ], - [ - 25614, - 152 - ], - [ - 25814, - 12 - ], - [ - 25875, - 19 - ], - [ - 25914, - 152 - ], - [ - 26113, - 14 - ], - [ - 26174, - 20 - ], - [ - 26214, - 153 - ], - [ - 26413, - 14 - ], - [ - 26474, - 20 - ], - [ - 26514, - 153 - ], - [ - 26713, - 15 - ], - [ - 26774, - 20 - ], - [ - 26814, - 153 - ], - [ - 27012, - 16 - ], - [ - 27074, - 20 - ], - [ - 27114, - 154 - ], - [ - 27312, - 17 - ], - [ - 27374, - 20 - ], - [ - 27414, - 154 - ], - [ - 27612, - 17 - ], - [ - 27673, - 21 - ], - [ - 27714, - 154 - ], - [ - 27911, - 19 - ], - [ - 27973, - 21 - ], - [ - 28014, - 155 - ], - [ - 28211, - 20 - ], - [ - 28273, - 21 - ], - [ - 28314, - 155 - ], - [ - 28511, - 20 - ], - [ - 28573, - 21 - ], - [ - 28614, - 155 - ], - [ - 28810, - 22 - ], - [ - 28873, - 21 - ], - [ - 28914, - 155 - ], - [ - 29110, - 22 - ], - [ - 29172, - 22 - ], - [ - 29214, - 156 - ], - [ - 29410, - 23 - ], - [ - 29472, - 22 - ], - [ - 29514, - 156 - ], - [ - 29709, - 23 - ], - [ - 29772, - 22 - ], - [ - 29814, - 156 - ], - [ - 30009, - 23 - ], - [ - 30072, - 22 - ], - [ - 30113, - 158 - ], - [ - 30309, - 23 - ], - [ - 30372, - 22 - ], - [ - 30413, - 158 - ], - [ - 30608, - 23 - ], - [ - 30671, - 23 - ], - [ - 30713, - 54 - ], - [ - 30779, - 92 - ], - [ - 30908, - 23 - ], - [ - 30971, - 23 - ], - [ - 31013, - 54 - ], - [ - 31079, - 93 - ], - [ - 31207, - 24 - ], - [ - 31271, - 23 - ], - [ - 31313, - 54 - ], - [ - 31379, - 93 - ], - [ - 31507, - 23 - ], - [ - 31571, - 23 - ], - [ - 31613, - 54 - ], - [ - 31679, - 93 - ], - [ - 31807, - 23 - ], - [ - 31871, - 23 - ], - [ - 31913, - 54 - ], - [ - 31979, - 93 - ], - [ - 32106, - 24 - ], - [ - 32170, - 24 - ], - [ - 32212, - 55 - ], - [ - 32279, - 94 - ], - [ - 32406, - 24 - ], - [ - 32470, - 24 - ], - [ - 32512, - 55 - ], - [ - 32579, - 94 - ], - [ - 32706, - 23 - ], - [ - 32770, - 25 - ], - [ - 32812, - 55 - ], - [ - 32879, - 94 - ], - [ - 33005, - 24 - ], - [ - 33070, - 25 - ], - [ - 33112, - 55 - ], - [ - 33179, - 95 - ], - [ - 33305, - 24 - ], - [ - 33370, - 25 - ], - [ - 33411, - 56 - ], - [ - 33480, - 94 - ], - [ - 33605, - 23 - ], - [ - 33669, - 30 - ], - [ - 33711, - 56 - ], - [ - 33780, - 94 - ], - [ - 33904, - 24 - ], - [ - 33969, - 31 - ], - [ - 34011, - 56 - ], - [ - 34080, - 95 - ], - [ - 34204, - 24 - ], - [ - 34269, - 98 - ], - [ - 34380, - 95 - ], - [ - 34504, - 24 - ], - [ - 34569, - 98 - ], - [ - 34680, - 95 - ], - [ - 34803, - 24 - ], - [ - 34869, - 98 - ], - [ - 34980, - 96 - ], - [ - 35103, - 24 - ], - [ - 35168, - 70 - ], - [ - 35240, - 136 - ], - [ - 35403, - 24 - ], - [ - 35468, - 70 - ], - [ - 35540, - 136 - ], - [ - 35702, - 31 - ], - [ - 35767, - 71 - ], - [ - 35840, - 136 - ], - [ - 36002, - 136 - ], - [ - 36140, - 137 - ], - [ - 36301, - 137 - ], - [ - 36440, - 137 - ], - [ - 36601, - 137 - ], - [ - 36740, - 137 - ], - [ - 36901, - 137 - ], - [ - 37040, - 138 - ], - [ - 37200, - 138 - ], - [ - 37340, - 138 - ], - [ - 37500, - 138 - ], - [ - 37640, - 138 - ], - [ - 37800, - 138 - ], - [ - 37940, - 139 - ], - [ - 38100, - 138 - ], - [ - 38240, - 139 - ], - [ - 38400, - 138 - ], - [ - 38540, - 139 - ], - [ - 38700, - 138 - ], - [ - 38840, - 139 - ], - [ - 39000, - 138 - ], - [ - 39140, - 140 - ], - [ - 39300, - 138 - ], - [ - 39440, - 140 - ], - [ - 39600, - 137 - ], - [ - 39740, - 140 - ], - [ - 39900, - 137 - ], - [ - 40040, - 141 - ], - [ - 40200, - 137 - ], - [ - 40340, - 141 - ], - [ - 40500, - 137 - ], - [ - 40640, - 141 - ], - [ - 40800, - 137 - ], - [ - 40940, - 102 - ], - [ - 41051, - 31 - ], - [ - 41100, - 137 - ], - [ - 41240, - 100 - ], - [ - 41353, - 29 - ], - [ - 41400, - 137 - ], - [ - 41540, - 98 - ], - [ - 41655, - 27 - ], - [ - 41700, - 137 - ], - [ - 41840, - 97 - ], - [ - 41957, - 25 - ], - [ - 42000, - 137 - ], - [ - 42140, - 96 - ], - [ - 42258, - 25 - ], - [ - 42300, - 137 - ], - [ - 42439, - 97 - ], - [ - 42559, - 24 - ], - [ - 42600, - 137 - ], - [ - 42739, - 96 - ], - [ - 42860, - 23 - ], - [ - 42900, - 137 - ], - [ - 43039, - 96 - ], - [ - 43161, - 23 - ], - [ - 43200, - 137 - ], - [ - 43339, - 96 - ], - [ - 43462, - 22 - ], - [ - 43500, - 137 - ], - [ - 43639, - 96 - ], - [ - 43762, - 22 - ], - [ - 43800, - 137 - ], - [ - 43939, - 96 - ], - [ - 44047, - 3 - ], - [ - 44062, - 23 - ], - [ - 44100, - 137 - ], - [ - 44239, - 96 - ], - [ - 44347, - 4 - ], - [ - 44363, - 22 - ], - [ - 44400, - 137 - ], - [ - 44539, - 96 - ], - [ - 44647, - 4 - ], - [ - 44663, - 22 - ], - [ - 44700, - 137 - ], - [ - 44839, - 96 - ], - [ - 44948, - 2 - ], - [ - 44963, - 22 - ], - [ - 45000, - 137 - ], - [ - 45139, - 97 - ], - [ - 45263, - 23 - ], - [ - 45300, - 137 - ], - [ - 45439, - 97 - ], - [ - 45563, - 23 - ], - [ - 45600, - 137 - ], - [ - 45739, - 98 - ], - [ - 45863, - 23 - ], - [ - 45900, - 137 - ], - [ - 46039, - 99 - ], - [ - 46163, - 24 - ], - [ - 46200, - 238 - ], - [ - 46462, - 25 - ], - [ - 46500, - 239 - ], - [ - 46762, - 25 - ], - [ - 46800, - 240 - ], - [ - 47061, - 27 - ], - [ - 47100, - 242 - ], - [ - 47360, - 28 - ], - [ - 47400, - 244 - ], - [ - 47658, - 30 - ], - [ - 47700, - 246 - ], - [ - 47957, - 31 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 1.25, - "y": 0.9009992, - "z": 0.75 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.2264483, - "y": 0.9110809, - "z": 0.0397583246 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 0.466705918, - "y": 0.5764947, - "z": -2.48265958 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.277319, - "y": 0.105222881, - "z": -1.99862838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 1.19289374, - "y": 0.3889489, - "z": -0.6754926 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.56365931, - "y": 0.611852467, - "z": -0.223578453 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.22499537, - "y": 0.371761352, - "z": -1.96399939 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.36744571, - "y": 0.3970478, - "z": -1.939096 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 1.381967, - "y": 0.106858492, - "z": -1.57069159 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.30176127, - "y": 0.395456761, - "z": -2.259808 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -0.962687433, - "y": 0.6091408, - "z": -0.504187644 - }, - "rotation": { - "x": 0.0, - "y": 179.999969, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.57769775, - "y": 1.52187312, - "z": -2.29316258 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": 0.152963251, - "y": 0.5759821, - "z": -2.48265958 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.43313026, - "y": 0.3970478, - "z": -2.36671233 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "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": 1.22644794, - "y": 0.388780564, - "z": -0.09777187 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.22644866, - "y": 0.384007722, - "z": 0.191088557 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.45727193, - "y": 0.6964986, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -1.44346535, - "y": 0.6091408, - "z": 0.3376408 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "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": -1.6112529, - "y": 1.52744889, - "z": -2.0043025 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.51988137, - "y": 0.6965797, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": -1.26944363, - "y": 0.6990013, - "z": -1.610656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.26934361, - "y": 0.5047848, - "z": -1.9839741 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3776591577, - "scene_num": 327 - }, - "task_id": "trial_T20190907_212826_574375", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1ZE52NWZPN85P_35H6S234SDHJSL0SN0SG9N378EJ563", - "high_descs": [ - "Turn around, walk left and finally turn right so you are facing the bedroom table", - "Pick up a pen off of the shelf", - "Stay where you are and look down at the bedroom table", - "Put the pen down on the bedroom table", - "Turn around and maneuver until you are facing the pair of boots on the floor", - "Pick up a pen from the shelf next to the boots", - "Turn around and go back to the bedroom table", - "Put the second pen down on the bedroom table" - ], - "task_desc": "Put two pens down on a bedroom table", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A320QA9HJFUOZO_3ATTHHXXWD58NOF3V7K0Y9KWA4MXIX", - "high_descs": [ - "Turn around and walk over to the dresser in the opposite corner of the room", - "Pick up the pen from the shelf above the dresser", - "Look back down to face the dresser", - "Put the pen down on top of the dresser", - "Turn around and walk over to the shelf next to the boots ", - "Pick up the pen from the bottom shelf", - "Turn around and walk back to the dresser", - "Put the pen on the dresser to the right of the other pen" - ], - "task_desc": "Put the pens on the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AFU00NU09CFXE_3WMINLGALEK5E8LASNW03YB3WDECAP", - "high_descs": [ - "Cross the room to stand in front of the dresser with the illuminated lamp on it in the corner.", - "Pick up the pen from the shelf above the dresser.", - "Move back so you're focused on the dresser rather than the shelf while holding the pen.", - "Place the pen on the dresser, directly in the center.", - "Move to the shelves on the wall across from the bed.", - "Pick up the pen from the bottom shelf, which will be the object closest to the brown boots.", - "Carry the pen back to the dresser in the corner.", - "Place the pen on top of the credit card on the dresser." - ], - "task_desc": "Move two pens to the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190912_025637_251961/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190912_025637_251961/traj_data.json deleted file mode 100644 index e717f5916..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190912_025637_251961/traj_data.json +++ /dev/null @@ -1,7195 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "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": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 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": 27 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 27 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000120.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000121.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000122.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 1, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 30 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 31 - }, - { - "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": 33 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 35 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000226.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000227.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000230.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000231.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000232.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000319.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000320.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000321.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000322.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000323.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000324.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000325.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000326.png", - "low_idx": 64 - }, - { - "high_idx": 5, - "image_name": "000000327.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 65 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000428.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000429.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000430.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000431.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000432.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000433.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000434.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000435.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000436.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000437.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000438.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000439.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000440.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000441.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000442.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000443.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000444.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000445.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000446.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000447.png", - "low_idx": 85 - }, - { - "high_idx": 7, - "image_name": "000000448.png", - "low_idx": 85 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 3.1217944, - 3.1217944, - -9.49311924, - -9.49311924, - 2.3294508, - 2.3294508 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 1.784, - 1.784, - -10.104, - -10.104, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "Pen|+00.78|+00.58|-02.37" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 3.1217944, - 3.1217944, - -9.49311924, - -9.49311924, - 2.3294508, - 2.3294508 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Pen|+00.78|+00.58|-02.37", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|-1|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 4.63736964, - 4.63736964, - -0.9964076, - -0.9964076, - 3.6677956, - 3.6677956 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.079600096, - -1.079600096, - 3.6136, - 3.6136 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.16|+00.92|-00.25" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 4.63736964, - 4.63736964, - -0.9964076, - -0.9964076, - 3.6677956, - 3.6677956 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.16|+00.92|-00.25", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "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": "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": "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": "Pen|+00.78|+00.58|-02.37" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 142, - 124, - 143, - 157 - ], - "mask": [ - [ - 37043, - 1 - ], - [ - 37343, - 1 - ], - [ - 37643, - 1 - ], - [ - 37943, - 1 - ], - [ - 38243, - 1 - ], - [ - 38543, - 1 - ], - [ - 38843, - 1 - ], - [ - 39142, - 2 - ], - [ - 39442, - 2 - ], - [ - 39742, - 2 - ], - [ - 40042, - 2 - ], - [ - 40342, - 2 - ], - [ - 40642, - 2 - ], - [ - 40942, - 2 - ], - [ - 41242, - 2 - ], - [ - 41542, - 2 - ], - [ - 41842, - 2 - ], - [ - 42142, - 2 - ], - [ - 42442, - 2 - ], - [ - 42742, - 2 - ], - [ - 43042, - 2 - ], - [ - 43342, - 2 - ], - [ - 43642, - 2 - ], - [ - 43942, - 2 - ], - [ - 44242, - 2 - ], - [ - 44542, - 2 - ], - [ - 44842, - 2 - ], - [ - 45142, - 2 - ], - [ - 45442, - 2 - ], - [ - 45742, - 2 - ], - [ - 46042, - 2 - ], - [ - 46342, - 2 - ], - [ - 46642, - 2 - ], - [ - 46943, - 1 - ] - ], - "point": [ - 142, - 139 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "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": "Pen|+00.78|+00.58|-02.37", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 43 - ], - [ - 21415, - 147 - ], - [ - 21660, - 44 - ], - [ - 21715, - 147 - ], - [ - 21959, - 45 - ], - [ - 22015, - 148 - ], - [ - 22258, - 45 - ], - [ - 22315, - 148 - ], - [ - 22557, - 46 - ], - [ - 22615, - 148 - ], - [ - 22857, - 46 - ], - [ - 22915, - 148 - ], - [ - 23158, - 45 - ], - [ - 23215, - 149 - ], - [ - 23458, - 45 - ], - [ - 23515, - 149 - ], - [ - 23759, - 44 - ], - [ - 23814, - 150 - ], - [ - 24059, - 44 - ], - [ - 24114, - 11 - ], - [ - 24155, - 110 - ], - [ - 24359, - 44 - ], - [ - 24414, - 10 - ], - [ - 24456, - 109 - ], - [ - 24660, - 43 - ], - [ - 24714, - 10 - ], - [ - 24756, - 109 - ], - [ - 24975, - 27 - ], - [ - 25014, - 10 - ], - [ - 25056, - 110 - ], - [ - 25275, - 49 - ], - [ - 25356, - 110 - ], - [ - 25575, - 49 - ], - [ - 25656, - 110 - ], - [ - 25814, - 12 - ], - [ - 25875, - 49 - ], - [ - 25956, - 110 - ], - [ - 26113, - 14 - ], - [ - 26174, - 49 - ], - [ - 26256, - 111 - ], - [ - 26413, - 14 - ], - [ - 26474, - 49 - ], - [ - 26556, - 111 - ], - [ - 26713, - 15 - ], - [ - 26774, - 49 - ], - [ - 26856, - 111 - ], - [ - 27012, - 16 - ], - [ - 27074, - 49 - ], - [ - 27156, - 112 - ], - [ - 27312, - 17 - ], - [ - 27374, - 49 - ], - [ - 27456, - 112 - ], - [ - 27612, - 17 - ], - [ - 27673, - 50 - ], - [ - 27756, - 112 - ], - [ - 27911, - 19 - ], - [ - 27973, - 51 - ], - [ - 28055, - 14 - ], - [ - 28080, - 89 - ], - [ - 28211, - 20 - ], - [ - 28273, - 93 - ], - [ - 28384, - 85 - ], - [ - 28511, - 20 - ], - [ - 28573, - 90 - ], - [ - 28686, - 83 - ], - [ - 28810, - 22 - ], - [ - 28873, - 89 - ], - [ - 28988, - 81 - ], - [ - 29110, - 22 - ], - [ - 29172, - 88 - ], - [ - 29289, - 81 - ], - [ - 29410, - 23 - ], - [ - 29472, - 87 - ], - [ - 29590, - 80 - ], - [ - 29709, - 23 - ], - [ - 29772, - 86 - ], - [ - 29892, - 78 - ], - [ - 30009, - 23 - ], - [ - 30072, - 86 - ], - [ - 30192, - 48 - ], - [ - 30256, - 15 - ], - [ - 30309, - 23 - ], - [ - 30372, - 85 - ], - [ - 30493, - 46 - ], - [ - 30557, - 14 - ], - [ - 30608, - 23 - ], - [ - 30671, - 85 - ], - [ - 30794, - 44 - ], - [ - 30859, - 12 - ], - [ - 30908, - 23 - ], - [ - 30971, - 85 - ], - [ - 31094, - 44 - ], - [ - 31159, - 13 - ], - [ - 31207, - 24 - ], - [ - 31271, - 85 - ], - [ - 31395, - 43 - ], - [ - 31460, - 12 - ], - [ - 31507, - 10 - ], - [ - 31571, - 84 - ], - [ - 31695, - 43 - ], - [ - 31760, - 12 - ], - [ - 31807, - 9 - ], - [ - 31871, - 84 - ], - [ - 31996, - 41 - ], - [ - 32061, - 11 - ], - [ - 32106, - 8 - ], - [ - 32170, - 85 - ], - [ - 32296, - 41 - ], - [ - 32361, - 12 - ], - [ - 32406, - 8 - ], - [ - 32470, - 85 - ], - [ - 32596, - 41 - ], - [ - 32662, - 11 - ], - [ - 32706, - 7 - ], - [ - 32770, - 85 - ], - [ - 32896, - 41 - ], - [ - 32962, - 11 - ], - [ - 33005, - 7 - ], - [ - 33070, - 85 - ], - [ - 33196, - 41 - ], - [ - 33263, - 11 - ], - [ - 33305, - 7 - ], - [ - 33370, - 85 - ], - [ - 33496, - 41 - ], - [ - 33563, - 11 - ], - [ - 33605, - 6 - ], - [ - 33669, - 87 - ], - [ - 33796, - 41 - ], - [ - 33863, - 11 - ], - [ - 33904, - 7 - ], - [ - 33969, - 87 - ], - [ - 34095, - 42 - ], - [ - 34164, - 11 - ], - [ - 34204, - 6 - ], - [ - 34269, - 88 - ], - [ - 34395, - 42 - ], - [ - 34464, - 11 - ], - [ - 34504, - 6 - ], - [ - 34569, - 88 - ], - [ - 34695, - 42 - ], - [ - 34764, - 11 - ], - [ - 34803, - 6 - ], - [ - 34869, - 89 - ], - [ - 34994, - 43 - ], - [ - 35065, - 11 - ], - [ - 35103, - 6 - ], - [ - 35168, - 90 - ], - [ - 35294, - 43 - ], - [ - 35365, - 11 - ], - [ - 35403, - 6 - ], - [ - 35468, - 91 - ], - [ - 35593, - 44 - ], - [ - 35665, - 11 - ], - [ - 35702, - 6 - ], - [ - 35767, - 93 - ], - [ - 35892, - 45 - ], - [ - 35965, - 11 - ], - [ - 36002, - 6 - ], - [ - 36038, - 122 - ], - [ - 36191, - 46 - ], - [ - 36266, - 11 - ], - [ - 36301, - 7 - ], - [ - 36339, - 122 - ], - [ - 36489, - 49 - ], - [ - 36566, - 11 - ], - [ - 36601, - 6 - ], - [ - 36639, - 123 - ], - [ - 36789, - 49 - ], - [ - 36866, - 11 - ], - [ - 36901, - 6 - ], - [ - 36939, - 124 - ], - [ - 37088, - 50 - ], - [ - 37166, - 12 - ], - [ - 37200, - 7 - ], - [ - 37238, - 126 - ], - [ - 37387, - 51 - ], - [ - 37466, - 12 - ], - [ - 37500, - 7 - ], - [ - 37538, - 127 - ], - [ - 37685, - 53 - ], - [ - 37767, - 11 - ], - [ - 37800, - 6 - ], - [ - 37838, - 128 - ], - [ - 37984, - 54 - ], - [ - 38067, - 12 - ], - [ - 38100, - 6 - ], - [ - 38138, - 129 - ], - [ - 38282, - 56 - ], - [ - 38367, - 12 - ], - [ - 38400, - 6 - ], - [ - 38438, - 131 - ], - [ - 38580, - 58 - ], - [ - 38667, - 12 - ], - [ - 38700, - 6 - ], - [ - 38738, - 134 - ], - [ - 38877, - 62 - ], - [ - 38967, - 12 - ], - [ - 39000, - 5 - ], - [ - 39037, - 202 - ], - [ - 39267, - 13 - ], - [ - 39300, - 5 - ], - [ - 39337, - 202 - ], - [ - 39568, - 12 - ], - [ - 39600, - 5 - ], - [ - 39637, - 202 - ], - [ - 39868, - 12 - ], - [ - 39900, - 5 - ], - [ - 39937, - 202 - ], - [ - 40168, - 13 - ], - [ - 40200, - 5 - ], - [ - 40237, - 203 - ], - [ - 40468, - 13 - ], - [ - 40500, - 5 - ], - [ - 40536, - 204 - ], - [ - 40768, - 13 - ], - [ - 40800, - 4 - ], - [ - 40836, - 204 - ], - [ - 41068, - 14 - ], - [ - 41100, - 4 - ], - [ - 41136, - 204 - ], - [ - 41368, - 14 - ], - [ - 41400, - 4 - ], - [ - 41436, - 205 - ], - [ - 41668, - 14 - ], - [ - 41700, - 4 - ], - [ - 41736, - 205 - ], - [ - 41968, - 14 - ], - [ - 42000, - 4 - ], - [ - 42035, - 206 - ], - [ - 42268, - 15 - ], - [ - 42300, - 4 - ], - [ - 42335, - 206 - ], - [ - 42568, - 15 - ], - [ - 42600, - 4 - ], - [ - 42635, - 207 - ], - [ - 42868, - 15 - ], - [ - 42900, - 4 - ], - [ - 42935, - 207 - ], - [ - 43168, - 16 - ], - [ - 43200, - 4 - ], - [ - 43234, - 208 - ], - [ - 43468, - 16 - ], - [ - 43500, - 4 - ], - [ - 43534, - 209 - ], - [ - 43768, - 16 - ], - [ - 43800, - 4 - ], - [ - 43834, - 209 - ], - [ - 44068, - 17 - ], - [ - 44100, - 4 - ], - [ - 44133, - 210 - ], - [ - 44367, - 18 - ], - [ - 44400, - 4 - ], - [ - 44433, - 210 - ], - [ - 44667, - 18 - ], - [ - 44700, - 4 - ], - [ - 44733, - 210 - ], - [ - 44967, - 18 - ], - [ - 45000, - 4 - ], - [ - 45033, - 211 - ], - [ - 45266, - 20 - ], - [ - 45300, - 4 - ], - [ - 45332, - 212 - ], - [ - 45566, - 20 - ], - [ - 45600, - 4 - ], - [ - 45632, - 254 - ], - [ - 45900, - 4 - ], - [ - 45932, - 255 - ], - [ - 46200, - 5 - ], - [ - 46232, - 255 - ], - [ - 46500, - 5 - ], - [ - 46531, - 256 - ], - [ - 46800, - 5 - ], - [ - 46831, - 257 - ], - [ - 47100, - 6 - ], - [ - 47131, - 257 - ], - [ - 47400, - 7 - ], - [ - 47427, - 261 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.16|+00.92|-00.25" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 116, - 143, - 178, - 145 - ], - "mask": [ - [ - 42719, - 56 - ], - [ - 43016, - 63 - ], - [ - 43320, - 55 - ] - ], - "point": [ - 147, - 143 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.16|+00.92|-00.25", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 43 - ], - [ - 21415, - 147 - ], - [ - 21660, - 44 - ], - [ - 21715, - 147 - ], - [ - 21959, - 45 - ], - [ - 22015, - 148 - ], - [ - 22258, - 45 - ], - [ - 22315, - 148 - ], - [ - 22557, - 46 - ], - [ - 22615, - 148 - ], - [ - 22857, - 46 - ], - [ - 22915, - 148 - ], - [ - 23158, - 45 - ], - [ - 23215, - 149 - ], - [ - 23458, - 45 - ], - [ - 23515, - 149 - ], - [ - 23759, - 44 - ], - [ - 23814, - 150 - ], - [ - 24059, - 44 - ], - [ - 24114, - 11 - ], - [ - 24155, - 110 - ], - [ - 24359, - 44 - ], - [ - 24414, - 10 - ], - [ - 24456, - 109 - ], - [ - 24660, - 43 - ], - [ - 24714, - 10 - ], - [ - 24756, - 109 - ], - [ - 24975, - 27 - ], - [ - 25014, - 10 - ], - [ - 25056, - 110 - ], - [ - 25275, - 49 - ], - [ - 25356, - 110 - ], - [ - 25575, - 49 - ], - [ - 25656, - 110 - ], - [ - 25814, - 12 - ], - [ - 25875, - 49 - ], - [ - 25956, - 110 - ], - [ - 26113, - 14 - ], - [ - 26174, - 49 - ], - [ - 26256, - 111 - ], - [ - 26413, - 14 - ], - [ - 26474, - 49 - ], - [ - 26556, - 111 - ], - [ - 26713, - 15 - ], - [ - 26774, - 49 - ], - [ - 26856, - 111 - ], - [ - 27012, - 16 - ], - [ - 27074, - 49 - ], - [ - 27156, - 112 - ], - [ - 27312, - 17 - ], - [ - 27374, - 49 - ], - [ - 27456, - 112 - ], - [ - 27612, - 17 - ], - [ - 27673, - 50 - ], - [ - 27756, - 112 - ], - [ - 27911, - 19 - ], - [ - 27973, - 51 - ], - [ - 28055, - 14 - ], - [ - 28080, - 89 - ], - [ - 28211, - 20 - ], - [ - 28273, - 93 - ], - [ - 28384, - 85 - ], - [ - 28511, - 20 - ], - [ - 28573, - 90 - ], - [ - 28686, - 83 - ], - [ - 28810, - 22 - ], - [ - 28873, - 89 - ], - [ - 28988, - 81 - ], - [ - 29110, - 22 - ], - [ - 29172, - 88 - ], - [ - 29289, - 81 - ], - [ - 29410, - 23 - ], - [ - 29472, - 87 - ], - [ - 29590, - 80 - ], - [ - 29709, - 23 - ], - [ - 29772, - 86 - ], - [ - 29892, - 78 - ], - [ - 30009, - 23 - ], - [ - 30072, - 86 - ], - [ - 30192, - 48 - ], - [ - 30256, - 15 - ], - [ - 30309, - 23 - ], - [ - 30372, - 85 - ], - [ - 30493, - 46 - ], - [ - 30557, - 14 - ], - [ - 30608, - 23 - ], - [ - 30671, - 85 - ], - [ - 30794, - 44 - ], - [ - 30859, - 12 - ], - [ - 30908, - 23 - ], - [ - 30971, - 85 - ], - [ - 31094, - 44 - ], - [ - 31159, - 13 - ], - [ - 31207, - 24 - ], - [ - 31271, - 85 - ], - [ - 31395, - 43 - ], - [ - 31460, - 12 - ], - [ - 31507, - 10 - ], - [ - 31571, - 84 - ], - [ - 31695, - 43 - ], - [ - 31760, - 12 - ], - [ - 31807, - 9 - ], - [ - 31871, - 84 - ], - [ - 31996, - 41 - ], - [ - 32061, - 11 - ], - [ - 32106, - 8 - ], - [ - 32170, - 85 - ], - [ - 32296, - 41 - ], - [ - 32361, - 12 - ], - [ - 32406, - 8 - ], - [ - 32470, - 85 - ], - [ - 32596, - 41 - ], - [ - 32662, - 11 - ], - [ - 32706, - 7 - ], - [ - 32770, - 85 - ], - [ - 32896, - 41 - ], - [ - 32962, - 11 - ], - [ - 33005, - 7 - ], - [ - 33070, - 85 - ], - [ - 33196, - 41 - ], - [ - 33263, - 11 - ], - [ - 33305, - 7 - ], - [ - 33370, - 85 - ], - [ - 33496, - 41 - ], - [ - 33563, - 11 - ], - [ - 33605, - 6 - ], - [ - 33669, - 87 - ], - [ - 33796, - 41 - ], - [ - 33863, - 11 - ], - [ - 33904, - 7 - ], - [ - 33969, - 87 - ], - [ - 34095, - 42 - ], - [ - 34164, - 11 - ], - [ - 34204, - 6 - ], - [ - 34269, - 88 - ], - [ - 34395, - 42 - ], - [ - 34464, - 11 - ], - [ - 34504, - 6 - ], - [ - 34569, - 88 - ], - [ - 34695, - 42 - ], - [ - 34764, - 11 - ], - [ - 34803, - 6 - ], - [ - 34869, - 89 - ], - [ - 34994, - 43 - ], - [ - 35065, - 11 - ], - [ - 35103, - 6 - ], - [ - 35168, - 90 - ], - [ - 35294, - 43 - ], - [ - 35365, - 11 - ], - [ - 35403, - 6 - ], - [ - 35468, - 91 - ], - [ - 35593, - 44 - ], - [ - 35665, - 11 - ], - [ - 35702, - 6 - ], - [ - 35767, - 93 - ], - [ - 35892, - 45 - ], - [ - 35965, - 11 - ], - [ - 36002, - 6 - ], - [ - 36038, - 122 - ], - [ - 36191, - 46 - ], - [ - 36266, - 11 - ], - [ - 36301, - 7 - ], - [ - 36339, - 122 - ], - [ - 36489, - 49 - ], - [ - 36566, - 11 - ], - [ - 36601, - 6 - ], - [ - 36639, - 123 - ], - [ - 36789, - 49 - ], - [ - 36866, - 11 - ], - [ - 36901, - 6 - ], - [ - 36939, - 124 - ], - [ - 37088, - 50 - ], - [ - 37166, - 12 - ], - [ - 37200, - 7 - ], - [ - 37238, - 126 - ], - [ - 37387, - 51 - ], - [ - 37466, - 12 - ], - [ - 37500, - 7 - ], - [ - 37538, - 127 - ], - [ - 37685, - 53 - ], - [ - 37767, - 11 - ], - [ - 37800, - 6 - ], - [ - 37838, - 128 - ], - [ - 37984, - 54 - ], - [ - 38067, - 12 - ], - [ - 38100, - 6 - ], - [ - 38138, - 129 - ], - [ - 38282, - 56 - ], - [ - 38367, - 12 - ], - [ - 38400, - 6 - ], - [ - 38438, - 131 - ], - [ - 38580, - 58 - ], - [ - 38667, - 12 - ], - [ - 38700, - 6 - ], - [ - 38738, - 134 - ], - [ - 38879, - 60 - ], - [ - 38967, - 12 - ], - [ - 39000, - 5 - ], - [ - 39037, - 140 - ], - [ - 39179, - 60 - ], - [ - 39267, - 13 - ], - [ - 39300, - 5 - ], - [ - 39337, - 140 - ], - [ - 39479, - 60 - ], - [ - 39568, - 12 - ], - [ - 39600, - 5 - ], - [ - 39637, - 139 - ], - [ - 39779, - 60 - ], - [ - 39868, - 12 - ], - [ - 39900, - 5 - ], - [ - 39937, - 139 - ], - [ - 40079, - 60 - ], - [ - 40168, - 13 - ], - [ - 40200, - 5 - ], - [ - 40237, - 139 - ], - [ - 40379, - 61 - ], - [ - 40468, - 13 - ], - [ - 40500, - 5 - ], - [ - 40536, - 140 - ], - [ - 40678, - 62 - ], - [ - 40768, - 13 - ], - [ - 40800, - 4 - ], - [ - 40836, - 140 - ], - [ - 40978, - 62 - ], - [ - 41068, - 14 - ], - [ - 41100, - 4 - ], - [ - 41136, - 140 - ], - [ - 41278, - 62 - ], - [ - 41368, - 14 - ], - [ - 41400, - 4 - ], - [ - 41436, - 140 - ], - [ - 41578, - 63 - ], - [ - 41668, - 14 - ], - [ - 41700, - 4 - ], - [ - 41736, - 139 - ], - [ - 41878, - 63 - ], - [ - 41968, - 14 - ], - [ - 42000, - 4 - ], - [ - 42035, - 140 - ], - [ - 42178, - 63 - ], - [ - 42268, - 15 - ], - [ - 42300, - 4 - ], - [ - 42335, - 140 - ], - [ - 42477, - 64 - ], - [ - 42568, - 15 - ], - [ - 42600, - 4 - ], - [ - 42635, - 140 - ], - [ - 42777, - 65 - ], - [ - 42868, - 15 - ], - [ - 42900, - 4 - ], - [ - 42935, - 140 - ], - [ - 43077, - 65 - ], - [ - 43168, - 16 - ], - [ - 43200, - 4 - ], - [ - 43234, - 141 - ], - [ - 43377, - 65 - ], - [ - 43468, - 16 - ], - [ - 43500, - 4 - ], - [ - 43534, - 141 - ], - [ - 43677, - 66 - ], - [ - 43768, - 16 - ], - [ - 43800, - 4 - ], - [ - 43834, - 141 - ], - [ - 43976, - 67 - ], - [ - 44068, - 17 - ], - [ - 44100, - 4 - ], - [ - 44133, - 210 - ], - [ - 44367, - 18 - ], - [ - 44400, - 4 - ], - [ - 44433, - 210 - ], - [ - 44667, - 18 - ], - [ - 44700, - 4 - ], - [ - 44733, - 210 - ], - [ - 44967, - 18 - ], - [ - 45000, - 4 - ], - [ - 45033, - 211 - ], - [ - 45266, - 20 - ], - [ - 45300, - 4 - ], - [ - 45332, - 212 - ], - [ - 45566, - 20 - ], - [ - 45600, - 4 - ], - [ - 45632, - 254 - ], - [ - 45900, - 4 - ], - [ - 45932, - 255 - ], - [ - 46200, - 5 - ], - [ - 46232, - 255 - ], - [ - 46500, - 5 - ], - [ - 46531, - 256 - ], - [ - 46800, - 5 - ], - [ - 46831, - 257 - ], - [ - 47100, - 6 - ], - [ - 47131, - 257 - ], - [ - 47400, - 7 - ], - [ - 47427, - 261 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 144, - 140 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -1.25, - "y": 0.9009992, - "z": 1.75 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": -1.57770038, - "y": 1.52158082, - "z": -2.00430226 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.293552, - "y": 0.382902771, - "z": -0.386632472 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.12034822, - "y": 0.237578034, - "z": -1.89474154 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 0.93732, - "y": 0.5823627, - "z": -2.59203935 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 1.15934241, - "y": 0.9169489, - "z": -0.2491019 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 0.152963251, - "y": 0.5782969, - "z": -2.53734946 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": -1.54415154, - "y": 1.523383, - "z": -1.57101119 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.32964242, - "y": 0.105267346, - "z": -1.9293704 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.12131131, - "y": 0.504996, - "z": -1.98397374 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -1.20307648, - "y": 0.6091408, - "z": 0.0570314229 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -0.962687433, - "y": 0.6091408, - "z": -0.504187644 - }, - "rotation": { - "x": 0.0, - "y": 179.999969, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.33205307, - "y": 0.6994717, - "z": -1.610656 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 1.26000082, - "y": 0.9113732, - "z": 0.0397582352 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "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": 1.22644794, - "y": 0.9128831, - "z": -0.104671881 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "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": 1.29355371, - "y": 1.41638041, - "z": 0.195088387 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.5824908, - "y": 0.697214246, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.64510024, - "y": 0.6964986, - "z": -2.19111466 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_cdb35848", - "position": { - "x": -1.20307684, - "y": 0.6091408, - "z": 0.6182506 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "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": 0.7804486, - "y": 0.5823627, - "z": -2.37327981 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": -1.33025241, - "y": 0.6933491, - "z": -2.48305559 - }, - "rotation": { - "x": 0.237587124, - "y": 1.87331688, - "z": 359.966553 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.17267275, - "y": 0.104878187, - "z": -1.60532045 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": -1.3946625, - "y": 0.6991794, - "z": -1.90088534 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2796152136, - "scene_num": 327 - }, - "task_id": "trial_T20190912_025637_251961", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AO33H4GL9KZX9_3ERMJ6L4D1904SZ3Y9EUW3EPPIN7MK", - "high_descs": [ - "Turn around and go to the white desk across the bedroom. ", - "Take the black and gray pen to the left of the notepad.", - "Turn right and go to the yellow chest next to the left of the bed.", - "Lean the pen up against the gray bowl", - "Turn around and go to the wooden bookshelf. ", - "Take the black and gray pen to the right of the keys and clock. ", - "Turn around and go back to the chest next to the bed.", - "Place the pen to the left of the bowl and the pen on the top of the chest." - ], - "task_desc": "Collect the pens and put them on the top of the chest.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3P4RDNWND8N7S4AEE35Z70CHZ3JIJ0", - "high_descs": [ - "Move to the desk to the left of the window", - "Pick up a pen from the desk ", - "Move to the dresser to the right of you", - "Place the pen on the dresser", - "Move to the shelf behind you", - "Pick up a pen from the shelf", - "Move to the dresser behind you", - "Place the pen on the dresser" - ], - "task_desc": "Put two pens on the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1DMXEJGJY02E1_3PZDLQMM0W2G95Q6F83LXGS5KMU2CA", - "high_descs": [ - "Turn right and go to the desk.", - "Pick up the pen next to the book.", - "Go to the dresser on your right.", - "Put the pen on the dresser.", - "Turn around and go to the shelf.", - "Pick up the pen from the shelf.", - "Return to the dresser.", - "Put the second pen on the dresser." - ], - "task_desc": "Put two pens on the dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190912_025720_775535/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190912_025720_775535/traj_data.json deleted file mode 100644 index 014b21ed9..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Pen-None-Dresser-327/trial_T20190912_025720_775535/traj_data.json +++ /dev/null @@ -1,5872 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 1, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 29 - }, - { - "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": 29 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 32 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 35 - }, - { - "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": 35 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 48 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000377.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000378.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000379.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000380.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000381.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000382.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000383.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000384.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000385.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000386.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000387.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000388.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000389.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000390.png", - "low_idx": 70 - }, - { - "high_idx": 7, - "image_name": "000000391.png", - "low_idx": 70 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-2|-10|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 1.866823672, - 1.866823672, - -10.58691692, - -10.58691692, - 2.3294508, - 2.3294508 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 1.784, - 1.784, - -10.104, - -10.104, - -0.016, - -0.016 - ] - ], - "forceVisible": true, - "objectId": "Pen|+00.47|+00.58|-02.65" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 1.866823672, - 1.866823672, - -10.58691692, - -10.58691692, - 2.3294508, - 2.3294508 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Pen|+00.47|+00.58|-02.65", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|3|0|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 5.04000188, - 5.04000188, - -0.41868788, - -0.41868788, - 3.6677956, - 3.6677956 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 5.04, - 5.04, - -1.079600096, - -1.079600096, - 3.6136, - 3.6136 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.26|+00.92|-00.10" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-8|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 5.04000188, - 5.04000188, - -0.41868788, - -0.41868788, - 3.6677956, - 3.6677956 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.864, - -5.864, - -8.184, - -8.184, - 0.1, - 0.1 - ] - ], - "forceVisible": true, - "objectId": "Pen|+01.26|+00.92|-00.10", - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - } - }, - { - "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+00.47|+00.58|-02.65" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 176, - 143, - 176, - 154 - ], - "mask": [ - [ - 42776, - 1 - ], - [ - 43076, - 1 - ], - [ - 43376, - 1 - ], - [ - 43676, - 1 - ], - [ - 43976, - 1 - ], - [ - 44276, - 1 - ], - [ - 44576, - 1 - ], - [ - 44876, - 1 - ], - [ - 45176, - 1 - ], - [ - 45476, - 1 - ], - [ - 45776, - 1 - ], - [ - 46076, - 1 - ] - ], - "point": [ - 176, - 147 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+00.47|+00.58|-02.65", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 191 - ], - [ - 25275, - 191 - ], - [ - 25575, - 191 - ], - [ - 25814, - 12 - ], - [ - 25875, - 191 - ], - [ - 26113, - 14 - ], - [ - 26174, - 193 - ], - [ - 26413, - 14 - ], - [ - 26474, - 193 - ], - [ - 26713, - 15 - ], - [ - 26774, - 193 - ], - [ - 27012, - 16 - ], - [ - 27074, - 50 - ], - [ - 27155, - 113 - ], - [ - 27312, - 17 - ], - [ - 27374, - 49 - ], - [ - 27456, - 112 - ], - [ - 27612, - 17 - ], - [ - 27673, - 50 - ], - [ - 27756, - 112 - ], - [ - 27911, - 19 - ], - [ - 27973, - 50 - ], - [ - 28056, - 113 - ], - [ - 28211, - 20 - ], - [ - 28273, - 50 - ], - [ - 28356, - 113 - ], - [ - 28511, - 20 - ], - [ - 28573, - 50 - ], - [ - 28656, - 113 - ], - [ - 28810, - 22 - ], - [ - 28873, - 50 - ], - [ - 28956, - 113 - ], - [ - 29110, - 22 - ], - [ - 29172, - 51 - ], - [ - 29256, - 114 - ], - [ - 29410, - 23 - ], - [ - 29472, - 51 - ], - [ - 29556, - 114 - ], - [ - 29709, - 23 - ], - [ - 29772, - 51 - ], - [ - 29856, - 114 - ], - [ - 30009, - 23 - ], - [ - 30072, - 50 - ], - [ - 30156, - 115 - ], - [ - 30309, - 23 - ], - [ - 30372, - 50 - ], - [ - 30456, - 115 - ], - [ - 30608, - 23 - ], - [ - 30671, - 51 - ], - [ - 30756, - 115 - ], - [ - 30908, - 23 - ], - [ - 30971, - 52 - ], - [ - 31056, - 116 - ], - [ - 31207, - 24 - ], - [ - 31271, - 201 - ], - [ - 31507, - 23 - ], - [ - 31571, - 136 - ], - [ - 31718, - 54 - ], - [ - 31807, - 23 - ], - [ - 31871, - 133 - ], - [ - 32021, - 51 - ], - [ - 32106, - 24 - ], - [ - 32170, - 132 - ], - [ - 32324, - 49 - ], - [ - 32406, - 24 - ], - [ - 32470, - 130 - ], - [ - 32626, - 47 - ], - [ - 32706, - 23 - ], - [ - 32770, - 129 - ], - [ - 32928, - 45 - ], - [ - 33005, - 24 - ], - [ - 33070, - 128 - ], - [ - 33229, - 45 - ], - [ - 33305, - 24 - ], - [ - 33370, - 127 - ], - [ - 33530, - 44 - ], - [ - 33605, - 23 - ], - [ - 33669, - 127 - ], - [ - 33831, - 43 - ], - [ - 33904, - 24 - ], - [ - 33969, - 127 - ], - [ - 34132, - 43 - ], - [ - 34204, - 24 - ], - [ - 34269, - 126 - ], - [ - 34433, - 42 - ], - [ - 34504, - 24 - ], - [ - 34569, - 125 - ], - [ - 34733, - 42 - ], - [ - 34803, - 24 - ], - [ - 34869, - 125 - ], - [ - 35034, - 42 - ], - [ - 35103, - 24 - ], - [ - 35168, - 126 - ], - [ - 35335, - 41 - ], - [ - 35403, - 24 - ], - [ - 35468, - 126 - ], - [ - 35635, - 41 - ], - [ - 35702, - 31 - ], - [ - 35767, - 127 - ], - [ - 35935, - 41 - ], - [ - 36002, - 192 - ], - [ - 36236, - 41 - ], - [ - 36301, - 193 - ], - [ - 36536, - 41 - ], - [ - 36601, - 193 - ], - [ - 36836, - 41 - ], - [ - 36901, - 193 - ], - [ - 37136, - 42 - ], - [ - 37200, - 194 - ], - [ - 37436, - 42 - ], - [ - 37500, - 195 - ], - [ - 37736, - 42 - ], - [ - 37800, - 195 - ], - [ - 38036, - 43 - ], - [ - 38100, - 196 - ], - [ - 38336, - 43 - ], - [ - 38400, - 196 - ], - [ - 38636, - 43 - ], - [ - 38700, - 196 - ], - [ - 38935, - 44 - ], - [ - 39000, - 197 - ], - [ - 39235, - 45 - ], - [ - 39300, - 197 - ], - [ - 39534, - 46 - ], - [ - 39600, - 197 - ], - [ - 39833, - 47 - ], - [ - 39900, - 198 - ], - [ - 40133, - 48 - ], - [ - 40200, - 199 - ], - [ - 40432, - 49 - ], - [ - 40500, - 199 - ], - [ - 40730, - 51 - ], - [ - 40800, - 200 - ], - [ - 41029, - 53 - ], - [ - 41100, - 201 - ], - [ - 41327, - 55 - ], - [ - 41400, - 132 - ], - [ - 41545, - 57 - ], - [ - 41625, - 57 - ], - [ - 41700, - 132 - ], - [ - 41845, - 58 - ], - [ - 41924, - 58 - ], - [ - 42000, - 132 - ], - [ - 42145, - 59 - ], - [ - 42222, - 61 - ], - [ - 42300, - 132 - ], - [ - 42445, - 61 - ], - [ - 42519, - 64 - ], - [ - 42600, - 132 - ], - [ - 42745, - 64 - ], - [ - 42815, - 68 - ], - [ - 42900, - 132 - ], - [ - 43045, - 139 - ], - [ - 43200, - 132 - ], - [ - 43345, - 139 - ], - [ - 43500, - 132 - ], - [ - 43645, - 139 - ], - [ - 43800, - 132 - ], - [ - 43945, - 140 - ], - [ - 44100, - 131 - ], - [ - 44245, - 140 - ], - [ - 44400, - 131 - ], - [ - 44545, - 140 - ], - [ - 44700, - 131 - ], - [ - 44845, - 140 - ], - [ - 45000, - 131 - ], - [ - 45145, - 141 - ], - [ - 45300, - 131 - ], - [ - 45445, - 141 - ], - [ - 45600, - 131 - ], - [ - 45745, - 141 - ], - [ - 45900, - 131 - ], - [ - 46045, - 142 - ], - [ - 46200, - 131 - ], - [ - 46345, - 142 - ], - [ - 46500, - 131 - ], - [ - 46645, - 142 - ], - [ - 46800, - 132 - ], - [ - 46944, - 144 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 145, - 140 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pen|+01.26|+00.92|-00.10" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 151, - 116, - 209, - 118 - ], - "mask": [ - [ - 34655, - 52 - ], - [ - 34951, - 59 - ], - [ - 35254, - 53 - ] - ], - "point": [ - 180, - 116 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+01.26|+00.92|-00.10", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.47|+00.03|-02.05" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 71, - 288, - 212 - ], - "mask": [ - [ - 21062, - 199 - ], - [ - 21361, - 201 - ], - [ - 21660, - 202 - ], - [ - 21959, - 204 - ], - [ - 22258, - 205 - ], - [ - 22557, - 206 - ], - [ - 22857, - 206 - ], - [ - 23158, - 206 - ], - [ - 23458, - 206 - ], - [ - 23759, - 205 - ], - [ - 24059, - 206 - ], - [ - 24359, - 206 - ], - [ - 24660, - 205 - ], - [ - 24975, - 191 - ], - [ - 25275, - 191 - ], - [ - 25575, - 191 - ], - [ - 25814, - 12 - ], - [ - 25875, - 191 - ], - [ - 26113, - 14 - ], - [ - 26174, - 193 - ], - [ - 26413, - 14 - ], - [ - 26474, - 193 - ], - [ - 26713, - 15 - ], - [ - 26774, - 193 - ], - [ - 27012, - 16 - ], - [ - 27074, - 50 - ], - [ - 27155, - 113 - ], - [ - 27312, - 17 - ], - [ - 27374, - 49 - ], - [ - 27456, - 112 - ], - [ - 27612, - 17 - ], - [ - 27673, - 50 - ], - [ - 27756, - 112 - ], - [ - 27911, - 19 - ], - [ - 27973, - 50 - ], - [ - 28056, - 113 - ], - [ - 28211, - 20 - ], - [ - 28273, - 50 - ], - [ - 28356, - 113 - ], - [ - 28511, - 20 - ], - [ - 28573, - 50 - ], - [ - 28656, - 113 - ], - [ - 28810, - 22 - ], - [ - 28873, - 50 - ], - [ - 28956, - 113 - ], - [ - 29110, - 22 - ], - [ - 29172, - 51 - ], - [ - 29256, - 114 - ], - [ - 29410, - 23 - ], - [ - 29472, - 51 - ], - [ - 29556, - 114 - ], - [ - 29709, - 23 - ], - [ - 29772, - 51 - ], - [ - 29856, - 114 - ], - [ - 30009, - 23 - ], - [ - 30072, - 50 - ], - [ - 30156, - 115 - ], - [ - 30309, - 23 - ], - [ - 30372, - 50 - ], - [ - 30456, - 115 - ], - [ - 30608, - 23 - ], - [ - 30671, - 51 - ], - [ - 30756, - 115 - ], - [ - 30908, - 23 - ], - [ - 30971, - 52 - ], - [ - 31056, - 116 - ], - [ - 31207, - 24 - ], - [ - 31271, - 201 - ], - [ - 31507, - 23 - ], - [ - 31571, - 136 - ], - [ - 31718, - 54 - ], - [ - 31807, - 23 - ], - [ - 31871, - 133 - ], - [ - 32021, - 51 - ], - [ - 32106, - 24 - ], - [ - 32170, - 132 - ], - [ - 32324, - 49 - ], - [ - 32406, - 24 - ], - [ - 32470, - 130 - ], - [ - 32626, - 47 - ], - [ - 32706, - 23 - ], - [ - 32770, - 129 - ], - [ - 32928, - 45 - ], - [ - 33005, - 24 - ], - [ - 33070, - 128 - ], - [ - 33229, - 45 - ], - [ - 33305, - 24 - ], - [ - 33370, - 127 - ], - [ - 33530, - 44 - ], - [ - 33605, - 23 - ], - [ - 33669, - 127 - ], - [ - 33831, - 43 - ], - [ - 33904, - 24 - ], - [ - 33969, - 127 - ], - [ - 34132, - 43 - ], - [ - 34204, - 24 - ], - [ - 34269, - 126 - ], - [ - 34433, - 42 - ], - [ - 34504, - 24 - ], - [ - 34569, - 125 - ], - [ - 34733, - 42 - ], - [ - 34803, - 24 - ], - [ - 34869, - 125 - ], - [ - 35034, - 42 - ], - [ - 35103, - 24 - ], - [ - 35168, - 126 - ], - [ - 35335, - 41 - ], - [ - 35403, - 24 - ], - [ - 35468, - 126 - ], - [ - 35635, - 41 - ], - [ - 35702, - 31 - ], - [ - 35767, - 127 - ], - [ - 35935, - 41 - ], - [ - 36002, - 192 - ], - [ - 36236, - 41 - ], - [ - 36301, - 193 - ], - [ - 36536, - 41 - ], - [ - 36601, - 193 - ], - [ - 36836, - 41 - ], - [ - 36901, - 193 - ], - [ - 37136, - 42 - ], - [ - 37200, - 194 - ], - [ - 37436, - 42 - ], - [ - 37500, - 195 - ], - [ - 37736, - 42 - ], - [ - 37800, - 195 - ], - [ - 38036, - 43 - ], - [ - 38100, - 196 - ], - [ - 38336, - 43 - ], - [ - 38400, - 196 - ], - [ - 38636, - 43 - ], - [ - 38700, - 196 - ], - [ - 38935, - 44 - ], - [ - 39000, - 197 - ], - [ - 39235, - 45 - ], - [ - 39300, - 197 - ], - [ - 39534, - 46 - ], - [ - 39600, - 197 - ], - [ - 39833, - 47 - ], - [ - 39900, - 198 - ], - [ - 40133, - 48 - ], - [ - 40200, - 199 - ], - [ - 40432, - 49 - ], - [ - 40500, - 199 - ], - [ - 40730, - 51 - ], - [ - 40800, - 200 - ], - [ - 41029, - 53 - ], - [ - 41100, - 201 - ], - [ - 41327, - 55 - ], - [ - 41400, - 132 - ], - [ - 41545, - 57 - ], - [ - 41625, - 57 - ], - [ - 41700, - 132 - ], - [ - 41845, - 58 - ], - [ - 41924, - 58 - ], - [ - 42000, - 132 - ], - [ - 42145, - 59 - ], - [ - 42222, - 61 - ], - [ - 42300, - 132 - ], - [ - 42445, - 61 - ], - [ - 42519, - 64 - ], - [ - 42600, - 132 - ], - [ - 42745, - 64 - ], - [ - 42815, - 68 - ], - [ - 42900, - 132 - ], - [ - 43045, - 67 - ], - [ - 43115, - 69 - ], - [ - 43200, - 132 - ], - [ - 43345, - 67 - ], - [ - 43415, - 69 - ], - [ - 43500, - 132 - ], - [ - 43645, - 67 - ], - [ - 43714, - 70 - ], - [ - 43800, - 132 - ], - [ - 43945, - 67 - ], - [ - 44013, - 72 - ], - [ - 44100, - 131 - ], - [ - 44245, - 140 - ], - [ - 44400, - 131 - ], - [ - 44545, - 140 - ], - [ - 44700, - 131 - ], - [ - 44845, - 140 - ], - [ - 45000, - 131 - ], - [ - 45145, - 141 - ], - [ - 45300, - 131 - ], - [ - 45445, - 141 - ], - [ - 45600, - 131 - ], - [ - 45745, - 141 - ], - [ - 45900, - 131 - ], - [ - 46045, - 142 - ], - [ - 46200, - 131 - ], - [ - 46345, - 142 - ], - [ - 46500, - 131 - ], - [ - 46645, - 142 - ], - [ - 46800, - 132 - ], - [ - 46944, - 144 - ], - [ - 47100, - 288 - ], - [ - 47400, - 288 - ], - [ - 47700, - 288 - ], - [ - 48000, - 289 - ], - [ - 48300, - 288 - ], - [ - 48600, - 287 - ], - [ - 48900, - 286 - ], - [ - 49200, - 285 - ], - [ - 49500, - 284 - ], - [ - 49800, - 18 - ], - [ - 50059, - 22 - ], - [ - 50100, - 17 - ], - [ - 50360, - 20 - ], - [ - 50400, - 16 - ], - [ - 50661, - 18 - ], - [ - 50700, - 15 - ], - [ - 50962, - 16 - ], - [ - 51001, - 14 - ], - [ - 51262, - 15 - ], - [ - 51303, - 12 - ], - [ - 51562, - 14 - ], - [ - 51604, - 11 - ], - [ - 51862, - 13 - ], - [ - 51905, - 11 - ], - [ - 52161, - 13 - ], - [ - 52206, - 11 - ], - [ - 52460, - 13 - ], - [ - 52507, - 11 - ], - [ - 52759, - 13 - ], - [ - 52808, - 11 - ], - [ - 53058, - 13 - ], - [ - 53109, - 11 - ], - [ - 53357, - 13 - ], - [ - 53411, - 10 - ], - [ - 53657, - 12 - ], - [ - 53712, - 10 - ], - [ - 53956, - 12 - ], - [ - 54013, - 10 - ], - [ - 54255, - 12 - ], - [ - 54314, - 11 - ], - [ - 54554, - 12 - ], - [ - 54615, - 11 - ], - [ - 54853, - 12 - ], - [ - 54916, - 11 - ], - [ - 55152, - 12 - ], - [ - 55217, - 11 - ], - [ - 55451, - 12 - ], - [ - 55519, - 10 - ], - [ - 55750, - 12 - ], - [ - 55820, - 10 - ], - [ - 56050, - 11 - ], - [ - 56121, - 10 - ], - [ - 56349, - 11 - ], - [ - 56422, - 10 - ], - [ - 56648, - 11 - ], - [ - 56723, - 10 - ], - [ - 56947, - 11 - ], - [ - 57024, - 10 - ], - [ - 57246, - 11 - ], - [ - 57325, - 10 - ], - [ - 57545, - 11 - ], - [ - 57627, - 9 - ], - [ - 57844, - 11 - ], - [ - 57928, - 9 - ], - [ - 58143, - 11 - ], - [ - 58229, - 9 - ], - [ - 58443, - 10 - ], - [ - 58530, - 9 - ], - [ - 58742, - 10 - ], - [ - 58831, - 9 - ], - [ - 59041, - 10 - ], - [ - 59132, - 10 - ], - [ - 59340, - 10 - ], - [ - 59433, - 10 - ], - [ - 59639, - 10 - ], - [ - 59735, - 9 - ], - [ - 59938, - 10 - ], - [ - 60036, - 9 - ], - [ - 60237, - 10 - ], - [ - 60337, - 9 - ], - [ - 60536, - 10 - ], - [ - 60638, - 9 - ], - [ - 60835, - 10 - ], - [ - 60939, - 9 - ], - [ - 61135, - 9 - ], - [ - 61240, - 9 - ], - [ - 61434, - 9 - ], - [ - 61542, - 8 - ], - [ - 61733, - 9 - ], - [ - 61843, - 8 - ], - [ - 62032, - 9 - ], - [ - 62144, - 8 - ], - [ - 62331, - 9 - ], - [ - 62445, - 8 - ], - [ - 62630, - 9 - ], - [ - 62746, - 8 - ], - [ - 62929, - 9 - ], - [ - 63047, - 8 - ], - [ - 63228, - 10 - ], - [ - 63348, - 8 - ], - [ - 63528, - 9 - ] - ], - "point": [ - 145, - 140 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan327", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.5, - "y": 0.9009992, - "z": 0.0 - }, - "object_poses": [ - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": -1.33205307, - "y": 0.6991794, - "z": -1.75577068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": 1.26, - "y": 1.41068065, - "z": -0.238202155 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Pen_5b90d568", - "position": { - "x": 0.466705918, - "y": 0.5823627, - "z": -2.64672923 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": 1.17267179, - "y": 0.2390278, - "z": -1.9293704 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_affb30a7", - "position": { - "x": 1.0719676, - "y": 0.5104845, - "z": -1.81962538 - }, - "rotation": { - "x": 0.0, - "y": 270.000183, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 0.7804486, - "y": 0.5782969, - "z": -2.59203935 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.54414511, - "y": 1.521792, - "z": -2.29316235 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": -1.26944363, - "y": 0.6964986, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -0.9626882, - "y": 0.610413, - "z": 0.6182507 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "Book_730875e1", - "position": { - "x": -0.962687254, - "y": 0.610413, - "z": -0.7847973 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_4d1a2868", - "position": { - "x": 1.1593436, - "y": 0.9128831, - "z": 0.184188753 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "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": -1.56939232, - "y": 0.03167583, - "z": 1.94146633 - }, - "rotation": { - "x": 0.0, - "y": 119.999924, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7274698b", - "position": { - "x": -1.51988137, - "y": 0.700106263, - "z": -2.046 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_40e73bd4", - "position": { - "x": 1.277319, - "y": 0.105267346, - "z": -1.96399939 - }, - "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": -1.3232708, - "y": 0.7137597, - "z": 0.0570313036 - }, - "rotation": { - "x": 0.0, - "y": -3.756604e-05, - "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": 1.26000047, - "y": 0.9169489, - "z": -0.10467197 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_f169cd1d", - "position": { - "x": 0.7804486, - "y": 0.576787, - "z": -2.42796969 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_20bef21f", - "position": { - "x": 1.22644746, - "y": 0.382902771, - "z": -0.242202073 - }, - "rotation": { - "x": 0.0, - "y": 270.000153, - "z": 0.0 - } - }, - { - "objectName": "Bowl_a179d6ba", - "position": { - "x": -1.54415023, - "y": 1.52158082, - "z": -1.71544147 - }, - "rotation": { - "x": 0.0, - "y": 269.9995, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 544447285, - "scene_num": 327 - }, - "task_id": "trial_T20190912_025720_775535", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3SFPSMFRSRTB3_31N2WW6R9U7CXZ6ZAA7ROWI0NHF3FY", - "high_descs": [ - "Turn around and go to window with the table with open laptop to your left.", - "Turn left to face table, take pen next to laptop off table.", - "Turn left, face dresser with phone and lamp on it.", - "Place pen in the bowl on the right side of the dresser.", - "Turn around, go to shelf which has a pen, keys and cd on it.", - "Pick up the pen from the shelf, located to the right of the keys.", - "Turn around, go to dresser with phone, lamp and pen on it.", - "Place pen on dresser, between the phone and credit card." - ], - "task_desc": "Move two pens to a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_379J5II41RX17PWSL5RL20RHB07LEO", - "high_descs": [ - "Move to the desk to the left of the window", - "Pick up a pen from the desk ", - "Move to the dresser at the foot of the bed", - "Put the pen on the dresser", - "Move to the shelf to the right of the door", - "Pick up a pen from the shelf", - "Move to the dresser at the foot of the bed", - "Put the pen on the dresser" - ], - "task_desc": "Put two pens on the dresser at the foot of the bed.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_36DSNE9QZ8FHOQLHCYI4RX83BCTJO7", - "high_descs": [ - "Turn around and walk over to the bed, hang a left and walk over to the right side of the white desk.", - "Pick up the white and black pen that is to the left of the laptop on the white desk.", - "Turn left and begin walking forward, then turn left and walk up to the dresser.", - "Place the pen into the grey bowl that is on the dresser.", - "Turn right and walk towards the bed, then turn right again and walk over to the shelves against the wall.", - "Pick up the white and black pen off of the second shelf from the bottom.", - "Turn right and walk back over to the wooden dresser.", - "Place the pen into the grey bowl with the other pen." - ], - "task_desc": "Move two pens into a grey bowl.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193324_684519/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193324_684519/traj_data.json deleted file mode 100644 index 50d9b1a80..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193324_684519/traj_data.json +++ /dev/null @@ -1,6371 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 7 - }, - { - "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": 1, - "image_name": "000000066.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 15 - }, - { - "high_idx": 1, - "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": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 17 - }, - { - "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": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 18 - }, - { - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 25 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 27 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000161.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 28 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 30 - }, - { - "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": 30 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 57 - }, - { - "high_idx": 7, - "image_name": "000000326.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000327.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000328.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000329.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000330.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000331.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000332.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000333.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000334.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000335.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000336.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000337.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000338.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000339.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000340.png", - "low_idx": 58 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "SprayBottle", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "countertop" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|12|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "spraybottle" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.35878516, - -7.35878516, - 12.39276124, - 12.39276124, - 3.0884408, - 3.0884408 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -7.1972022, - -7.1972022, - 12.49179744, - 12.49179744, - 2.9857984, - 2.9857984 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.84|+00.77|+03.10" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "spraybottle", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.35878516, - -7.35878516, - 12.39276124, - 12.39276124, - 3.0884408, - 3.0884408 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.84|+00.77|+03.10", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "garbagecan" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|9|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "spraybottle" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.30237484, - -7.30237484, - 8.88, - 8.88, - 0.0728504136, - 0.0728504136 - ] - ], - "coordinateReceptacleObjectId": [ - "GarbageCan", - [ - -7.056, - -7.056, - 8.88, - 8.88, - -0.0848, - -0.0848 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.83|+00.02|+02.22" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "spraybottle", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.30237484, - -7.30237484, - 8.88, - 8.88, - 0.0728504136, - 0.0728504136 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.83|+00.02|+02.22", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "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": "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": "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": "SprayBottle|-01.84|+00.77|+03.10" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 172, - 70, - 184, - 132 - ], - "mask": [ - [ - 20880, - 4 - ], - [ - 21180, - 4 - ], - [ - 21480, - 4 - ], - [ - 21780, - 5 - ], - [ - 22080, - 5 - ], - [ - 22379, - 6 - ], - [ - 22679, - 6 - ], - [ - 22979, - 6 - ], - [ - 23279, - 6 - ], - [ - 23579, - 6 - ], - [ - 23879, - 6 - ], - [ - 24178, - 7 - ], - [ - 24478, - 7 - ], - [ - 24778, - 7 - ], - [ - 25078, - 7 - ], - [ - 25377, - 8 - ], - [ - 25677, - 8 - ], - [ - 25977, - 7 - ], - [ - 26276, - 8 - ], - [ - 26576, - 8 - ], - [ - 26876, - 8 - ], - [ - 27175, - 9 - ], - [ - 27475, - 9 - ], - [ - 27774, - 9 - ], - [ - 28074, - 9 - ], - [ - 28374, - 9 - ], - [ - 28674, - 9 - ], - [ - 28974, - 9 - ], - [ - 29273, - 10 - ], - [ - 29573, - 10 - ], - [ - 29873, - 10 - ], - [ - 30173, - 10 - ], - [ - 30473, - 10 - ], - [ - 30773, - 10 - ], - [ - 31073, - 10 - ], - [ - 31373, - 10 - ], - [ - 31673, - 10 - ], - [ - 31972, - 11 - ], - [ - 32272, - 11 - ], - [ - 32572, - 11 - ], - [ - 32872, - 11 - ], - [ - 33172, - 11 - ], - [ - 33472, - 11 - ], - [ - 33772, - 11 - ], - [ - 34072, - 11 - ], - [ - 34372, - 11 - ], - [ - 34672, - 11 - ], - [ - 34972, - 11 - ], - [ - 35272, - 11 - ], - [ - 35572, - 11 - ], - [ - 35872, - 11 - ], - [ - 36172, - 10 - ], - [ - 36472, - 10 - ], - [ - 36772, - 10 - ], - [ - 37072, - 10 - ], - [ - 37372, - 10 - ], - [ - 37672, - 9 - ], - [ - 37972, - 9 - ], - [ - 38272, - 9 - ], - [ - 38572, - 9 - ], - [ - 38872, - 8 - ], - [ - 39174, - 5 - ], - [ - 39476, - 2 - ] - ], - "point": [ - 178, - 100 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "SprayBottle|-01.84|+00.77|+03.10", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 274 - ], - [ - 1500, - 274 - ], - [ - 1800, - 274 - ], - [ - 2100, - 275 - ], - [ - 2400, - 275 - ], - [ - 2700, - 276 - ], - [ - 3000, - 276 - ], - [ - 3300, - 276 - ], - [ - 3600, - 277 - ], - [ - 3900, - 166 - ], - [ - 4075, - 102 - ], - [ - 4200, - 164 - ], - [ - 4377, - 101 - ], - [ - 4500, - 164 - ], - [ - 4679, - 99 - ], - [ - 4800, - 164 - ], - [ - 4981, - 97 - ], - [ - 5100, - 163 - ], - [ - 5282, - 97 - ], - [ - 5400, - 163 - ], - [ - 5583, - 96 - ], - [ - 5700, - 163 - ], - [ - 5884, - 96 - ], - [ - 6000, - 163 - ], - [ - 6185, - 95 - ], - [ - 6300, - 163 - ], - [ - 6485, - 95 - ], - [ - 6600, - 163 - ], - [ - 6786, - 95 - ], - [ - 6900, - 163 - ], - [ - 7086, - 95 - ], - [ - 7200, - 163 - ], - [ - 7386, - 96 - ], - [ - 7500, - 163 - ], - [ - 7686, - 96 - ], - [ - 7800, - 163 - ], - [ - 7986, - 97 - ], - [ - 8100, - 163 - ], - [ - 8286, - 97 - ], - [ - 8400, - 163 - ], - [ - 8586, - 97 - ], - [ - 8700, - 163 - ], - [ - 8886, - 98 - ], - [ - 9000, - 163 - ], - [ - 9185, - 99 - ], - [ - 9300, - 163 - ], - [ - 9485, - 100 - ], - [ - 9600, - 163 - ], - [ - 9785, - 100 - ], - [ - 9900, - 163 - ], - [ - 10085, - 100 - ], - [ - 10200, - 163 - ], - [ - 10385, - 101 - ], - [ - 10500, - 163 - ], - [ - 10685, - 101 - ], - [ - 10800, - 162 - ], - [ - 10985, - 102 - ], - [ - 11100, - 162 - ], - [ - 11285, - 102 - ], - [ - 11400, - 162 - ], - [ - 11584, - 103 - ], - [ - 11700, - 162 - ], - [ - 11884, - 104 - ], - [ - 12000, - 162 - ], - [ - 12184, - 104 - ], - [ - 12300, - 162 - ], - [ - 12484, - 105 - ], - [ - 12600, - 162 - ], - [ - 12784, - 105 - ], - [ - 12900, - 162 - ], - [ - 13084, - 105 - ], - [ - 13200, - 162 - ], - [ - 13384, - 106 - ], - [ - 13500, - 162 - ], - [ - 13684, - 106 - ], - [ - 13800, - 162 - ], - [ - 13983, - 108 - ], - [ - 14100, - 162 - ], - [ - 14283, - 108 - ], - [ - 14400, - 162 - ], - [ - 14583, - 108 - ], - [ - 14700, - 162 - ], - [ - 14883, - 109 - ], - [ - 15000, - 162 - ], - [ - 15183, - 109 - ], - [ - 15300, - 163 - ], - [ - 15482, - 111 - ], - [ - 15600, - 163 - ], - [ - 15782, - 111 - ], - [ - 15900, - 164 - ], - [ - 16081, - 112 - ], - [ - 16200, - 166 - ], - [ - 16380, - 114 - ], - [ - 16500, - 168 - ], - [ - 16678, - 116 - ], - [ - 16800, - 295 - ], - [ - 17100, - 295 - ], - [ - 17400, - 295 - ], - [ - 17700, - 296 - ], - [ - 18000, - 296 - ], - [ - 18300, - 297 - ], - [ - 18600, - 297 - ], - [ - 18900, - 298 - ], - [ - 19200, - 298 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61271, - 8 - ], - [ - 61572, - 8 - ], - [ - 61873, - 7 - ], - [ - 62174, - 7 - ], - [ - 62474, - 8 - ], - [ - 62775, - 8 - ], - [ - 63076, - 7 - ], - [ - 63377, - 7 - ], - [ - 63678, - 7 - ], - [ - 63979, - 7 - ], - [ - 64279, - 7 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "SprayBottle|-01.83|+00.02|+02.22" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 143, - 138, - 147, - 161 - ], - "mask": [ - [ - 41244, - 2 - ], - [ - 41544, - 2 - ], - [ - 41844, - 2 - ], - [ - 42144, - 2 - ], - [ - 42444, - 2 - ], - [ - 42743, - 4 - ], - [ - 43043, - 4 - ], - [ - 43343, - 4 - ], - [ - 43643, - 4 - ], - [ - 43943, - 4 - ], - [ - 44243, - 4 - ], - [ - 44543, - 5 - ], - [ - 44843, - 5 - ], - [ - 45143, - 5 - ], - [ - 45443, - 5 - ], - [ - 45743, - 5 - ], - [ - 46043, - 5 - ], - [ - 46343, - 5 - ], - [ - 46643, - 5 - ], - [ - 46943, - 5 - ], - [ - 47243, - 5 - ], - [ - 47543, - 5 - ], - [ - 47843, - 5 - ], - [ - 48143, - 5 - ] - ], - "point": [ - 145, - 148 - ] - } - }, - "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": "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": "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": "MoveAhead", - "forceAction": true, - "moveMagnitude": 0.25 - }, - "discrete_action": { - "action": "MoveAhead_25", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "SprayBottle|-01.83|+00.02|+02.22", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 103 - ], - [ - 1345, - 129 - ], - [ - 1500, - 103 - ], - [ - 1646, - 128 - ], - [ - 1800, - 102 - ], - [ - 1947, - 127 - ], - [ - 2100, - 102 - ], - [ - 2248, - 127 - ], - [ - 2400, - 102 - ], - [ - 2550, - 125 - ], - [ - 2700, - 102 - ], - [ - 2851, - 125 - ], - [ - 3000, - 102 - ], - [ - 3152, - 124 - ], - [ - 3300, - 102 - ], - [ - 3453, - 123 - ], - [ - 3600, - 102 - ], - [ - 3754, - 123 - ], - [ - 3900, - 102 - ], - [ - 4054, - 12 - ], - [ - 4075, - 102 - ], - [ - 4200, - 102 - ], - [ - 4355, - 9 - ], - [ - 4377, - 101 - ], - [ - 4500, - 102 - ], - [ - 4655, - 9 - ], - [ - 4679, - 99 - ], - [ - 4800, - 103 - ], - [ - 4956, - 8 - ], - [ - 4981, - 97 - ], - [ - 5100, - 103 - ], - [ - 5256, - 7 - ], - [ - 5282, - 97 - ], - [ - 5400, - 103 - ], - [ - 5556, - 7 - ], - [ - 5583, - 96 - ], - [ - 5700, - 103 - ], - [ - 5856, - 7 - ], - [ - 5884, - 96 - ], - [ - 6000, - 103 - ], - [ - 6156, - 7 - ], - [ - 6185, - 95 - ], - [ - 6300, - 103 - ], - [ - 6457, - 6 - ], - [ - 6485, - 95 - ], - [ - 6600, - 103 - ], - [ - 6757, - 6 - ], - [ - 6786, - 95 - ], - [ - 6900, - 103 - ], - [ - 7057, - 6 - ], - [ - 7086, - 95 - ], - [ - 7200, - 103 - ], - [ - 7357, - 6 - ], - [ - 7386, - 96 - ], - [ - 7500, - 104 - ], - [ - 7657, - 6 - ], - [ - 7686, - 96 - ], - [ - 7800, - 104 - ], - [ - 7957, - 6 - ], - [ - 7986, - 97 - ], - [ - 8100, - 104 - ], - [ - 8257, - 6 - ], - [ - 8286, - 97 - ], - [ - 8400, - 104 - ], - [ - 8557, - 6 - ], - [ - 8586, - 97 - ], - [ - 8700, - 104 - ], - [ - 8857, - 6 - ], - [ - 8886, - 98 - ], - [ - 9000, - 104 - ], - [ - 9157, - 6 - ], - [ - 9185, - 99 - ], - [ - 9300, - 104 - ], - [ - 9457, - 6 - ], - [ - 9485, - 100 - ], - [ - 9600, - 105 - ], - [ - 9757, - 6 - ], - [ - 9785, - 100 - ], - [ - 9900, - 105 - ], - [ - 10057, - 6 - ], - [ - 10085, - 100 - ], - [ - 10200, - 105 - ], - [ - 10357, - 6 - ], - [ - 10385, - 101 - ], - [ - 10500, - 105 - ], - [ - 10657, - 6 - ], - [ - 10685, - 101 - ], - [ - 10800, - 105 - ], - [ - 10957, - 5 - ], - [ - 10985, - 102 - ], - [ - 11100, - 106 - ], - [ - 11256, - 6 - ], - [ - 11285, - 102 - ], - [ - 11400, - 106 - ], - [ - 11556, - 6 - ], - [ - 11584, - 103 - ], - [ - 11700, - 106 - ], - [ - 11856, - 6 - ], - [ - 11884, - 104 - ], - [ - 12000, - 106 - ], - [ - 12156, - 6 - ], - [ - 12184, - 104 - ], - [ - 12300, - 106 - ], - [ - 12456, - 6 - ], - [ - 12484, - 105 - ], - [ - 12600, - 107 - ], - [ - 12756, - 6 - ], - [ - 12784, - 105 - ], - [ - 12900, - 107 - ], - [ - 13056, - 6 - ], - [ - 13084, - 105 - ], - [ - 13200, - 107 - ], - [ - 13356, - 6 - ], - [ - 13384, - 106 - ], - [ - 13500, - 107 - ], - [ - 13656, - 6 - ], - [ - 13684, - 106 - ], - [ - 13800, - 108 - ], - [ - 13956, - 6 - ], - [ - 13983, - 108 - ], - [ - 14100, - 108 - ], - [ - 14256, - 6 - ], - [ - 14283, - 108 - ], - [ - 14400, - 108 - ], - [ - 14555, - 7 - ], - [ - 14583, - 108 - ], - [ - 14700, - 109 - ], - [ - 14855, - 7 - ], - [ - 14883, - 109 - ], - [ - 15000, - 109 - ], - [ - 15155, - 7 - ], - [ - 15183, - 109 - ], - [ - 15300, - 109 - ], - [ - 15455, - 8 - ], - [ - 15482, - 111 - ], - [ - 15600, - 110 - ], - [ - 15755, - 8 - ], - [ - 15782, - 111 - ], - [ - 15900, - 110 - ], - [ - 16054, - 10 - ], - [ - 16081, - 112 - ], - [ - 16200, - 110 - ], - [ - 16354, - 12 - ], - [ - 16380, - 114 - ], - [ - 16500, - 111 - ], - [ - 16654, - 14 - ], - [ - 16678, - 116 - ], - [ - 16800, - 111 - ], - [ - 16953, - 142 - ], - [ - 17100, - 112 - ], - [ - 17253, - 142 - ], - [ - 17400, - 113 - ], - [ - 17552, - 143 - ], - [ - 17700, - 113 - ], - [ - 17851, - 145 - ], - [ - 18000, - 114 - ], - [ - 18150, - 146 - ], - [ - 18300, - 116 - ], - [ - 18447, - 150 - ], - [ - 18600, - 297 - ], - [ - 18900, - 298 - ], - [ - 19200, - 298 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61271, - 8 - ], - [ - 61572, - 8 - ], - [ - 61873, - 7 - ], - [ - 62174, - 7 - ], - [ - 62474, - 8 - ], - [ - 62775, - 8 - ], - [ - 63076, - 7 - ], - [ - 63377, - 7 - ], - [ - 63678, - 7 - ], - [ - 63979, - 7 - ], - [ - 64279, - 7 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.25, - "y": 0.900691152, - "z": 1.75 - }, - "object_poses": [ - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.66809022, - "y": 0.06758666, - "z": 3.28410244 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.52760017, - "y": 0.07328317, - "z": 0.339759946 - }, - "rotation": { - "x": 1.40334191e-14, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": 0.303161561, - "y": 1.16061652, - "z": 3.76510787 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": 0.422008, - "y": 0.3533022, - "z": 3.86325049 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.82559371, - "y": 0.0182126034, - "z": 2.22 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.74187279, - "y": 0.0693831444, - "z": 2.99860787 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": 0.277336, - "y": 0.09255552, - "z": 3.83950639 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": -1.70388484, - "y": 0.0107213315, - "z": 2.22 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": -1.78757071, - "y": 0.0645169, - "z": 3.28410244 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.15891933, - "y": 0.07402537, - "z": 0.2762999 - }, - "rotation": { - "x": -9.85794353e-21, - "y": 90.0000458, - "z": 1.40334191e-14 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.83969629, - "y": 0.7721102, - "z": 3.09819031 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": 0.277336, - "y": 0.6175022, - "z": 3.83950639 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -0.414203942, - "y": 0.44772163, - "z": 0.09018695 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2182620637, - "scene_num": 413 - }, - "task_id": "trial_T20190906_193324_684519", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2TKGUJXGAL13U_33SA9F9TR0BHIJ8RPJYNBB8X83YWE6", - "high_descs": [ - "Turn left and walk to the front of the white dresser, then turn left and walk to the sink", - "Pick up the green spray bottle on the sink", - "Turn around and walk to the white dresser to your left", - "Put the green spray bottle onto the top of the white dresser", - "Turn around and walk to the red bin next to the toilet on your right side", - "Pick up the green spray bottle out of the red bin", - "Turn around and walk to the white dresser", - "Place the green spray bottle onto the top of the white dresser beside the other green spray bottle" - ], - "task_desc": "Place two green spray bottles on top of the white dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A35C0II2FFV18S_3JJVG1YBEEEPYXHNJR9OK3PZL8WB5H", - "high_descs": [ - "Turn to the left, walk forward, turn to the left at the set of drawers and stop at the sink.", - "Pick up the spray bottle located on the counter between the two sinks.", - "Turn around, walk forward and turn left to face the chest of drawers.", - "Place the spray bottle on the chest of drawers next to the candle.", - "Turn around, walk forward to the shower, turn right and walk to the waste basket next to the toilet.", - "Grab the spray bottle next to the roll of toilet paper from the waste basket.", - "Turn around, walk to the shower, turn left and head to the chest of drawers.", - "Place the spray bottle on top of the chest of drawers next to the other spray bottle." - ], - "task_desc": "Put two spray bottles on top of a chest of drawers.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3YGXWBAF73YQCJ5TJMM9QVP33ZB4CQ", - "high_descs": [ - "Turn around and walk to the sinks.", - "Take the spray bottle off of the counter.", - "Turn around and walk to the cabinet.", - "Put the spray bottle on top of the cabinet to the left of the candle.", - "Turn around and hang right to walk to the red bin.", - "Take the spray bottle out of the red bin.", - "Turn around and walk back to the cabinet.", - "Put the spray bottle on the cabinet to the left of the other one." - ], - "task_desc": "Put two spray bottles on a cabinet.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193350_794065/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193350_794065/traj_data.json deleted file mode 100644 index 234676c83..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193350_794065/traj_data.json +++ /dev/null @@ -1,6574 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 14 - }, - { - "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": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "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": 23 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 23 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 28 - }, - { - "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": 29 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 29 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 30 - }, - { - "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": 30 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 32 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 43 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000255.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000256.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000257.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000258.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000259.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000260.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000261.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 5, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 58 - }, - { - "high_idx": 7, - "image_name": "000000337.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000338.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000339.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000340.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000341.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000342.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000343.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000344.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000345.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000346.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000347.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000348.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000349.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000350.png", - "low_idx": 59 - }, - { - "high_idx": 7, - "image_name": "000000351.png", - "low_idx": 59 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "SprayBottle", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "garbagecan" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|9|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "spraybottle" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.05895708, - -7.05895708, - 8.77274228, - 8.77274228, - 0.0728504136, - 0.0728504136 - ] - ], - "coordinateReceptacleObjectId": [ - "GarbageCan", - [ - -7.056, - -7.056, - 8.88, - 8.88, - -0.0848, - -0.0848 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.76|+00.02|+02.19" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "spraybottle", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.05895708, - -7.05895708, - 8.77274228, - 8.77274228, - 0.0728504136, - 0.0728504136 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.76|+00.02|+02.19", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "toilet" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|8|3|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "spraybottle" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.44146204, - -7.44146204, - 7.774812, - 7.774812, - 4.18317272, - 4.18317272 - ] - ], - "coordinateReceptacleObjectId": [ - "Toilet", - [ - -6.272, - -6.272, - 7.264, - 7.264, - -0.00123298168, - -0.00123298168 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.86|+01.05|+01.94" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "spraybottle", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.44146204, - -7.44146204, - 7.774812, - 7.774812, - 4.18317272, - 4.18317272 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.86|+01.05|+01.94", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "SprayBottle|-01.76|+00.02|+02.19" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 139, - 147, - 143, - 172 - ], - "mask": [ - [ - 43939, - 3 - ], - [ - 44239, - 3 - ], - [ - 44539, - 3 - ], - [ - 44839, - 3 - ], - [ - 45139, - 3 - ], - [ - 45439, - 3 - ], - [ - 45739, - 3 - ], - [ - 46039, - 4 - ], - [ - 46339, - 4 - ], - [ - 46639, - 4 - ], - [ - 46939, - 4 - ], - [ - 47239, - 4 - ], - [ - 47539, - 4 - ], - [ - 47839, - 5 - ], - [ - 48139, - 5 - ], - [ - 48439, - 5 - ], - [ - 48739, - 5 - ], - [ - 49039, - 5 - ], - [ - 49339, - 5 - ], - [ - 49639, - 5 - ], - [ - 49939, - 5 - ], - [ - 50239, - 5 - ], - [ - 50539, - 5 - ], - [ - 50839, - 5 - ], - [ - 51139, - 5 - ], - [ - 51439, - 5 - ] - ], - "point": [ - 141, - 158 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "SprayBottle|-01.76|+00.02|+02.19", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1237, - 33 - ], - [ - 1288, - 186 - ], - [ - 1538, - 32 - ], - [ - 1588, - 186 - ], - [ - 1838, - 32 - ], - [ - 1888, - 186 - ], - [ - 2138, - 33 - ], - [ - 2188, - 187 - ], - [ - 2439, - 32 - ], - [ - 2489, - 186 - ], - [ - 2739, - 32 - ], - [ - 2789, - 187 - ], - [ - 3040, - 31 - ], - [ - 3089, - 187 - ], - [ - 3340, - 32 - ], - [ - 3389, - 187 - ], - [ - 3640, - 32 - ], - [ - 3690, - 187 - ], - [ - 3941, - 31 - ], - [ - 3990, - 187 - ], - [ - 4241, - 31 - ], - [ - 4290, - 188 - ], - [ - 4541, - 32 - ], - [ - 4590, - 188 - ], - [ - 4840, - 33 - ], - [ - 4890, - 188 - ], - [ - 5140, - 33 - ], - [ - 5191, - 188 - ], - [ - 5439, - 35 - ], - [ - 5491, - 188 - ], - [ - 5739, - 35 - ], - [ - 5791, - 189 - ], - [ - 6038, - 36 - ], - [ - 6091, - 189 - ], - [ - 6300, - 1 - ], - [ - 6338, - 36 - ], - [ - 6391, - 189 - ], - [ - 6600, - 2 - ], - [ - 6637, - 38 - ], - [ - 6692, - 189 - ], - [ - 6900, - 2 - ], - [ - 6935, - 40 - ], - [ - 6992, - 189 - ], - [ - 7200, - 3 - ], - [ - 7234, - 41 - ], - [ - 7292, - 190 - ], - [ - 7500, - 3 - ], - [ - 7532, - 43 - ], - [ - 7592, - 190 - ], - [ - 7800, - 4 - ], - [ - 7830, - 46 - ], - [ - 7892, - 191 - ], - [ - 8100, - 6 - ], - [ - 8128, - 48 - ], - [ - 8193, - 190 - ], - [ - 8400, - 9 - ], - [ - 8425, - 51 - ], - [ - 8493, - 190 - ], - [ - 8700, - 13 - ], - [ - 8717, - 60 - ], - [ - 8793, - 191 - ], - [ - 9000, - 77 - ], - [ - 9093, - 191 - ], - [ - 9300, - 77 - ], - [ - 9394, - 191 - ], - [ - 9600, - 77 - ], - [ - 9694, - 191 - ], - [ - 9900, - 78 - ], - [ - 9994, - 191 - ], - [ - 10200, - 78 - ], - [ - 10294, - 192 - ], - [ - 10500, - 78 - ], - [ - 10594, - 192 - ], - [ - 10800, - 78 - ], - [ - 10895, - 192 - ], - [ - 11100, - 79 - ], - [ - 11195, - 192 - ], - [ - 11400, - 79 - ], - [ - 11495, - 192 - ], - [ - 11700, - 79 - ], - [ - 11795, - 193 - ], - [ - 12000, - 80 - ], - [ - 12095, - 193 - ], - [ - 12300, - 80 - ], - [ - 12396, - 193 - ], - [ - 12600, - 80 - ], - [ - 12696, - 193 - ], - [ - 12900, - 80 - ], - [ - 12996, - 193 - ], - [ - 13200, - 81 - ], - [ - 13296, - 194 - ], - [ - 13500, - 81 - ], - [ - 13596, - 194 - ], - [ - 13800, - 81 - ], - [ - 13897, - 194 - ], - [ - 14100, - 81 - ], - [ - 14197, - 194 - ], - [ - 14400, - 82 - ], - [ - 14497, - 194 - ], - [ - 14700, - 82 - ], - [ - 14797, - 195 - ], - [ - 15000, - 82 - ], - [ - 15097, - 195 - ], - [ - 15300, - 83 - ], - [ - 15397, - 196 - ], - [ - 15600, - 83 - ], - [ - 15696, - 197 - ], - [ - 15900, - 84 - ], - [ - 15995, - 198 - ], - [ - 16200, - 85 - ], - [ - 16294, - 200 - ], - [ - 16500, - 88 - ], - [ - 16589, - 205 - ], - [ - 16800, - 295 - ], - [ - 17100, - 295 - ], - [ - 17400, - 295 - ], - [ - 17700, - 296 - ], - [ - 18000, - 296 - ], - [ - 18300, - 297 - ], - [ - 18600, - 297 - ], - [ - 18900, - 298 - ], - [ - 19200, - 298 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61271, - 8 - ], - [ - 61572, - 8 - ], - [ - 61873, - 7 - ], - [ - 62174, - 7 - ], - [ - 62474, - 8 - ], - [ - 62775, - 8 - ], - [ - 63076, - 7 - ], - [ - 63377, - 7 - ], - [ - 63678, - 7 - ], - [ - 63979, - 7 - ], - [ - 64279, - 7 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "SprayBottle|-01.86|+01.05|+01.94" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 127, - 78, - 150, - 130 - ], - "mask": [ - [ - 23234, - 10 - ], - [ - 23532, - 15 - ], - [ - 23831, - 16 - ], - [ - 24130, - 14 - ], - [ - 24431, - 13 - ], - [ - 24732, - 12 - ], - [ - 25033, - 11 - ], - [ - 25333, - 11 - ], - [ - 25633, - 7 - ], - [ - 25643, - 2 - ], - [ - 25934, - 5 - ], - [ - 25943, - 2 - ], - [ - 26234, - 5 - ], - [ - 26244, - 2 - ], - [ - 26534, - 5 - ], - [ - 26545, - 1 - ], - [ - 26832, - 9 - ], - [ - 27132, - 9 - ], - [ - 27431, - 9 - ], - [ - 27731, - 9 - ], - [ - 28031, - 9 - ], - [ - 28330, - 10 - ], - [ - 28630, - 10 - ], - [ - 28930, - 10 - ], - [ - 29229, - 11 - ], - [ - 29529, - 11 - ], - [ - 29829, - 11 - ], - [ - 30128, - 12 - ], - [ - 30428, - 13 - ], - [ - 30728, - 15 - ], - [ - 31028, - 17 - ], - [ - 31327, - 19 - ], - [ - 31627, - 20 - ], - [ - 31927, - 21 - ], - [ - 32227, - 22 - ], - [ - 32527, - 23 - ], - [ - 32827, - 23 - ], - [ - 33127, - 23 - ], - [ - 33427, - 23 - ], - [ - 33727, - 24 - ], - [ - 34027, - 24 - ], - [ - 34327, - 24 - ], - [ - 34627, - 24 - ], - [ - 34927, - 24 - ], - [ - 35227, - 24 - ], - [ - 35527, - 24 - ], - [ - 35827, - 23 - ], - [ - 36127, - 23 - ], - [ - 36427, - 23 - ], - [ - 36728, - 22 - ], - [ - 37028, - 22 - ], - [ - 37328, - 22 - ], - [ - 37628, - 22 - ], - [ - 37928, - 22 - ], - [ - 38229, - 20 - ], - [ - 38529, - 20 - ], - [ - 38830, - 18 - ] - ], - "point": [ - 138, - 103 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "SprayBottle|-01.86|+01.05|+01.94", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1237, - 33 - ], - [ - 1288, - 15 - ], - [ - 1345, - 129 - ], - [ - 1538, - 32 - ], - [ - 1588, - 15 - ], - [ - 1646, - 128 - ], - [ - 1838, - 32 - ], - [ - 1888, - 14 - ], - [ - 1947, - 127 - ], - [ - 2138, - 33 - ], - [ - 2188, - 14 - ], - [ - 2248, - 127 - ], - [ - 2439, - 32 - ], - [ - 2489, - 13 - ], - [ - 2550, - 125 - ], - [ - 2739, - 32 - ], - [ - 2789, - 13 - ], - [ - 2851, - 125 - ], - [ - 3040, - 31 - ], - [ - 3089, - 13 - ], - [ - 3152, - 124 - ], - [ - 3340, - 32 - ], - [ - 3389, - 13 - ], - [ - 3453, - 123 - ], - [ - 3640, - 32 - ], - [ - 3690, - 12 - ], - [ - 3754, - 123 - ], - [ - 3941, - 31 - ], - [ - 3990, - 12 - ], - [ - 4054, - 123 - ], - [ - 4241, - 31 - ], - [ - 4290, - 12 - ], - [ - 4355, - 123 - ], - [ - 4541, - 32 - ], - [ - 4590, - 12 - ], - [ - 4655, - 123 - ], - [ - 4840, - 33 - ], - [ - 4890, - 13 - ], - [ - 4956, - 122 - ], - [ - 5140, - 33 - ], - [ - 5191, - 12 - ], - [ - 5256, - 123 - ], - [ - 5439, - 35 - ], - [ - 5491, - 12 - ], - [ - 5556, - 123 - ], - [ - 5739, - 35 - ], - [ - 5791, - 12 - ], - [ - 5856, - 124 - ], - [ - 6038, - 36 - ], - [ - 6091, - 12 - ], - [ - 6156, - 124 - ], - [ - 6300, - 1 - ], - [ - 6338, - 36 - ], - [ - 6391, - 12 - ], - [ - 6457, - 123 - ], - [ - 6600, - 2 - ], - [ - 6637, - 38 - ], - [ - 6692, - 11 - ], - [ - 6757, - 124 - ], - [ - 6900, - 2 - ], - [ - 6935, - 40 - ], - [ - 6992, - 11 - ], - [ - 7057, - 124 - ], - [ - 7200, - 3 - ], - [ - 7234, - 41 - ], - [ - 7292, - 11 - ], - [ - 7357, - 125 - ], - [ - 7500, - 3 - ], - [ - 7532, - 43 - ], - [ - 7592, - 12 - ], - [ - 7657, - 125 - ], - [ - 7800, - 4 - ], - [ - 7830, - 46 - ], - [ - 7892, - 12 - ], - [ - 7957, - 126 - ], - [ - 8100, - 6 - ], - [ - 8128, - 48 - ], - [ - 8193, - 11 - ], - [ - 8257, - 126 - ], - [ - 8400, - 9 - ], - [ - 8425, - 51 - ], - [ - 8493, - 11 - ], - [ - 8557, - 126 - ], - [ - 8700, - 13 - ], - [ - 8717, - 60 - ], - [ - 8793, - 11 - ], - [ - 8857, - 127 - ], - [ - 9000, - 77 - ], - [ - 9093, - 11 - ], - [ - 9157, - 127 - ], - [ - 9300, - 77 - ], - [ - 9394, - 10 - ], - [ - 9457, - 128 - ], - [ - 9600, - 77 - ], - [ - 9694, - 11 - ], - [ - 9757, - 128 - ], - [ - 9900, - 78 - ], - [ - 9994, - 11 - ], - [ - 10057, - 128 - ], - [ - 10200, - 78 - ], - [ - 10294, - 11 - ], - [ - 10357, - 129 - ], - [ - 10500, - 78 - ], - [ - 10594, - 11 - ], - [ - 10657, - 129 - ], - [ - 10800, - 78 - ], - [ - 10895, - 10 - ], - [ - 10957, - 130 - ], - [ - 11100, - 79 - ], - [ - 11195, - 11 - ], - [ - 11256, - 131 - ], - [ - 11400, - 79 - ], - [ - 11495, - 11 - ], - [ - 11556, - 131 - ], - [ - 11700, - 79 - ], - [ - 11795, - 11 - ], - [ - 11856, - 132 - ], - [ - 12000, - 80 - ], - [ - 12095, - 11 - ], - [ - 12156, - 132 - ], - [ - 12300, - 80 - ], - [ - 12396, - 10 - ], - [ - 12456, - 133 - ], - [ - 12600, - 80 - ], - [ - 12696, - 11 - ], - [ - 12756, - 133 - ], - [ - 12900, - 80 - ], - [ - 12996, - 11 - ], - [ - 13056, - 133 - ], - [ - 13200, - 81 - ], - [ - 13296, - 11 - ], - [ - 13356, - 134 - ], - [ - 13500, - 81 - ], - [ - 13596, - 11 - ], - [ - 13656, - 134 - ], - [ - 13800, - 81 - ], - [ - 13897, - 11 - ], - [ - 13956, - 135 - ], - [ - 14100, - 81 - ], - [ - 14197, - 11 - ], - [ - 14256, - 135 - ], - [ - 14400, - 82 - ], - [ - 14497, - 11 - ], - [ - 14555, - 136 - ], - [ - 14700, - 82 - ], - [ - 14797, - 12 - ], - [ - 14855, - 137 - ], - [ - 15000, - 82 - ], - [ - 15097, - 12 - ], - [ - 15155, - 137 - ], - [ - 15300, - 83 - ], - [ - 15397, - 12 - ], - [ - 15455, - 138 - ], - [ - 15600, - 83 - ], - [ - 15696, - 14 - ], - [ - 15755, - 138 - ], - [ - 15900, - 84 - ], - [ - 15995, - 15 - ], - [ - 16054, - 139 - ], - [ - 16200, - 85 - ], - [ - 16294, - 16 - ], - [ - 16354, - 140 - ], - [ - 16500, - 88 - ], - [ - 16589, - 22 - ], - [ - 16654, - 140 - ], - [ - 16800, - 111 - ], - [ - 16953, - 142 - ], - [ - 17100, - 112 - ], - [ - 17253, - 142 - ], - [ - 17400, - 113 - ], - [ - 17552, - 143 - ], - [ - 17700, - 113 - ], - [ - 17851, - 145 - ], - [ - 18000, - 114 - ], - [ - 18150, - 146 - ], - [ - 18300, - 116 - ], - [ - 18447, - 150 - ], - [ - 18600, - 297 - ], - [ - 18900, - 298 - ], - [ - 19200, - 298 - ], - [ - 19500, - 298 - ], - [ - 19800, - 299 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61105, - 8 - ], - [ - 61271, - 8 - ], - [ - 61404, - 8 - ], - [ - 61572, - 8 - ], - [ - 61704, - 8 - ], - [ - 61873, - 7 - ], - [ - 62003, - 8 - ], - [ - 62174, - 7 - ], - [ - 62302, - 9 - ], - [ - 62474, - 8 - ], - [ - 62602, - 8 - ], - [ - 62775, - 8 - ], - [ - 62901, - 8 - ], - [ - 63076, - 7 - ], - [ - 63201, - 8 - ], - [ - 63377, - 7 - ], - [ - 63500, - 8 - ], - [ - 63678, - 7 - ], - [ - 63800, - 7 - ], - [ - 63979, - 7 - ], - [ - 64099, - 8 - ], - [ - 64279, - 7 - ], - [ - 64398, - 8 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 0.25, - "y": 0.900691152, - "z": 3.25 - }, - "object_poses": [ - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.66324008, - "y": 0.07328317, - "z": 0.4704004 - }, - "rotation": { - "x": -9.85794353e-21, - "y": 90.0000458, - "z": 1.40334191e-14 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": 0.06032799, - "y": 0.876703262, - "z": 3.83950639 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.86036551, - "y": 1.04579318, - "z": 1.943703 - }, - "rotation": { - "x": 0.0, - "y": 270.0005, - "z": 0.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.76473927, - "y": 0.0168782938, - "z": 2.24681449 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": -0.08948474, - "y": 1.156, - "z": 3.89424181 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": 0.106838413, - "y": 1.156, - "z": 3.76510787 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -0.457497776, - "y": 0.446811944, - "z": 0.163579524 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.76473927, - "y": 0.0182126034, - "z": 2.19318557 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": 0.349672, - "y": 0.3533022, - "z": 3.81576252 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.74363708, - "y": 0.7724278, - "z": 3.12294936 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 379932940, - "scene_num": 413 - }, - "task_id": "trial_T20190906_193350_794065", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1HKHM4NVAO98H_388U7OUMFAIDJXCBIIP23NYCMP10RH", - "high_descs": [ - "walk over to the toilet", - "grab the spray bottle out of the red bin to the right of the toilet", - "walk over to the tall white cabinet", - "place the spray bottle on top of the white cabinet", - "walk over to the toilet", - "grab the spray bottle off the top of the toilet", - "walk over to the white cabinet", - "place the spray bottle on top of the cabinet to the right of the other spray bottle" - ], - "task_desc": "place two spray bottles on top of the white cabinet in the bathroom", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3LUY3GC632H6PVWGQP6MD78KTRR7PG", - "high_descs": [ - "Turn around and begin walking across the room, then turn right and walk over to the small red trashcan to the right of the toilet.", - "Pick up the spray bottle that is in the red trashcan.", - "Turn around and walk over to the shower, then turn left and walk up to the white dresser.", - "Place the spray bottle on top of the dresser to the right of the toilet paper tube.", - "Turn around and walk over to the toilet.", - "Pick up the spray bottle on top of the toilet tank.", - "Turn around and walk back over to the white dresser.", - "Place the spray bottle on the dresser to the right of the spray bottle that is already there." - ], - "task_desc": "Move two spray bottles onto a dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2MHM7JK1T9XHR_3NLZY2D53S6Q4SMXUWMLWHGVT28QLF", - "high_descs": [ - "Turn around and go to the red trashcan between the toilet and sink.", - "Pick up the spray bottle that is in the trashcan.", - "Turn right and go to the chest of drawers that is near the door.", - "Place the spray bottle on top of the chest, to the right of the tube.", - "Turn around and go to the toilet.", - "Pick up the spray bottle that is on top of the toilet's water tank.", - "Turn right and return to the chest of drawers.", - "Place the spray bottle next to the other spray bottle, on the right." - ], - "task_desc": "Place two spray bottles on top of the chest of drawers.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193429_044662/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193429_044662/traj_data.json deleted file mode 100644 index b42152458..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-SprayBottle-None-Dresser-413/trial_T20190906_193429_044662/traj_data.json +++ /dev/null @@ -1,7301 +0,0 @@ -{ - "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": 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": 10 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 10 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 10 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "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": 15 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 24 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000147.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000148.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000149.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000150.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000151.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000152.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000153.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000154.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000155.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000156.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000157.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000158.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000159.png", - "low_idx": 26 - }, - { - "high_idx": 3, - "image_name": "000000160.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "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": 28 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 28 - }, - { - "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": 28 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 32 - }, - { - "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": 34 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000246.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000247.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000248.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000249.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000250.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000251.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000252.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000253.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000254.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 48 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 49 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 55 - }, - { - "high_idx": 7, - "image_name": "000000326.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000327.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000328.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000329.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000330.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000331.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000332.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000333.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000334.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000335.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000336.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000337.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000338.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000339.png", - "low_idx": 56 - }, - { - "high_idx": 7, - "image_name": "000000340.png", - "low_idx": 56 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "SprayBottle", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "countertop" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|13|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "spraybottle" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.35878516, - -7.35878516, - 12.59083368, - 12.59083368, - 3.0884408, - 3.0884408 - ] - ], - "coordinateReceptacleObjectId": [ - "CounterTop", - [ - -7.1972022, - -7.1972022, - 12.49179744, - 12.49179744, - 2.9857984, - 2.9857984 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.84|+00.77|+03.15" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "spraybottle", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -7.35878516, - -7.35878516, - 12.59083368, - 12.59083368, - 3.0884408, - 3.0884408 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.84|+00.77|+03.15", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "cabinet" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-5|11|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "spraybottle" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -6.83166836, - -6.83166836, - 10.83690928, - 10.83690928, - 0.27568388, - 0.27568388 - ] - ], - "coordinateReceptacleObjectId": [ - "Cabinet", - [ - -6.45430468, - -6.45430468, - 9.9755192, - 9.9755192, - 1.2380676, - 1.2380676 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.71|+00.07|+02.71" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|1|13|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "spraybottle", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "SprayBottle", - [ - -6.83166836, - -6.83166836, - 10.83690928, - 10.83690928, - 0.27568388, - 0.27568388 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 0.82, - 0.82, - 15.092, - 15.092, - 3.236, - 3.236 - ] - ], - "forceVisible": true, - "objectId": "SprayBottle|-01.71|+00.07|+02.71", - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "SprayBottle|-01.84|+00.77|+03.15" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 113, - 70, - 126, - 132 - ], - "mask": [ - [ - 20815, - 4 - ], - [ - 21115, - 4 - ], - [ - 21414, - 5 - ], - [ - 21714, - 5 - ], - [ - 22014, - 5 - ], - [ - 22314, - 5 - ], - [ - 22614, - 5 - ], - [ - 22914, - 5 - ], - [ - 23213, - 6 - ], - [ - 23513, - 7 - ], - [ - 23813, - 7 - ], - [ - 24113, - 7 - ], - [ - 24413, - 8 - ], - [ - 24713, - 8 - ], - [ - 25013, - 8 - ], - [ - 25313, - 8 - ], - [ - 25613, - 9 - ], - [ - 25914, - 8 - ], - [ - 26214, - 8 - ], - [ - 26515, - 8 - ], - [ - 26815, - 8 - ], - [ - 27115, - 9 - ], - [ - 27415, - 9 - ], - [ - 27715, - 9 - ], - [ - 28015, - 10 - ], - [ - 28315, - 10 - ], - [ - 28616, - 9 - ], - [ - 28916, - 9 - ], - [ - 29216, - 9 - ], - [ - 29516, - 9 - ], - [ - 29816, - 10 - ], - [ - 30116, - 10 - ], - [ - 30416, - 10 - ], - [ - 30716, - 10 - ], - [ - 31016, - 10 - ], - [ - 31316, - 10 - ], - [ - 31616, - 10 - ], - [ - 31916, - 10 - ], - [ - 32216, - 11 - ], - [ - 32516, - 11 - ], - [ - 32816, - 11 - ], - [ - 33116, - 11 - ], - [ - 33416, - 11 - ], - [ - 33716, - 11 - ], - [ - 34016, - 11 - ], - [ - 34316, - 11 - ], - [ - 34616, - 11 - ], - [ - 34916, - 11 - ], - [ - 35216, - 11 - ], - [ - 35516, - 11 - ], - [ - 35816, - 11 - ], - [ - 36116, - 11 - ], - [ - 36417, - 10 - ], - [ - 36717, - 10 - ], - [ - 37017, - 10 - ], - [ - 37317, - 10 - ], - [ - 37617, - 10 - ], - [ - 37918, - 9 - ], - [ - 38218, - 9 - ], - [ - 38518, - 8 - ], - [ - 38818, - 8 - ], - [ - 39119, - 6 - ], - [ - 39421, - 2 - ] - ], - "point": [ - 119, - 100 - ] - } - }, - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "SprayBottle|-01.84|+00.77|+03.15", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 92 - ], - [ - 1360, - 114 - ], - [ - 1500, - 92 - ], - [ - 1660, - 114 - ], - [ - 1800, - 92 - ], - [ - 1960, - 114 - ], - [ - 2100, - 92 - ], - [ - 2260, - 64 - ], - [ - 2329, - 46 - ], - [ - 2400, - 93 - ], - [ - 2560, - 61 - ], - [ - 2633, - 42 - ], - [ - 2700, - 93 - ], - [ - 2860, - 57 - ], - [ - 2936, - 40 - ], - [ - 3000, - 93 - ], - [ - 3160, - 53 - ], - [ - 3239, - 37 - ], - [ - 3300, - 93 - ], - [ - 3460, - 47 - ], - [ - 3508, - 3 - ], - [ - 3542, - 34 - ], - [ - 3600, - 93 - ], - [ - 3760, - 38 - ], - [ - 3844, - 33 - ], - [ - 3900, - 94 - ], - [ - 4060, - 29 - ], - [ - 4146, - 31 - ], - [ - 4200, - 94 - ], - [ - 4360, - 25 - ], - [ - 4448, - 30 - ], - [ - 4500, - 95 - ], - [ - 4659, - 22 - ], - [ - 4749, - 29 - ], - [ - 4800, - 95 - ], - [ - 4959, - 20 - ], - [ - 5050, - 28 - ], - [ - 5100, - 96 - ], - [ - 5259, - 17 - ], - [ - 5351, - 28 - ], - [ - 5400, - 96 - ], - [ - 5559, - 15 - ], - [ - 5652, - 27 - ], - [ - 5700, - 96 - ], - [ - 5858, - 14 - ], - [ - 5953, - 27 - ], - [ - 6000, - 97 - ], - [ - 6158, - 12 - ], - [ - 6252, - 28 - ], - [ - 6300, - 97 - ], - [ - 6458, - 10 - ], - [ - 6552, - 28 - ], - [ - 6600, - 98 - ], - [ - 6757, - 9 - ], - [ - 6851, - 30 - ], - [ - 6900, - 99 - ], - [ - 7057, - 9 - ], - [ - 7148, - 33 - ], - [ - 7200, - 99 - ], - [ - 7356, - 10 - ], - [ - 7446, - 36 - ], - [ - 7500, - 100 - ], - [ - 7656, - 12 - ], - [ - 7742, - 40 - ], - [ - 7800, - 100 - ], - [ - 7956, - 13 - ], - [ - 7990, - 2 - ], - [ - 8041, - 42 - ], - [ - 8100, - 101 - ], - [ - 8255, - 15 - ], - [ - 8289, - 3 - ], - [ - 8342, - 41 - ], - [ - 8400, - 101 - ], - [ - 8555, - 17 - ], - [ - 8588, - 4 - ], - [ - 8644, - 39 - ], - [ - 8700, - 102 - ], - [ - 8854, - 19 - ], - [ - 8884, - 8 - ], - [ - 8945, - 39 - ], - [ - 9000, - 102 - ], - [ - 9154, - 21 - ], - [ - 9180, - 12 - ], - [ - 9246, - 38 - ], - [ - 9300, - 103 - ], - [ - 9454, - 38 - ], - [ - 9547, - 38 - ], - [ - 9600, - 104 - ], - [ - 9753, - 39 - ], - [ - 9848, - 37 - ], - [ - 9900, - 104 - ], - [ - 10053, - 39 - ], - [ - 10148, - 37 - ], - [ - 10200, - 105 - ], - [ - 10352, - 39 - ], - [ - 10449, - 37 - ], - [ - 10500, - 106 - ], - [ - 10652, - 38 - ], - [ - 10749, - 37 - ], - [ - 10800, - 106 - ], - [ - 10951, - 38 - ], - [ - 11050, - 37 - ], - [ - 11100, - 107 - ], - [ - 11251, - 37 - ], - [ - 11351, - 36 - ], - [ - 11400, - 107 - ], - [ - 11550, - 37 - ], - [ - 11651, - 36 - ], - [ - 11700, - 108 - ], - [ - 11850, - 35 - ], - [ - 11952, - 36 - ], - [ - 12000, - 109 - ], - [ - 12149, - 35 - ], - [ - 12252, - 36 - ], - [ - 12300, - 109 - ], - [ - 12449, - 35 - ], - [ - 12553, - 36 - ], - [ - 12600, - 110 - ], - [ - 12748, - 37 - ], - [ - 12853, - 36 - ], - [ - 12900, - 111 - ], - [ - 13048, - 37 - ], - [ - 13114, - 1 - ], - [ - 13154, - 35 - ], - [ - 13200, - 111 - ], - [ - 13347, - 40 - ], - [ - 13413, - 3 - ], - [ - 13454, - 36 - ], - [ - 13500, - 112 - ], - [ - 13647, - 41 - ], - [ - 13712, - 4 - ], - [ - 13754, - 36 - ], - [ - 13800, - 112 - ], - [ - 13947, - 42 - ], - [ - 14011, - 5 - ], - [ - 14051, - 40 - ], - [ - 14100, - 112 - ], - [ - 14248, - 42 - ], - [ - 14309, - 7 - ], - [ - 14348, - 43 - ], - [ - 14400, - 111 - ], - [ - 14548, - 43 - ], - [ - 14608, - 9 - ], - [ - 14645, - 46 - ], - [ - 14700, - 111 - ], - [ - 14849, - 43 - ], - [ - 14906, - 11 - ], - [ - 14943, - 49 - ], - [ - 15000, - 110 - ], - [ - 15149, - 44 - ], - [ - 15205, - 13 - ], - [ - 15241, - 51 - ], - [ - 15300, - 110 - ], - [ - 15450, - 44 - ], - [ - 15504, - 15 - ], - [ - 15538, - 55 - ], - [ - 15600, - 110 - ], - [ - 15750, - 45 - ], - [ - 15803, - 17 - ], - [ - 15836, - 57 - ], - [ - 15900, - 109 - ], - [ - 16051, - 45 - ], - [ - 16103, - 19 - ], - [ - 16135, - 58 - ], - [ - 16200, - 109 - ], - [ - 16351, - 46 - ], - [ - 16403, - 21 - ], - [ - 16432, - 62 - ], - [ - 16500, - 109 - ], - [ - 16652, - 46 - ], - [ - 16702, - 24 - ], - [ - 16730, - 64 - ], - [ - 16800, - 109 - ], - [ - 16952, - 48 - ], - [ - 17001, - 94 - ], - [ - 17100, - 108 - ], - [ - 17252, - 143 - ], - [ - 17400, - 109 - ], - [ - 17552, - 143 - ], - [ - 17700, - 109 - ], - [ - 17852, - 144 - ], - [ - 18000, - 109 - ], - [ - 18151, - 145 - ], - [ - 18300, - 110 - ], - [ - 18451, - 146 - ], - [ - 18600, - 112 - ], - [ - 18749, - 148 - ], - [ - 18900, - 113 - ], - [ - 19047, - 151 - ], - [ - 19200, - 117 - ], - [ - 19343, - 155 - ], - [ - 19500, - 121 - ], - [ - 19640, - 158 - ], - [ - 19800, - 129 - ], - [ - 19931, - 168 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61271, - 8 - ], - [ - 61572, - 8 - ], - [ - 61873, - 7 - ], - [ - 62174, - 7 - ], - [ - 62474, - 8 - ], - [ - 62775, - 8 - ], - [ - 63076, - 7 - ], - [ - 63377, - 7 - ], - [ - 63678, - 7 - ], - [ - 63979, - 7 - ], - [ - 64279, - 7 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "OpenObject", - "objectId": "Cabinet|-01.61|+00.31|+02.49" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 84, - 198, - 159, - 229 - ], - "mask": [ - [ - 59184, - 76 - ], - [ - 59484, - 76 - ], - [ - 59785, - 75 - ], - [ - 60086, - 74 - ], - [ - 60386, - 73 - ], - [ - 60687, - 72 - ], - [ - 60988, - 71 - ], - [ - 61288, - 71 - ], - [ - 61589, - 70 - ], - [ - 61889, - 70 - ], - [ - 62190, - 69 - ], - [ - 62491, - 68 - ], - [ - 62791, - 68 - ], - [ - 63092, - 67 - ], - [ - 63393, - 66 - ], - [ - 63693, - 65 - ], - [ - 63994, - 64 - ], - [ - 64295, - 63 - ], - [ - 64595, - 63 - ], - [ - 64896, - 62 - ], - [ - 65197, - 61 - ], - [ - 65497, - 61 - ], - [ - 65798, - 60 - ], - [ - 66099, - 59 - ], - [ - 66399, - 59 - ], - [ - 66700, - 57 - ], - [ - 67000, - 57 - ], - [ - 67301, - 56 - ], - [ - 67602, - 55 - ], - [ - 67902, - 55 - ], - [ - 68203, - 54 - ], - [ - 68504, - 53 - ] - ], - "point": [ - 121, - 212 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "SprayBottle|-01.71|+00.07|+02.71" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 140, - 198, - 145, - 219 - ], - "mask": [ - [ - 59240, - 5 - ], - [ - 59540, - 5 - ], - [ - 59840, - 5 - ], - [ - 60140, - 5 - ], - [ - 60440, - 5 - ], - [ - 60740, - 5 - ], - [ - 61040, - 6 - ], - [ - 61340, - 6 - ], - [ - 61640, - 6 - ], - [ - 61940, - 6 - ], - [ - 62240, - 6 - ], - [ - 62540, - 6 - ], - [ - 62840, - 6 - ], - [ - 63140, - 6 - ], - [ - 63440, - 6 - ], - [ - 63740, - 6 - ], - [ - 64040, - 6 - ], - [ - 64340, - 6 - ], - [ - 64640, - 6 - ], - [ - 64940, - 5 - ], - [ - 65240, - 5 - ], - [ - 65542, - 2 - ] - ], - "point": [ - 142, - 207 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Cabinet|-01.61|+00.31|+02.49" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 74, - 198, - 156, - 285 - ], - "mask": [ - [ - 59185, - 26 - ], - [ - 59223, - 34 - ], - [ - 59484, - 26 - ], - [ - 59524, - 33 - ], - [ - 59784, - 25 - ], - [ - 59825, - 32 - ], - [ - 60084, - 25 - ], - [ - 60125, - 32 - ], - [ - 60384, - 24 - ], - [ - 60425, - 32 - ], - [ - 60684, - 24 - ], - [ - 60726, - 8 - ], - [ - 60984, - 23 - ], - [ - 61284, - 23 - ], - [ - 61584, - 24 - ], - [ - 61883, - 25 - ], - [ - 62183, - 25 - ], - [ - 62483, - 25 - ], - [ - 62783, - 25 - ], - [ - 63083, - 26 - ], - [ - 63383, - 26 - ], - [ - 63683, - 26 - ], - [ - 63983, - 26 - ], - [ - 64282, - 27 - ], - [ - 64582, - 27 - ], - [ - 64882, - 27 - ], - [ - 65182, - 27 - ], - [ - 65482, - 27 - ], - [ - 65782, - 27 - ], - [ - 66082, - 27 - ], - [ - 66381, - 27 - ], - [ - 66681, - 27 - ], - [ - 66981, - 31 - ], - [ - 67281, - 36 - ], - [ - 67581, - 40 - ], - [ - 67881, - 26 - ], - [ - 68181, - 26 - ], - [ - 68481, - 26 - ], - [ - 68780, - 27 - ], - [ - 69080, - 27 - ], - [ - 69380, - 27 - ], - [ - 69680, - 27 - ], - [ - 69980, - 27 - ], - [ - 70280, - 27 - ], - [ - 70580, - 26 - ], - [ - 70879, - 27 - ], - [ - 71179, - 27 - ], - [ - 71479, - 27 - ], - [ - 71779, - 27 - ], - [ - 72079, - 27 - ], - [ - 72379, - 27 - ], - [ - 72679, - 27 - ], - [ - 72979, - 27 - ], - [ - 73278, - 28 - ], - [ - 73578, - 28 - ], - [ - 73878, - 28 - ], - [ - 74178, - 28 - ], - [ - 74478, - 27 - ], - [ - 74778, - 27 - ], - [ - 75078, - 27 - ], - [ - 75378, - 27 - ], - [ - 75677, - 28 - ], - [ - 75977, - 28 - ], - [ - 76277, - 28 - ], - [ - 76577, - 28 - ], - [ - 76877, - 28 - ], - [ - 77177, - 28 - ], - [ - 77477, - 28 - ], - [ - 77776, - 29 - ], - [ - 78076, - 28 - ], - [ - 78376, - 28 - ], - [ - 78676, - 28 - ], - [ - 78976, - 28 - ], - [ - 79276, - 28 - ], - [ - 79576, - 28 - ], - [ - 79876, - 28 - ], - [ - 80175, - 29 - ], - [ - 80475, - 29 - ], - [ - 80775, - 29 - ], - [ - 81075, - 29 - ], - [ - 81375, - 29 - ], - [ - 81675, - 28 - ], - [ - 81975, - 28 - ], - [ - 82275, - 28 - ], - [ - 82574, - 29 - ], - [ - 82874, - 29 - ], - [ - 83174, - 29 - ], - [ - 83478, - 25 - ], - [ - 83781, - 22 - ], - [ - 84084, - 19 - ], - [ - 84388, - 15 - ], - [ - 84691, - 12 - ], - [ - 84995, - 8 - ], - [ - 85298, - 4 - ] - ], - "point": [ - 105, - 240 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "SprayBottle|-01.71|+00.07|+02.71", - "placeStationary": true, - "receptacleObjectId": "Dresser|+00.21|+00.81|+03.77" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 5, - 299, - 215 - ], - "mask": [ - [ - 1200, - 92 - ], - [ - 1397, - 77 - ], - [ - 1500, - 92 - ], - [ - 1698, - 76 - ], - [ - 1800, - 92 - ], - [ - 1999, - 75 - ], - [ - 2100, - 92 - ], - [ - 2300, - 24 - ], - [ - 2329, - 46 - ], - [ - 2400, - 93 - ], - [ - 2601, - 20 - ], - [ - 2633, - 42 - ], - [ - 2700, - 93 - ], - [ - 2902, - 15 - ], - [ - 2936, - 40 - ], - [ - 3000, - 93 - ], - [ - 3203, - 10 - ], - [ - 3239, - 37 - ], - [ - 3300, - 93 - ], - [ - 3503, - 4 - ], - [ - 3508, - 3 - ], - [ - 3542, - 34 - ], - [ - 3600, - 93 - ], - [ - 3844, - 33 - ], - [ - 3900, - 94 - ], - [ - 4146, - 31 - ], - [ - 4200, - 94 - ], - [ - 4448, - 30 - ], - [ - 4500, - 95 - ], - [ - 4749, - 29 - ], - [ - 4800, - 95 - ], - [ - 5050, - 28 - ], - [ - 5100, - 96 - ], - [ - 5351, - 28 - ], - [ - 5400, - 96 - ], - [ - 5652, - 27 - ], - [ - 5700, - 96 - ], - [ - 5953, - 27 - ], - [ - 6000, - 97 - ], - [ - 6252, - 28 - ], - [ - 6300, - 97 - ], - [ - 6552, - 28 - ], - [ - 6600, - 98 - ], - [ - 6851, - 30 - ], - [ - 6900, - 99 - ], - [ - 7148, - 33 - ], - [ - 7200, - 99 - ], - [ - 7446, - 36 - ], - [ - 7500, - 100 - ], - [ - 7742, - 40 - ], - [ - 7800, - 100 - ], - [ - 8041, - 42 - ], - [ - 8100, - 101 - ], - [ - 8342, - 41 - ], - [ - 8400, - 101 - ], - [ - 8644, - 39 - ], - [ - 8700, - 102 - ], - [ - 8945, - 39 - ], - [ - 9000, - 102 - ], - [ - 9246, - 38 - ], - [ - 9300, - 103 - ], - [ - 9547, - 38 - ], - [ - 9600, - 104 - ], - [ - 9848, - 37 - ], - [ - 9900, - 104 - ], - [ - 10148, - 37 - ], - [ - 10200, - 105 - ], - [ - 10449, - 37 - ], - [ - 10500, - 106 - ], - [ - 10749, - 37 - ], - [ - 10800, - 106 - ], - [ - 10951, - 1 - ], - [ - 11050, - 37 - ], - [ - 11100, - 107 - ], - [ - 11251, - 1 - ], - [ - 11351, - 36 - ], - [ - 11400, - 107 - ], - [ - 11550, - 2 - ], - [ - 11651, - 36 - ], - [ - 11700, - 108 - ], - [ - 11850, - 2 - ], - [ - 11952, - 36 - ], - [ - 12000, - 109 - ], - [ - 12149, - 3 - ], - [ - 12252, - 36 - ], - [ - 12300, - 109 - ], - [ - 12449, - 3 - ], - [ - 12553, - 36 - ], - [ - 12600, - 110 - ], - [ - 12748, - 4 - ], - [ - 12853, - 36 - ], - [ - 12900, - 111 - ], - [ - 13048, - 4 - ], - [ - 13114, - 1 - ], - [ - 13154, - 35 - ], - [ - 13200, - 111 - ], - [ - 13347, - 5 - ], - [ - 13413, - 3 - ], - [ - 13454, - 36 - ], - [ - 13500, - 112 - ], - [ - 13647, - 5 - ], - [ - 13712, - 4 - ], - [ - 13754, - 36 - ], - [ - 13800, - 112 - ], - [ - 13947, - 6 - ], - [ - 14011, - 5 - ], - [ - 14051, - 40 - ], - [ - 14100, - 112 - ], - [ - 14248, - 5 - ], - [ - 14309, - 7 - ], - [ - 14348, - 43 - ], - [ - 14400, - 111 - ], - [ - 14548, - 5 - ], - [ - 14608, - 9 - ], - [ - 14645, - 46 - ], - [ - 14700, - 111 - ], - [ - 14849, - 4 - ], - [ - 14906, - 11 - ], - [ - 14943, - 49 - ], - [ - 15000, - 110 - ], - [ - 15149, - 4 - ], - [ - 15205, - 13 - ], - [ - 15241, - 51 - ], - [ - 15300, - 110 - ], - [ - 15450, - 3 - ], - [ - 15504, - 15 - ], - [ - 15538, - 55 - ], - [ - 15600, - 110 - ], - [ - 15750, - 3 - ], - [ - 15803, - 17 - ], - [ - 15836, - 57 - ], - [ - 15900, - 109 - ], - [ - 16051, - 3 - ], - [ - 16103, - 19 - ], - [ - 16135, - 58 - ], - [ - 16200, - 109 - ], - [ - 16351, - 3 - ], - [ - 16403, - 21 - ], - [ - 16432, - 62 - ], - [ - 16500, - 109 - ], - [ - 16652, - 2 - ], - [ - 16697, - 1 - ], - [ - 16702, - 24 - ], - [ - 16730, - 64 - ], - [ - 16800, - 109 - ], - [ - 16952, - 2 - ], - [ - 16997, - 3 - ], - [ - 17001, - 94 - ], - [ - 17100, - 108 - ], - [ - 17252, - 3 - ], - [ - 17296, - 99 - ], - [ - 17400, - 109 - ], - [ - 17552, - 4 - ], - [ - 17595, - 100 - ], - [ - 17700, - 109 - ], - [ - 17852, - 4 - ], - [ - 17894, - 102 - ], - [ - 18000, - 109 - ], - [ - 18151, - 6 - ], - [ - 18193, - 103 - ], - [ - 18300, - 110 - ], - [ - 18451, - 8 - ], - [ - 18491, - 106 - ], - [ - 18600, - 112 - ], - [ - 18749, - 148 - ], - [ - 18900, - 113 - ], - [ - 19047, - 151 - ], - [ - 19200, - 117 - ], - [ - 19343, - 155 - ], - [ - 19500, - 121 - ], - [ - 19640, - 158 - ], - [ - 19800, - 129 - ], - [ - 19931, - 168 - ], - [ - 20100, - 299 - ], - [ - 20400, - 2699 - ], - [ - 23100, - 298 - ], - [ - 23400, - 298 - ], - [ - 23700, - 297 - ], - [ - 24000, - 296 - ], - [ - 24300, - 296 - ], - [ - 24600, - 295 - ], - [ - 24900, - 294 - ], - [ - 25200, - 294 - ], - [ - 25500, - 292 - ], - [ - 25800, - 291 - ], - [ - 26100, - 289 - ], - [ - 26400, - 288 - ], - [ - 26700, - 288 - ], - [ - 27000, - 287 - ], - [ - 27300, - 2 - ], - [ - 27562, - 24 - ], - [ - 27600, - 1 - ], - [ - 27863, - 23 - ], - [ - 28164, - 21 - ], - [ - 28464, - 20 - ], - [ - 28765, - 19 - ], - [ - 29065, - 18 - ], - [ - 29365, - 18 - ], - [ - 29664, - 18 - ], - [ - 29700, - 1 - ], - [ - 29964, - 17 - ], - [ - 30000, - 1 - ], - [ - 30263, - 18 - ], - [ - 30300, - 2 - ], - [ - 30562, - 18 - ], - [ - 30600, - 3 - ], - [ - 30862, - 17 - ], - [ - 30900, - 4 - ], - [ - 31161, - 18 - ], - [ - 31200, - 4 - ], - [ - 31461, - 17 - ], - [ - 31500, - 5 - ], - [ - 31760, - 17 - ], - [ - 31800, - 6 - ], - [ - 32060, - 17 - ], - [ - 32100, - 7 - ], - [ - 32359, - 17 - ], - [ - 32400, - 7 - ], - [ - 32658, - 17 - ], - [ - 32700, - 8 - ], - [ - 32958, - 17 - ], - [ - 33000, - 9 - ], - [ - 33257, - 17 - ], - [ - 33300, - 10 - ], - [ - 33557, - 16 - ], - [ - 33600, - 10 - ], - [ - 33856, - 17 - ], - [ - 33900, - 11 - ], - [ - 34156, - 16 - ], - [ - 34200, - 12 - ], - [ - 34455, - 16 - ], - [ - 34500, - 13 - ], - [ - 34755, - 16 - ], - [ - 34800, - 13 - ], - [ - 35054, - 16 - ], - [ - 35100, - 14 - ], - [ - 35353, - 16 - ], - [ - 35400, - 15 - ], - [ - 35653, - 16 - ], - [ - 35701, - 15 - ], - [ - 35952, - 16 - ], - [ - 36002, - 14 - ], - [ - 36252, - 15 - ], - [ - 36303, - 14 - ], - [ - 36551, - 16 - ], - [ - 36603, - 15 - ], - [ - 36851, - 15 - ], - [ - 36904, - 15 - ], - [ - 37150, - 15 - ], - [ - 37205, - 14 - ], - [ - 37449, - 16 - ], - [ - 37506, - 14 - ], - [ - 37749, - 15 - ], - [ - 37807, - 14 - ], - [ - 38048, - 16 - ], - [ - 38108, - 14 - ], - [ - 38348, - 15 - ], - [ - 38408, - 14 - ], - [ - 38647, - 15 - ], - [ - 38709, - 14 - ], - [ - 38947, - 15 - ], - [ - 39010, - 14 - ], - [ - 39246, - 15 - ], - [ - 39311, - 14 - ], - [ - 39545, - 15 - ], - [ - 39612, - 13 - ], - [ - 39845, - 15 - ], - [ - 39913, - 13 - ], - [ - 40144, - 15 - ], - [ - 40213, - 14 - ], - [ - 40444, - 14 - ], - [ - 40514, - 13 - ], - [ - 40743, - 15 - ], - [ - 40815, - 13 - ], - [ - 41043, - 14 - ], - [ - 41116, - 13 - ], - [ - 41342, - 14 - ], - [ - 41417, - 13 - ], - [ - 41641, - 15 - ], - [ - 41718, - 12 - ], - [ - 41941, - 14 - ], - [ - 42018, - 13 - ], - [ - 42240, - 14 - ], - [ - 42319, - 13 - ], - [ - 42540, - 14 - ], - [ - 42620, - 13 - ], - [ - 42839, - 14 - ], - [ - 42921, - 12 - ], - [ - 43139, - 13 - ], - [ - 43222, - 12 - ], - [ - 43438, - 14 - ], - [ - 43522, - 13 - ], - [ - 43738, - 13 - ], - [ - 43823, - 13 - ], - [ - 44037, - 13 - ], - [ - 44124, - 13 - ], - [ - 44335, - 15 - ], - [ - 44425, - 13 - ], - [ - 44635, - 14 - ], - [ - 44726, - 12 - ], - [ - 44935, - 13 - ], - [ - 45027, - 12 - ], - [ - 45235, - 13 - ], - [ - 45327, - 12 - ], - [ - 45534, - 13 - ], - [ - 45628, - 12 - ], - [ - 45834, - 13 - ], - [ - 45929, - 12 - ], - [ - 46133, - 13 - ], - [ - 46230, - 12 - ], - [ - 46432, - 13 - ], - [ - 46531, - 11 - ], - [ - 46732, - 13 - ], - [ - 46832, - 11 - ], - [ - 47031, - 13 - ], - [ - 47132, - 12 - ], - [ - 47331, - 12 - ], - [ - 47433, - 12 - ], - [ - 47630, - 13 - ], - [ - 47734, - 11 - ], - [ - 47930, - 12 - ], - [ - 48035, - 11 - ], - [ - 48229, - 12 - ], - [ - 48336, - 11 - ], - [ - 48528, - 13 - ], - [ - 48636, - 12 - ], - [ - 48828, - 12 - ], - [ - 48937, - 11 - ], - [ - 49127, - 12 - ], - [ - 49238, - 11 - ], - [ - 49427, - 12 - ], - [ - 49539, - 11 - ], - [ - 49726, - 12 - ], - [ - 49840, - 11 - ], - [ - 50026, - 11 - ], - [ - 50141, - 10 - ], - [ - 50325, - 12 - ], - [ - 50441, - 11 - ], - [ - 50624, - 12 - ], - [ - 50742, - 11 - ], - [ - 50924, - 11 - ], - [ - 51043, - 11 - ], - [ - 51223, - 12 - ], - [ - 51344, - 10 - ], - [ - 51523, - 11 - ], - [ - 51645, - 10 - ], - [ - 51822, - 11 - ], - [ - 51946, - 10 - ], - [ - 52122, - 11 - ], - [ - 52246, - 11 - ], - [ - 52421, - 11 - ], - [ - 52547, - 10 - ], - [ - 52721, - 10 - ], - [ - 52848, - 10 - ], - [ - 53020, - 11 - ], - [ - 53149, - 10 - ], - [ - 53319, - 11 - ], - [ - 53450, - 10 - ], - [ - 53619, - 11 - ], - [ - 53751, - 10 - ], - [ - 53918, - 11 - ], - [ - 54051, - 10 - ], - [ - 54217, - 11 - ], - [ - 54352, - 10 - ], - [ - 54517, - 11 - ], - [ - 54653, - 9 - ], - [ - 54817, - 10 - ], - [ - 54954, - 9 - ], - [ - 55116, - 10 - ], - [ - 55255, - 9 - ], - [ - 55415, - 11 - ], - [ - 55555, - 10 - ], - [ - 55715, - 10 - ], - [ - 55856, - 9 - ], - [ - 56014, - 10 - ], - [ - 56157, - 9 - ], - [ - 56314, - 10 - ], - [ - 56458, - 9 - ], - [ - 56613, - 10 - ], - [ - 56759, - 9 - ], - [ - 56913, - 9 - ], - [ - 57060, - 8 - ], - [ - 57212, - 10 - ], - [ - 57360, - 9 - ], - [ - 57511, - 10 - ], - [ - 57661, - 9 - ], - [ - 57811, - 9 - ], - [ - 57962, - 9 - ], - [ - 58110, - 10 - ], - [ - 58263, - 8 - ], - [ - 58410, - 9 - ], - [ - 58564, - 8 - ], - [ - 58709, - 9 - ], - [ - 58865, - 8 - ], - [ - 59009, - 9 - ], - [ - 59165, - 9 - ], - [ - 59308, - 9 - ], - [ - 59466, - 8 - ], - [ - 59607, - 9 - ], - [ - 59767, - 8 - ], - [ - 59907, - 9 - ], - [ - 60068, - 8 - ], - [ - 60206, - 9 - ], - [ - 60369, - 8 - ], - [ - 60506, - 8 - ], - [ - 60670, - 7 - ], - [ - 60805, - 9 - ], - [ - 60970, - 8 - ], - [ - 61271, - 8 - ], - [ - 61572, - 8 - ], - [ - 61873, - 7 - ], - [ - 62174, - 7 - ], - [ - 62474, - 8 - ], - [ - 62775, - 8 - ], - [ - 63076, - 7 - ], - [ - 63377, - 7 - ], - [ - 63678, - 7 - ], - [ - 63979, - 7 - ], - [ - 64279, - 7 - ] - ], - "point": [ - 149, - 90 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan413", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -0.75, - "y": 0.900691152, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.42346764, - "y": 0.07402537, - "z": 0.839743137 - }, - "rotation": { - "x": 9.92313751e-15, - "y": 315.000061, - "z": -9.923112e-15 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": -1.78281879, - "y": 0.06847346, - "z": 2.96288586 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -1.86722422, - "y": 0.0691334, - "z": 3.28410244 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -0.414203942, - "y": 0.4476165, - "z": 0.200275838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.70791709, - "y": 0.06892097, - "z": 2.70922732 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.86036491, - "y": 1.04579318, - "z": 2.009275 - }, - "rotation": { - "x": 0.0, - "y": 90.00051, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.83969629, - "y": 0.7721102, - "z": 3.14770842 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -0.457497776, - "y": 0.44772163, - "z": 0.126883268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": 0.204999983, - "y": 1.16072166, - "z": 3.73282433 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Towel_ff9c436a", - "position": { - "x": -0.07, - "y": 1.284, - "z": 0.1069 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "HandTowel_a322ac82", - "position": { - "x": -1.731, - "y": 1.333, - "z": 3.9617 - }, - "rotation": { - "x": 0.0, - "y": -4.78113252e-05, - "z": 0.0 - } - }, - { - "objectName": "SoapBar_84c384be", - "position": { - "x": -1.66809022, - "y": 0.06758666, - "z": 3.21235752 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_d73e7170", - "position": { - "x": -1.70791709, - "y": 0.0645169, - "z": 2.56573725 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ToiletPaper_40a19bb4", - "position": { - "x": -1.918308, - "y": 0.763356566, - "z": 2.518014 - }, - "rotation": { - "x": 1.88859049e-05, - "y": 1.6120183e-10, - "z": -1.468302e-05 - } - }, - { - "objectName": "Cloth_27e5b947", - "position": { - "x": 0.40132314, - "y": 1.16367412, - "z": 3.82967472 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "SprayBottle_775697e0", - "position": { - "x": -1.86471093, - "y": 0.06906557, - "z": 3.54018378 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Candle_7b917d2e", - "position": { - "x": -0.370910168, - "y": 0.4476165, - "z": 0.126883268 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "ScrubBrush_c9aeeb01", - "position": { - "x": -1.66445529, - "y": -0.00030824542, - "z": 3.89782381 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Plunger_fd5a7685", - "position": { - "x": -1.88882077, - "y": -0.0007712394, - "z": 3.88542414 - }, - "rotation": { - "x": -0.00118193, - "y": 0.0004413876, - "z": 0.000780660135 - } - }, - { - "objectName": "SoapBottle_9a0dcc9c", - "position": { - "x": -1.79516649, - "y": 0.018530177, - "z": 2.19318557 - }, - "rotation": { - "x": 0.0, - "y": 6.83018834e-06, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1280780181, - "scene_num": 413 - }, - "task_id": "trial_T20190906_193429_044662", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AUTYWXILTACCR_33TIN5LC07R4CSCAW90P4US2SGYY9H", - "high_descs": [ - "Turn to your left and approach the sink.", - "Pick up the spray bottle from the sink.", - "Turn around and face the dresser to your left.", - "Place the spray bottle on the dresser.", - "Turn around and walk towards the sink.", - "Pick up the spray bottle from the cabinet under the sink.", - "Turn around and walk back towards the dresser.", - "Place the spray bottle on top of the dresser." - ], - "task_desc": "Place two spray bottles on top of a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3OE22WJIGL5TNI9R3AEMN4CE6WZQUD", - "high_descs": [ - "Turn to your left and walk over to the sink counter.", - "Pick up the spray bottle from in between the two sinks.", - "Turn around and start walking to the door, then turn left to face the dresser.", - "Place the spray bottle on top of the dresser to the right of the soap dispenser.", - "Turn around, take a step forward then turn to your right and walk over to the left sink.", - "Open the leftmost cupboard door below the sink and remove the spray bottle, then close the door.", - "Turn around and walk back to the dresser.", - "Place the spray bottle on top of the dresser to the left of the soap dispenser." - ], - "task_desc": "Move two spray bottles to the dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3A0VPWPASCO9J_3HUTX6F6VX4HIUN95DCCSGMM80WO2B", - "high_descs": [ - "Turn around and walk across the room to the vanity.", - "Pick up the window cleaner on the counter between the two sinks.", - "Turn around and walk across the room to the dresser on the left.", - "Set the window cleaner down on top to the dresser, on the right side of the lamp.", - "Turn around and walk back across the room to the vanity.", - "Open the cabinet door under the sink on the left, take out the window cleaner, and close the cabinet.", - "Turn around and walk to the dresser on the left. ", - "Set the window cleaner down on the left of the lamp." - ], - "task_desc": "Put two bottles of window cleaner on top of the dresser. ", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065309_623947/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065309_623947/traj_data.json deleted file mode 100644 index 850a0a02f..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065309_623947/traj_data.json +++ /dev/null @@ -1,6353 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000035.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000036.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 7 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 17 - }, - { - "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": 1, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 24 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 27 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 56 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000285.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000286.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000287.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000288.png", - "low_idx": 57 - }, - { - "high_idx": 5, - "image_name": "000000289.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 75 - }, - { - "high_idx": 7, - "image_name": "000000371.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000372.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000373.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000374.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000375.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000376.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000377.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000378.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000379.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000380.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000381.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000382.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000383.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000384.png", - "low_idx": 76 - }, - { - "high_idx": 7, - "image_name": "000000385.png", - "low_idx": 76 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Statue", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|43|7|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - 42.606594, - 42.606594, - 4.941812, - 4.941812, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - 43.29548, - 43.29548, - 3.789484, - 3.789484, - 0.052, - 0.052 - ] - ], - "forceVisible": true, - "objectId": "Statue|+10.65|+00.60|+01.24" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - 42.606594, - 42.606594, - 4.941812, - 4.941812, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Statue|+10.65|+00.60|+01.24", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|45|1|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - 44.930458, - 44.930458, - 3.084484576, - 3.084484576, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - 43.29548, - 43.29548, - 3.789484, - 3.789484, - 0.052, - 0.052 - ] - ], - "forceVisible": true, - "objectId": "Statue|+11.23|+00.60|+00.77" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - 44.930458, - 44.930458, - 3.084484576, - 3.084484576, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Statue|+11.23|+00.60|+00.77", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Statue|+10.65|+00.60|+01.24" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 153, - 94, - 195, - 179 - ], - "mask": [ - [ - 28083, - 5 - ], - [ - 28382, - 7 - ], - [ - 28682, - 8 - ], - [ - 28981, - 9 - ], - [ - 29281, - 10 - ], - [ - 29581, - 10 - ], - [ - 29880, - 11 - ], - [ - 30179, - 11 - ], - [ - 30480, - 11 - ], - [ - 30776, - 14 - ], - [ - 31073, - 17 - ], - [ - 31371, - 20 - ], - [ - 31669, - 23 - ], - [ - 31969, - 25 - ], - [ - 32268, - 27 - ], - [ - 32568, - 27 - ], - [ - 32867, - 29 - ], - [ - 33167, - 29 - ], - [ - 33466, - 30 - ], - [ - 33765, - 7 - ], - [ - 33773, - 23 - ], - [ - 34065, - 6 - ], - [ - 34073, - 23 - ], - [ - 34364, - 6 - ], - [ - 34373, - 22 - ], - [ - 34663, - 5 - ], - [ - 34673, - 17 - ], - [ - 34691, - 4 - ], - [ - 34963, - 4 - ], - [ - 34973, - 17 - ], - [ - 34991, - 4 - ], - [ - 35262, - 5 - ], - [ - 35273, - 16 - ], - [ - 35291, - 4 - ], - [ - 35562, - 4 - ], - [ - 35572, - 17 - ], - [ - 35591, - 4 - ], - [ - 35861, - 5 - ], - [ - 35871, - 18 - ], - [ - 35891, - 4 - ], - [ - 36161, - 5 - ], - [ - 36170, - 19 - ], - [ - 36191, - 4 - ], - [ - 36461, - 3 - ], - [ - 36469, - 19 - ], - [ - 36491, - 5 - ], - [ - 36761, - 6 - ], - [ - 36769, - 18 - ], - [ - 36791, - 5 - ], - [ - 37061, - 3 - ], - [ - 37068, - 18 - ], - [ - 37091, - 4 - ], - [ - 37362, - 4 - ], - [ - 37368, - 18 - ], - [ - 37391, - 4 - ], - [ - 37662, - 3 - ], - [ - 37666, - 20 - ], - [ - 37692, - 3 - ], - [ - 37963, - 1 - ], - [ - 37965, - 1 - ], - [ - 37967, - 19 - ], - [ - 37992, - 3 - ], - [ - 38264, - 1 - ], - [ - 38266, - 20 - ], - [ - 38292, - 3 - ], - [ - 38566, - 20 - ], - [ - 38592, - 3 - ], - [ - 38866, - 21 - ], - [ - 38892, - 2 - ], - [ - 39166, - 21 - ], - [ - 39192, - 2 - ], - [ - 39466, - 20 - ], - [ - 39488, - 1 - ], - [ - 39492, - 2 - ], - [ - 39766, - 20 - ], - [ - 39787, - 7 - ], - [ - 40066, - 28 - ], - [ - 40367, - 26 - ], - [ - 40667, - 26 - ], - [ - 40967, - 8 - ], - [ - 40976, - 9 - ], - [ - 40986, - 6 - ], - [ - 41268, - 7 - ], - [ - 41276, - 9 - ], - [ - 41286, - 5 - ], - [ - 41568, - 7 - ], - [ - 41576, - 9 - ], - [ - 41587, - 4 - ], - [ - 41868, - 7 - ], - [ - 41876, - 8 - ], - [ - 41886, - 5 - ], - [ - 42168, - 6 - ], - [ - 42176, - 8 - ], - [ - 42186, - 6 - ], - [ - 42468, - 6 - ], - [ - 42476, - 8 - ], - [ - 42486, - 7 - ], - [ - 42768, - 7 - ], - [ - 42776, - 7 - ], - [ - 42785, - 8 - ], - [ - 43065, - 18 - ], - [ - 43085, - 9 - ], - [ - 43363, - 19 - ], - [ - 43384, - 9 - ], - [ - 43661, - 31 - ], - [ - 43960, - 32 - ], - [ - 44259, - 33 - ], - [ - 44558, - 34 - ], - [ - 44857, - 35 - ], - [ - 45156, - 36 - ], - [ - 45456, - 36 - ], - [ - 45755, - 37 - ], - [ - 46055, - 37 - ], - [ - 46354, - 38 - ], - [ - 46654, - 38 - ], - [ - 46954, - 38 - ], - [ - 47254, - 39 - ], - [ - 47554, - 39 - ], - [ - 47853, - 40 - ], - [ - 48153, - 40 - ], - [ - 48454, - 39 - ], - [ - 48754, - 39 - ], - [ - 49054, - 39 - ], - [ - 49354, - 39 - ], - [ - 49655, - 37 - ], - [ - 49955, - 37 - ], - [ - 50255, - 37 - ], - [ - 50556, - 35 - ], - [ - 50857, - 34 - ], - [ - 51157, - 33 - ], - [ - 51458, - 31 - ], - [ - 51759, - 30 - ], - [ - 52060, - 28 - ], - [ - 52362, - 24 - ], - [ - 52663, - 22 - ], - [ - 52965, - 18 - ], - [ - 53268, - 12 - ], - [ - 53573, - 2 - ] - ], - "point": [ - 174, - 135 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|+10.65|+00.60|+01.24", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7871, - 24 - ], - [ - 8171, - 28 - ], - [ - 8471, - 37 - ], - [ - 8526, - 1 - ], - [ - 8772, - 95 - ], - [ - 8983, - 17 - ], - [ - 9072, - 96 - ], - [ - 9282, - 18 - ], - [ - 9372, - 96 - ], - [ - 9582, - 18 - ], - [ - 9673, - 95 - ], - [ - 9881, - 19 - ], - [ - 9973, - 95 - ], - [ - 10181, - 19 - ], - [ - 10273, - 95 - ], - [ - 10481, - 20 - ], - [ - 10573, - 95 - ], - [ - 10780, - 21 - ], - [ - 10873, - 95 - ], - [ - 11080, - 22 - ], - [ - 11172, - 96 - ], - [ - 11380, - 22 - ], - [ - 11472, - 96 - ], - [ - 11679, - 24 - ], - [ - 11772, - 96 - ], - [ - 11979, - 24 - ], - [ - 12072, - 96 - ], - [ - 12278, - 26 - ], - [ - 12371, - 98 - ], - [ - 12578, - 26 - ], - [ - 12671, - 98 - ], - [ - 12878, - 27 - ], - [ - 12971, - 98 - ], - [ - 13177, - 29 - ], - [ - 13271, - 98 - ], - [ - 13477, - 29 - ], - [ - 13570, - 99 - ], - [ - 13776, - 31 - ], - [ - 13870, - 99 - ], - [ - 14076, - 31 - ], - [ - 14170, - 99 - ], - [ - 14376, - 32 - ], - [ - 14470, - 99 - ], - [ - 14675, - 33 - ], - [ - 14770, - 99 - ], - [ - 14976, - 33 - ], - [ - 15069, - 100 - ], - [ - 15276, - 34 - ], - [ - 15369, - 100 - ], - [ - 15576, - 34 - ], - [ - 15669, - 100 - ], - [ - 15876, - 35 - ], - [ - 15969, - 100 - ], - [ - 16176, - 35 - ], - [ - 16268, - 101 - ], - [ - 16476, - 36 - ], - [ - 16568, - 101 - ], - [ - 16776, - 36 - ], - [ - 16868, - 101 - ], - [ - 17076, - 37 - ], - [ - 17168, - 101 - ], - [ - 17377, - 37 - ], - [ - 17467, - 102 - ], - [ - 17677, - 38 - ], - [ - 17767, - 102 - ], - [ - 17978, - 37 - ], - [ - 18067, - 102 - ], - [ - 18278, - 191 - ], - [ - 18579, - 190 - ], - [ - 18880, - 189 - ], - [ - 19180, - 189 - ], - [ - 19481, - 188 - ], - [ - 19781, - 188 - ], - [ - 20082, - 187 - ], - [ - 20382, - 187 - ], - [ - 20682, - 187 - ], - [ - 20982, - 187 - ], - [ - 21282, - 269 - ], - [ - 21558, - 1 - ], - [ - 21583, - 267 - ], - [ - 21859, - 1 - ], - [ - 21883, - 269 - ], - [ - 22183, - 270 - ], - [ - 22483, - 271 - ], - [ - 22783, - 272 - ], - [ - 23083, - 273 - ], - [ - 23384, - 273 - ], - [ - 23684, - 274 - ], - [ - 23984, - 275 - ], - [ - 24284, - 276 - ], - [ - 24584, - 277 - ], - [ - 24885, - 277 - ], - [ - 25185, - 278 - ], - [ - 25485, - 278 - ], - [ - 25785, - 278 - ], - [ - 26085, - 278 - ], - [ - 26386, - 277 - ], - [ - 26686, - 277 - ], - [ - 26986, - 277 - ], - [ - 27286, - 277 - ], - [ - 27586, - 277 - ], - [ - 27887, - 276 - ], - [ - 28187, - 276 - ], - [ - 28487, - 276 - ], - [ - 28787, - 276 - ], - [ - 29087, - 276 - ], - [ - 29387, - 277 - ], - [ - 29687, - 277 - ], - [ - 29987, - 277 - ], - [ - 30287, - 277 - ], - [ - 30587, - 277 - ], - [ - 30887, - 277 - ], - [ - 31187, - 277 - ], - [ - 31487, - 278 - ], - [ - 31787, - 278 - ], - [ - 32087, - 279 - ], - [ - 32387, - 279 - ], - [ - 32687, - 280 - ], - [ - 32987, - 281 - ], - [ - 33287, - 281 - ], - [ - 33586, - 283 - ], - [ - 33886, - 284 - ], - [ - 34186, - 283 - ], - [ - 34486, - 283 - ], - [ - 34786, - 283 - ], - [ - 35086, - 282 - ], - [ - 35385, - 283 - ], - [ - 35685, - 282 - ], - [ - 35985, - 282 - ], - [ - 36285, - 281 - ], - [ - 36585, - 281 - ], - [ - 36885, - 281 - ], - [ - 37184, - 281 - ], - [ - 37484, - 281 - ], - [ - 37784, - 280 - ], - [ - 38084, - 280 - ], - [ - 38384, - 279 - ], - [ - 38684, - 279 - ], - [ - 38984, - 279 - ], - [ - 39283, - 279 - ], - [ - 39583, - 279 - ], - [ - 39883, - 278 - ], - [ - 40183, - 278 - ], - [ - 40483, - 277 - ], - [ - 40783, - 277 - ], - [ - 41083, - 277 - ], - [ - 41382, - 277 - ], - [ - 41682, - 277 - ], - [ - 41982, - 276 - ], - [ - 42282, - 276 - ], - [ - 42582, - 275 - ], - [ - 42882, - 275 - ], - [ - 43182, - 275 - ], - [ - 43481, - 275 - ], - [ - 43781, - 275 - ], - [ - 44081, - 274 - ], - [ - 44381, - 274 - ], - [ - 44681, - 219 - ], - [ - 44901, - 53 - ], - [ - 44981, - 273 - ], - [ - 45281, - 273 - ], - [ - 45580, - 273 - ], - [ - 45880, - 273 - ], - [ - 46180, - 272 - ], - [ - 46480, - 90 - ], - [ - 46571, - 181 - ], - [ - 46780, - 90 - ], - [ - 46871, - 180 - ], - [ - 47080, - 90 - ], - [ - 47172, - 179 - ], - [ - 47380, - 89 - ], - [ - 47472, - 179 - ], - [ - 47679, - 90 - ], - [ - 47772, - 178 - ], - [ - 47979, - 21 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 57739, - 1 - ], - [ - 58039, - 1 - ], - [ - 58339, - 1 - ], - [ - 58639, - 1 - ], - [ - 58939, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 57 - ], - [ - 62576, - 11 - ], - [ - 62612, - 23 - ], - [ - 62667, - 92 - ], - [ - 62785, - 1 - ], - [ - 62878, - 6 - ], - [ - 62912, - 23 - ], - [ - 62966, - 95 - ], - [ - 63086, - 1 - ], - [ - 63212, - 23 - ], - [ - 63265, - 35 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "Statue|+11.23|+00.60|+00.77" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 126, - 90, - 165, - 177 - ], - "mask": [ - [ - 26839, - 6 - ], - [ - 27139, - 7 - ], - [ - 27438, - 8 - ], - [ - 27737, - 10 - ], - [ - 28037, - 10 - ], - [ - 28337, - 10 - ], - [ - 28637, - 10 - ], - [ - 28937, - 10 - ], - [ - 29237, - 11 - ], - [ - 29537, - 11 - ], - [ - 29559, - 1 - ], - [ - 29838, - 8 - ], - [ - 29859, - 2 - ], - [ - 30139, - 7 - ], - [ - 30160, - 2 - ], - [ - 30439, - 7 - ], - [ - 30459, - 4 - ], - [ - 30740, - 6 - ], - [ - 30759, - 4 - ], - [ - 31040, - 6 - ], - [ - 31060, - 3 - ], - [ - 31339, - 7 - ], - [ - 31361, - 3 - ], - [ - 31639, - 8 - ], - [ - 31661, - 3 - ], - [ - 31935, - 18 - ], - [ - 31962, - 2 - ], - [ - 32232, - 23 - ], - [ - 32262, - 2 - ], - [ - 32531, - 25 - ], - [ - 32562, - 2 - ], - [ - 32830, - 27 - ], - [ - 32861, - 3 - ], - [ - 33130, - 27 - ], - [ - 33161, - 3 - ], - [ - 33430, - 28 - ], - [ - 33460, - 4 - ], - [ - 33730, - 28 - ], - [ - 33760, - 3 - ], - [ - 34030, - 28 - ], - [ - 34059, - 4 - ], - [ - 34330, - 33 - ], - [ - 34630, - 22 - ], - [ - 34653, - 10 - ], - [ - 34930, - 4 - ], - [ - 34935, - 17 - ], - [ - 34954, - 8 - ], - [ - 35229, - 5 - ], - [ - 35236, - 16 - ], - [ - 35254, - 8 - ], - [ - 35529, - 5 - ], - [ - 35536, - 17 - ], - [ - 35555, - 7 - ], - [ - 35829, - 4 - ], - [ - 35837, - 17 - ], - [ - 35856, - 6 - ], - [ - 36129, - 4 - ], - [ - 36137, - 18 - ], - [ - 36156, - 5 - ], - [ - 36429, - 4 - ], - [ - 36438, - 17 - ], - [ - 36457, - 4 - ], - [ - 36729, - 4 - ], - [ - 36738, - 18 - ], - [ - 37029, - 3 - ], - [ - 37038, - 18 - ], - [ - 37329, - 3 - ], - [ - 37338, - 18 - ], - [ - 37629, - 6 - ], - [ - 37637, - 19 - ], - [ - 37929, - 7 - ], - [ - 37937, - 20 - ], - [ - 38229, - 7 - ], - [ - 38237, - 20 - ], - [ - 38530, - 27 - ], - [ - 38830, - 27 - ], - [ - 39130, - 27 - ], - [ - 39430, - 27 - ], - [ - 39729, - 9 - ], - [ - 39739, - 17 - ], - [ - 40029, - 9 - ], - [ - 40040, - 6 - ], - [ - 40047, - 9 - ], - [ - 40330, - 8 - ], - [ - 40340, - 6 - ], - [ - 40347, - 9 - ], - [ - 40630, - 8 - ], - [ - 40640, - 6 - ], - [ - 40647, - 8 - ], - [ - 40930, - 8 - ], - [ - 40940, - 6 - ], - [ - 40947, - 8 - ], - [ - 41230, - 7 - ], - [ - 41240, - 6 - ], - [ - 41247, - 7 - ], - [ - 41530, - 7 - ], - [ - 41540, - 6 - ], - [ - 41547, - 7 - ], - [ - 41830, - 7 - ], - [ - 41840, - 6 - ], - [ - 41847, - 6 - ], - [ - 42130, - 8 - ], - [ - 42140, - 6 - ], - [ - 42148, - 5 - ], - [ - 42431, - 6 - ], - [ - 42440, - 13 - ], - [ - 42731, - 4 - ], - [ - 42738, - 16 - ], - [ - 43031, - 3 - ], - [ - 43036, - 20 - ], - [ - 43331, - 27 - ], - [ - 43631, - 29 - ], - [ - 43931, - 29 - ], - [ - 44231, - 30 - ], - [ - 44530, - 32 - ], - [ - 44829, - 34 - ], - [ - 45128, - 36 - ], - [ - 45428, - 36 - ], - [ - 45727, - 37 - ], - [ - 46027, - 38 - ], - [ - 46327, - 38 - ], - [ - 46627, - 38 - ], - [ - 46926, - 39 - ], - [ - 47226, - 40 - ], - [ - 47526, - 40 - ], - [ - 47826, - 39 - ], - [ - 48126, - 39 - ], - [ - 48427, - 38 - ], - [ - 48727, - 38 - ], - [ - 49027, - 38 - ], - [ - 49327, - 38 - ], - [ - 49627, - 37 - ], - [ - 49928, - 36 - ], - [ - 50229, - 34 - ], - [ - 50529, - 33 - ], - [ - 50830, - 32 - ], - [ - 51131, - 30 - ], - [ - 51431, - 29 - ], - [ - 51733, - 26 - ], - [ - 52034, - 23 - ], - [ - 52336, - 19 - ], - [ - 52638, - 16 - ], - [ - 52943, - 6 - ] - ], - "point": [ - 145, - 132 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|+11.23|+00.60|+00.77", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7871, - 24 - ], - [ - 8171, - 28 - ], - [ - 8471, - 37 - ], - [ - 8526, - 1 - ], - [ - 8772, - 95 - ], - [ - 8983, - 17 - ], - [ - 9072, - 96 - ], - [ - 9282, - 18 - ], - [ - 9372, - 96 - ], - [ - 9582, - 18 - ], - [ - 9673, - 95 - ], - [ - 9881, - 19 - ], - [ - 9973, - 95 - ], - [ - 10181, - 19 - ], - [ - 10273, - 95 - ], - [ - 10481, - 20 - ], - [ - 10573, - 95 - ], - [ - 10780, - 21 - ], - [ - 10873, - 95 - ], - [ - 11080, - 22 - ], - [ - 11172, - 96 - ], - [ - 11380, - 22 - ], - [ - 11472, - 96 - ], - [ - 11679, - 24 - ], - [ - 11772, - 96 - ], - [ - 11979, - 24 - ], - [ - 12072, - 96 - ], - [ - 12278, - 26 - ], - [ - 12371, - 98 - ], - [ - 12578, - 26 - ], - [ - 12671, - 98 - ], - [ - 12878, - 27 - ], - [ - 12971, - 98 - ], - [ - 13177, - 29 - ], - [ - 13271, - 98 - ], - [ - 13477, - 29 - ], - [ - 13570, - 99 - ], - [ - 13776, - 31 - ], - [ - 13870, - 99 - ], - [ - 14076, - 31 - ], - [ - 14170, - 99 - ], - [ - 14376, - 32 - ], - [ - 14470, - 99 - ], - [ - 14675, - 33 - ], - [ - 14770, - 99 - ], - [ - 14976, - 33 - ], - [ - 15069, - 100 - ], - [ - 15276, - 34 - ], - [ - 15369, - 100 - ], - [ - 15576, - 34 - ], - [ - 15669, - 100 - ], - [ - 15876, - 35 - ], - [ - 15969, - 100 - ], - [ - 16176, - 35 - ], - [ - 16268, - 101 - ], - [ - 16476, - 36 - ], - [ - 16568, - 101 - ], - [ - 16776, - 36 - ], - [ - 16868, - 101 - ], - [ - 17076, - 37 - ], - [ - 17168, - 101 - ], - [ - 17377, - 37 - ], - [ - 17467, - 102 - ], - [ - 17677, - 38 - ], - [ - 17767, - 102 - ], - [ - 17978, - 37 - ], - [ - 18067, - 102 - ], - [ - 18278, - 191 - ], - [ - 18579, - 190 - ], - [ - 18880, - 189 - ], - [ - 19180, - 189 - ], - [ - 19481, - 19 - ], - [ - 19501, - 168 - ], - [ - 19781, - 19 - ], - [ - 19802, - 167 - ], - [ - 20082, - 18 - ], - [ - 20103, - 166 - ], - [ - 20382, - 18 - ], - [ - 20403, - 166 - ], - [ - 20682, - 18 - ], - [ - 20704, - 165 - ], - [ - 20982, - 18 - ], - [ - 21004, - 165 - ], - [ - 21282, - 18 - ], - [ - 21305, - 246 - ], - [ - 21558, - 1 - ], - [ - 21583, - 17 - ], - [ - 21605, - 245 - ], - [ - 21859, - 1 - ], - [ - 21883, - 17 - ], - [ - 21906, - 246 - ], - [ - 22183, - 17 - ], - [ - 22206, - 247 - ], - [ - 22483, - 18 - ], - [ - 22506, - 248 - ], - [ - 22783, - 19 - ], - [ - 22807, - 248 - ], - [ - 23083, - 20 - ], - [ - 23114, - 242 - ], - [ - 23384, - 16 - ], - [ - 23418, - 239 - ], - [ - 23684, - 16 - ], - [ - 23722, - 236 - ], - [ - 23984, - 16 - ], - [ - 24024, - 235 - ], - [ - 24284, - 16 - ], - [ - 24326, - 234 - ], - [ - 24584, - 16 - ], - [ - 24627, - 234 - ], - [ - 24885, - 15 - ], - [ - 24928, - 234 - ], - [ - 25185, - 15 - ], - [ - 25228, - 235 - ], - [ - 25485, - 15 - ], - [ - 25529, - 234 - ], - [ - 25785, - 15 - ], - [ - 25830, - 233 - ], - [ - 26085, - 15 - ], - [ - 26130, - 233 - ], - [ - 26386, - 14 - ], - [ - 26431, - 232 - ], - [ - 26686, - 14 - ], - [ - 26731, - 232 - ], - [ - 26986, - 14 - ], - [ - 27031, - 232 - ], - [ - 27286, - 14 - ], - [ - 27331, - 232 - ], - [ - 27586, - 14 - ], - [ - 27631, - 232 - ], - [ - 27887, - 13 - ], - [ - 27931, - 232 - ], - [ - 28187, - 13 - ], - [ - 28231, - 232 - ], - [ - 28487, - 13 - ], - [ - 28531, - 232 - ], - [ - 28787, - 13 - ], - [ - 28830, - 233 - ], - [ - 29087, - 13 - ], - [ - 29130, - 233 - ], - [ - 29387, - 13 - ], - [ - 29429, - 235 - ], - [ - 29687, - 13 - ], - [ - 29728, - 236 - ], - [ - 29987, - 13 - ], - [ - 30028, - 236 - ], - [ - 30287, - 13 - ], - [ - 30327, - 237 - ], - [ - 30587, - 13 - ], - [ - 30626, - 238 - ], - [ - 30887, - 13 - ], - [ - 30925, - 239 - ], - [ - 31187, - 13 - ], - [ - 31224, - 240 - ], - [ - 31487, - 13 - ], - [ - 31522, - 243 - ], - [ - 31787, - 13 - ], - [ - 31821, - 244 - ], - [ - 32087, - 13 - ], - [ - 32119, - 247 - ], - [ - 32387, - 13 - ], - [ - 32417, - 249 - ], - [ - 32687, - 13 - ], - [ - 32714, - 253 - ], - [ - 32987, - 14 - ], - [ - 33010, - 258 - ], - [ - 33287, - 281 - ], - [ - 33586, - 283 - ], - [ - 33886, - 284 - ], - [ - 34186, - 283 - ], - [ - 34486, - 283 - ], - [ - 34786, - 283 - ], - [ - 35086, - 282 - ], - [ - 35385, - 283 - ], - [ - 35685, - 282 - ], - [ - 35985, - 282 - ], - [ - 36285, - 281 - ], - [ - 36585, - 281 - ], - [ - 36885, - 281 - ], - [ - 37184, - 281 - ], - [ - 37484, - 281 - ], - [ - 37784, - 280 - ], - [ - 38084, - 280 - ], - [ - 38384, - 279 - ], - [ - 38684, - 279 - ], - [ - 38984, - 279 - ], - [ - 39283, - 279 - ], - [ - 39583, - 279 - ], - [ - 39883, - 278 - ], - [ - 40183, - 278 - ], - [ - 40483, - 277 - ], - [ - 40783, - 277 - ], - [ - 41083, - 277 - ], - [ - 41382, - 277 - ], - [ - 41682, - 277 - ], - [ - 41982, - 276 - ], - [ - 42282, - 276 - ], - [ - 42582, - 275 - ], - [ - 42882, - 275 - ], - [ - 43182, - 275 - ], - [ - 43481, - 275 - ], - [ - 43781, - 275 - ], - [ - 44081, - 274 - ], - [ - 44381, - 274 - ], - [ - 44681, - 219 - ], - [ - 44901, - 53 - ], - [ - 44981, - 273 - ], - [ - 45281, - 273 - ], - [ - 45580, - 273 - ], - [ - 45880, - 273 - ], - [ - 46180, - 272 - ], - [ - 46480, - 90 - ], - [ - 46571, - 181 - ], - [ - 46780, - 90 - ], - [ - 46871, - 180 - ], - [ - 47080, - 90 - ], - [ - 47172, - 179 - ], - [ - 47380, - 89 - ], - [ - 47472, - 179 - ], - [ - 47679, - 90 - ], - [ - 47772, - 178 - ], - [ - 47979, - 21 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 57739, - 1 - ], - [ - 58039, - 1 - ], - [ - 58339, - 1 - ], - [ - 58639, - 1 - ], - [ - 58939, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 57 - ], - [ - 62576, - 11 - ], - [ - 62612, - 23 - ], - [ - 62667, - 92 - ], - [ - 62785, - 1 - ], - [ - 62878, - 6 - ], - [ - 62912, - 23 - ], - [ - 62966, - 95 - ], - [ - 63086, - 1 - ], - [ - 63212, - 23 - ], - [ - 63265, - 35 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 13.0, - "y": 0.9028512, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.6516485, - "y": 0.5976794, - "z": 1.235453 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 10.2643375, - "y": 0.590995967, - "z": 1.235453 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 14.616, - "y": 0.5185427, - "z": -0.90199995 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 10.4579926, - "y": 0.5937072, - "z": 0.863987565 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 9.595827, - "y": 0.679692864, - "z": 3.216 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 14.5262032, - "y": 1.0043478, - "z": 1.82562959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 11.6615791, - "y": 0.45745188, - "z": 3.007415 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 9.305346, - "y": 0.679692745, - "z": 3.28825068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 9.692654, - "y": 0.429995984, - "z": 3.07149863 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 11.448, - "y": 0.457835734, - "z": 3.23020744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 12.0487576, - "y": 0.52, - "z": 3.22808361 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 11.2326145, - "y": 0.5976794, - "z": 0.771121144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 12.3069706, - "y": 0.6042766, - "z": -1.13911867 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 11.0208416, - "y": 0.4597072, - "z": 3.15594339 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 11.2326145, - "y": 0.591272652, - "z": 1.235453 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 4269595829, - "scene_num": 213 - }, - "task_id": "trial_T20190909_065309_623947", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3T9K2RY06UO14_3IAS3U3I0I75KPKYXGW7NI6PW0IB2V", - "high_descs": [ - "Turn and go to the coffee table.", - "Pick up a statue on the coffee table.", - "Turn and go to the dresser. ", - "Put the statue on the dresser. ", - "Turn and go to the coffee table.", - "Pick up a statue on the coffee table.", - "Turn and go to the dresser. ", - "Put the statue on the dresser. " - ], - "task_desc": "Move two statues from the coffee table to the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1HKHM4NVAO98H_3IX2EGZR7EAS6SZV0YOPMEXAGX6JR2", - "high_descs": [ - "move forwards to the right side of the coffee table and turn to face it", - "grab a statue off of the coffee table", - "turn left and walk over to the TV stand at the end of the room", - "place the statue down on top of the TV stand", - "turn around and walk over to the left side of the coffee table up ahead and turn to face it to the right", - "pick up the other statue off of the coffee table here", - "turn right and walk back over to the TV stand at the end of the room", - "place the statue down on top of the TV stand there" - ], - "task_desc": "place two statues on top of the TV stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3NJM2BJS4ZXKM1DADE3EUFK0PWTCPB", - "high_descs": [ - "Turn right and walk towards the door, then hang a left and walk over to the side of the coffee table.", - "Pick up the closest statue off of the coffee table.", - "Turn left and walk across the room to where the television is on the dresser.", - "Put the statue on the dresser in front of the cardboard box.", - "Turn right and walk forward, then turn right and walk over to the side of the coffee table.", - "Pick up the statue off of the coffee table.", - "Turn right and walk over to the dresser that the television is on.", - "Put the statue on the dresser." - ], - "task_desc": "Move two statues from the coffee table to a dresser.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065343_750913/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065343_750913/traj_data.json deleted file mode 100644 index ea993492d..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065343_750913/traj_data.json +++ /dev/null @@ -1,8042 +0,0 @@ -{ - "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": 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": 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": 12 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 12 - }, - { - "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": 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": 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": 29 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000119.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000120.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000121.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000122.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000123.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000124.png", - "low_idx": 30 - }, - { - "high_idx": 1, - "image_name": "000000125.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000126.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000127.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000132.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000133.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000134.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000135.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000136.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000137.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 1, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 33 - }, - { - "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": 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": 40 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 52 - }, - { - "high_idx": 3, - "image_name": "000000227.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000228.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000229.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000230.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000231.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000232.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000233.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000234.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000235.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000236.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000237.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000238.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000239.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000240.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000241.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000319.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000320.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000321.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000322.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000323.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000324.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000325.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000326.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000327.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000328.png", - "low_idx": 74 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 75 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000428.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000429.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000430.png", - "low_idx": 96 - }, - { - "high_idx": 7, - "image_name": "000000431.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000432.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000433.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000434.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000435.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000436.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000437.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000438.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000439.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000440.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000441.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000442.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000443.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000444.png", - "low_idx": 97 - }, - { - "high_idx": 7, - "image_name": "000000445.png", - "low_idx": 97 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Statue", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|42|1|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - 41.8319704, - 41.8319704, - 3.45595026, - 3.45595026, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - 43.29548, - 43.29548, - 3.789484, - 3.789484, - 0.052, - 0.052 - ] - ], - "forceVisible": true, - "objectId": "Statue|+10.46|+00.60|+00.86" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - 41.8319704, - 41.8319704, - 3.45595026, - 3.45595026, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Statue|+10.46|+00.60|+00.86", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|42|1|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - 41.8319704, - 41.8319704, - 2.7130192, - 2.7130192, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - 43.29548, - 43.29548, - 3.789484, - 3.789484, - 0.052, - 0.052 - ] - ], - "forceVisible": true, - "objectId": "Statue|+10.46|+00.60|+00.68" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - 41.8319704, - 41.8319704, - 2.7130192, - 2.7130192, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Statue|+10.46|+00.60|+00.68", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "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": "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": "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": "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": "Statue|+10.46|+00.60|+00.86" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 123, - 67, - 158, - 154 - ], - "mask": [ - [ - 19934, - 1 - ], - [ - 20232, - 5 - ], - [ - 20531, - 7 - ], - [ - 20831, - 8 - ], - [ - 21130, - 9 - ], - [ - 21430, - 9 - ], - [ - 21730, - 9 - ], - [ - 22030, - 9 - ], - [ - 22330, - 10 - ], - [ - 22630, - 10 - ], - [ - 22930, - 10 - ], - [ - 23231, - 8 - ], - [ - 23532, - 6 - ], - [ - 23552, - 1 - ], - [ - 23833, - 5 - ], - [ - 23852, - 2 - ], - [ - 24133, - 5 - ], - [ - 24151, - 1 - ], - [ - 24153, - 2 - ], - [ - 24433, - 6 - ], - [ - 24452, - 3 - ], - [ - 24732, - 7 - ], - [ - 24752, - 4 - ], - [ - 25032, - 8 - ], - [ - 25053, - 3 - ], - [ - 25328, - 19 - ], - [ - 25354, - 2 - ], - [ - 25625, - 23 - ], - [ - 25654, - 2 - ], - [ - 25924, - 24 - ], - [ - 25954, - 2 - ], - [ - 26224, - 25 - ], - [ - 26254, - 2 - ], - [ - 26523, - 27 - ], - [ - 26554, - 2 - ], - [ - 26823, - 27 - ], - [ - 26853, - 3 - ], - [ - 27123, - 27 - ], - [ - 27153, - 3 - ], - [ - 27423, - 27 - ], - [ - 27452, - 4 - ], - [ - 27724, - 27 - ], - [ - 27752, - 3 - ], - [ - 28024, - 21 - ], - [ - 28046, - 9 - ], - [ - 28324, - 4 - ], - [ - 28329, - 15 - ], - [ - 28346, - 9 - ], - [ - 28623, - 5 - ], - [ - 28629, - 15 - ], - [ - 28647, - 8 - ], - [ - 28923, - 5 - ], - [ - 28930, - 15 - ], - [ - 28948, - 6 - ], - [ - 29223, - 4 - ], - [ - 29230, - 16 - ], - [ - 29248, - 6 - ], - [ - 29523, - 4 - ], - [ - 29531, - 16 - ], - [ - 29549, - 5 - ], - [ - 29823, - 4 - ], - [ - 29831, - 16 - ], - [ - 29849, - 4 - ], - [ - 30123, - 4 - ], - [ - 30131, - 17 - ], - [ - 30151, - 1 - ], - [ - 30423, - 4 - ], - [ - 30432, - 16 - ], - [ - 30723, - 3 - ], - [ - 30732, - 17 - ], - [ - 31023, - 3 - ], - [ - 31032, - 17 - ], - [ - 31323, - 4 - ], - [ - 31331, - 18 - ], - [ - 31623, - 6 - ], - [ - 31631, - 19 - ], - [ - 31924, - 6 - ], - [ - 31931, - 19 - ], - [ - 32224, - 26 - ], - [ - 32524, - 26 - ], - [ - 32824, - 26 - ], - [ - 33124, - 26 - ], - [ - 33424, - 8 - ], - [ - 33433, - 16 - ], - [ - 33724, - 8 - ], - [ - 33734, - 15 - ], - [ - 34024, - 8 - ], - [ - 34035, - 5 - ], - [ - 34041, - 8 - ], - [ - 34324, - 6 - ], - [ - 34336, - 4 - ], - [ - 34341, - 8 - ], - [ - 34625, - 4 - ], - [ - 34637, - 3 - ], - [ - 34641, - 7 - ], - [ - 34925, - 4 - ], - [ - 34937, - 3 - ], - [ - 34941, - 7 - ], - [ - 35225, - 3 - ], - [ - 35237, - 3 - ], - [ - 35241, - 7 - ], - [ - 35525, - 3 - ], - [ - 35538, - 2 - ], - [ - 35541, - 6 - ], - [ - 35825, - 3 - ], - [ - 35838, - 2 - ], - [ - 35841, - 6 - ], - [ - 36125, - 2 - ], - [ - 36138, - 2 - ], - [ - 36141, - 6 - ], - [ - 36425, - 3 - ], - [ - 36438, - 2 - ], - [ - 36441, - 6 - ], - [ - 36726, - 1 - ], - [ - 36739, - 1 - ], - [ - 36742, - 5 - ], - [ - 37025, - 2 - ], - [ - 37039, - 1 - ], - [ - 37042, - 5 - ], - [ - 37326, - 2 - ], - [ - 37337, - 10 - ], - [ - 37626, - 3 - ], - [ - 37637, - 12 - ], - [ - 37926, - 3 - ], - [ - 37937, - 14 - ], - [ - 38226, - 5 - ], - [ - 38237, - 16 - ], - [ - 38527, - 3 - ], - [ - 38537, - 17 - ], - [ - 38826, - 4 - ], - [ - 38838, - 16 - ], - [ - 39125, - 5 - ], - [ - 39140, - 15 - ], - [ - 39447, - 8 - ], - [ - 39748, - 6 - ], - [ - 39757, - 1 - ], - [ - 40048, - 6 - ], - [ - 40057, - 1 - ], - [ - 40349, - 4 - ], - [ - 40357, - 1 - ], - [ - 40649, - 4 - ], - [ - 40656, - 3 - ], - [ - 40950, - 2 - ], - [ - 40956, - 3 - ], - [ - 41250, - 2 - ], - [ - 41256, - 3 - ], - [ - 41551, - 1 - ], - [ - 41556, - 3 - ], - [ - 41856, - 3 - ], - [ - 42125, - 1 - ], - [ - 42144, - 1 - ], - [ - 42155, - 4 - ], - [ - 42425, - 1 - ], - [ - 42444, - 2 - ], - [ - 42455, - 4 - ], - [ - 42725, - 2 - ], - [ - 42746, - 1 - ], - [ - 42755, - 4 - ], - [ - 43025, - 3 - ], - [ - 43054, - 5 - ], - [ - 43324, - 5 - ], - [ - 43354, - 5 - ], - [ - 43624, - 5 - ], - [ - 43648, - 1 - ], - [ - 43654, - 4 - ], - [ - 43924, - 5 - ], - [ - 43949, - 1 - ], - [ - 43952, - 6 - ], - [ - 44226, - 4 - ], - [ - 44249, - 9 - ], - [ - 44528, - 1 - ], - [ - 44549, - 8 - ], - [ - 44849, - 7 - ], - [ - 45150, - 5 - ], - [ - 45450, - 4 - ], - [ - 45750, - 3 - ], - [ - 46050, - 2 - ] - ], - "point": [ - 140, - 109 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|+10.46|+00.60|+00.86", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 95 - ], - [ - 8100, - 99 - ], - [ - 8400, - 108 - ], - [ - 8526, - 1 - ], - [ - 8700, - 167 - ], - [ - 8983, - 185 - ], - [ - 9282, - 186 - ], - [ - 9582, - 186 - ], - [ - 9881, - 187 - ], - [ - 10181, - 187 - ], - [ - 10481, - 187 - ], - [ - 10780, - 188 - ], - [ - 11080, - 188 - ], - [ - 11380, - 188 - ], - [ - 11679, - 189 - ], - [ - 11979, - 189 - ], - [ - 12278, - 191 - ], - [ - 12578, - 191 - ], - [ - 12878, - 191 - ], - [ - 13177, - 192 - ], - [ - 13477, - 192 - ], - [ - 13776, - 193 - ], - [ - 14076, - 193 - ], - [ - 14376, - 193 - ], - [ - 14675, - 194 - ], - [ - 14976, - 193 - ], - [ - 15276, - 193 - ], - [ - 15576, - 193 - ], - [ - 15876, - 193 - ], - [ - 16176, - 193 - ], - [ - 16476, - 193 - ], - [ - 16776, - 193 - ], - [ - 17076, - 193 - ], - [ - 17377, - 192 - ], - [ - 17677, - 71 - ], - [ - 17811, - 58 - ], - [ - 17978, - 70 - ], - [ - 18111, - 58 - ], - [ - 18278, - 69 - ], - [ - 18411, - 58 - ], - [ - 18579, - 68 - ], - [ - 18712, - 57 - ], - [ - 18880, - 67 - ], - [ - 19012, - 57 - ], - [ - 19180, - 67 - ], - [ - 19311, - 58 - ], - [ - 19481, - 65 - ], - [ - 19611, - 58 - ], - [ - 19781, - 65 - ], - [ - 19911, - 58 - ], - [ - 20082, - 64 - ], - [ - 20211, - 58 - ], - [ - 20382, - 64 - ], - [ - 20511, - 58 - ], - [ - 20682, - 63 - ], - [ - 20811, - 58 - ], - [ - 20982, - 18 - ], - [ - 21001, - 44 - ], - [ - 21111, - 58 - ], - [ - 21282, - 18 - ], - [ - 21301, - 44 - ], - [ - 21411, - 140 - ], - [ - 21558, - 1 - ], - [ - 21583, - 17 - ], - [ - 21602, - 42 - ], - [ - 21711, - 139 - ], - [ - 21859, - 1 - ], - [ - 21883, - 17 - ], - [ - 21903, - 41 - ], - [ - 22011, - 141 - ], - [ - 22183, - 17 - ], - [ - 22203, - 41 - ], - [ - 22310, - 143 - ], - [ - 22483, - 17 - ], - [ - 22504, - 40 - ], - [ - 22610, - 144 - ], - [ - 22783, - 17 - ], - [ - 22805, - 38 - ], - [ - 22910, - 145 - ], - [ - 23083, - 17 - ], - [ - 23105, - 38 - ], - [ - 23210, - 146 - ], - [ - 23384, - 16 - ], - [ - 23406, - 37 - ], - [ - 23510, - 147 - ], - [ - 23684, - 16 - ], - [ - 23707, - 35 - ], - [ - 23810, - 148 - ], - [ - 23984, - 16 - ], - [ - 24007, - 35 - ], - [ - 24110, - 149 - ], - [ - 24284, - 16 - ], - [ - 24308, - 34 - ], - [ - 24410, - 150 - ], - [ - 24584, - 16 - ], - [ - 24608, - 34 - ], - [ - 24710, - 151 - ], - [ - 24885, - 15 - ], - [ - 24909, - 32 - ], - [ - 25009, - 153 - ], - [ - 25185, - 15 - ], - [ - 25210, - 31 - ], - [ - 25309, - 154 - ], - [ - 25485, - 15 - ], - [ - 25510, - 31 - ], - [ - 25609, - 154 - ], - [ - 25785, - 15 - ], - [ - 25811, - 29 - ], - [ - 25909, - 154 - ], - [ - 26085, - 15 - ], - [ - 26110, - 30 - ], - [ - 26209, - 154 - ], - [ - 26386, - 14 - ], - [ - 26409, - 31 - ], - [ - 26509, - 154 - ], - [ - 26686, - 14 - ], - [ - 26710, - 30 - ], - [ - 26809, - 84 - ], - [ - 26905, - 58 - ], - [ - 26986, - 14 - ], - [ - 27010, - 29 - ], - [ - 27109, - 84 - ], - [ - 27206, - 57 - ], - [ - 27286, - 14 - ], - [ - 27310, - 29 - ], - [ - 27409, - 84 - ], - [ - 27506, - 57 - ], - [ - 27586, - 8 - ], - [ - 27609, - 30 - ], - [ - 27771, - 22 - ], - [ - 27806, - 57 - ], - [ - 27887, - 7 - ], - [ - 27908, - 31 - ], - [ - 28071, - 22 - ], - [ - 28106, - 57 - ], - [ - 28187, - 6 - ], - [ - 28207, - 32 - ], - [ - 28371, - 22 - ], - [ - 28406, - 57 - ], - [ - 28487, - 5 - ], - [ - 28506, - 33 - ], - [ - 28671, - 23 - ], - [ - 28706, - 57 - ], - [ - 28787, - 5 - ], - [ - 28805, - 35 - ], - [ - 28971, - 23 - ], - [ - 29006, - 57 - ], - [ - 29087, - 5 - ], - [ - 29103, - 99 - ], - [ - 29271, - 23 - ], - [ - 29307, - 56 - ], - [ - 29387, - 6 - ], - [ - 29402, - 100 - ], - [ - 29572, - 22 - ], - [ - 29607, - 57 - ], - [ - 29687, - 6 - ], - [ - 29701, - 101 - ], - [ - 29872, - 22 - ], - [ - 29907, - 57 - ], - [ - 29987, - 6 - ], - [ - 30000, - 102 - ], - [ - 30172, - 22 - ], - [ - 30207, - 57 - ], - [ - 30287, - 7 - ], - [ - 30300, - 102 - ], - [ - 30472, - 22 - ], - [ - 30507, - 57 - ], - [ - 30587, - 7 - ], - [ - 30600, - 101 - ], - [ - 30772, - 22 - ], - [ - 30807, - 57 - ], - [ - 30887, - 7 - ], - [ - 30900, - 101 - ], - [ - 31072, - 22 - ], - [ - 31107, - 57 - ], - [ - 31187, - 8 - ], - [ - 31200, - 101 - ], - [ - 31372, - 92 - ], - [ - 31487, - 8 - ], - [ - 31500, - 101 - ], - [ - 31672, - 93 - ], - [ - 31787, - 8 - ], - [ - 31800, - 101 - ], - [ - 31972, - 93 - ], - [ - 32087, - 9 - ], - [ - 32100, - 101 - ], - [ - 32272, - 94 - ], - [ - 32387, - 9 - ], - [ - 32400, - 101 - ], - [ - 32572, - 94 - ], - [ - 32687, - 10 - ], - [ - 32700, - 101 - ], - [ - 32872, - 95 - ], - [ - 32987, - 10 - ], - [ - 33000, - 100 - ], - [ - 33172, - 96 - ], - [ - 33287, - 10 - ], - [ - 33300, - 100 - ], - [ - 33472, - 96 - ], - [ - 33586, - 12 - ], - [ - 33600, - 100 - ], - [ - 33772, - 97 - ], - [ - 33886, - 12 - ], - [ - 33900, - 100 - ], - [ - 34072, - 98 - ], - [ - 34186, - 12 - ], - [ - 34200, - 100 - ], - [ - 34372, - 97 - ], - [ - 34486, - 13 - ], - [ - 34500, - 100 - ], - [ - 34672, - 97 - ], - [ - 34786, - 13 - ], - [ - 34800, - 100 - ], - [ - 34973, - 96 - ], - [ - 35086, - 13 - ], - [ - 35100, - 100 - ], - [ - 35273, - 95 - ], - [ - 35385, - 115 - ], - [ - 35573, - 95 - ], - [ - 35685, - 114 - ], - [ - 35873, - 94 - ], - [ - 35985, - 114 - ], - [ - 36173, - 94 - ], - [ - 36285, - 114 - ], - [ - 36473, - 93 - ], - [ - 36585, - 114 - ], - [ - 36773, - 93 - ], - [ - 36885, - 114 - ], - [ - 37073, - 93 - ], - [ - 37184, - 115 - ], - [ - 37373, - 92 - ], - [ - 37484, - 115 - ], - [ - 37673, - 92 - ], - [ - 37784, - 115 - ], - [ - 37973, - 91 - ], - [ - 38084, - 114 - ], - [ - 38273, - 91 - ], - [ - 38384, - 114 - ], - [ - 38573, - 90 - ], - [ - 38684, - 114 - ], - [ - 38873, - 90 - ], - [ - 38984, - 114 - ], - [ - 39173, - 90 - ], - [ - 39283, - 115 - ], - [ - 39473, - 89 - ], - [ - 39583, - 115 - ], - [ - 39773, - 89 - ], - [ - 39883, - 115 - ], - [ - 40073, - 88 - ], - [ - 40183, - 115 - ], - [ - 40373, - 88 - ], - [ - 40483, - 115 - ], - [ - 40673, - 87 - ], - [ - 40783, - 116 - ], - [ - 40973, - 87 - ], - [ - 41083, - 277 - ], - [ - 41382, - 277 - ], - [ - 41682, - 277 - ], - [ - 41982, - 276 - ], - [ - 42282, - 276 - ], - [ - 42582, - 275 - ], - [ - 42882, - 275 - ], - [ - 43182, - 275 - ], - [ - 43481, - 275 - ], - [ - 43781, - 275 - ], - [ - 44081, - 274 - ], - [ - 44381, - 274 - ], - [ - 44681, - 219 - ], - [ - 44901, - 53 - ], - [ - 44981, - 273 - ], - [ - 45281, - 273 - ], - [ - 45580, - 273 - ], - [ - 45880, - 273 - ], - [ - 46180, - 272 - ], - [ - 46480, - 90 - ], - [ - 46571, - 181 - ], - [ - 46780, - 90 - ], - [ - 46871, - 180 - ], - [ - 47080, - 90 - ], - [ - 47172, - 179 - ], - [ - 47380, - 89 - ], - [ - 47472, - 179 - ], - [ - 47679, - 90 - ], - [ - 47772, - 178 - ], - [ - 47979, - 21 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 57739, - 1 - ], - [ - 58039, - 1 - ], - [ - 58339, - 1 - ], - [ - 58639, - 1 - ], - [ - 58939, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 57 - ], - [ - 62576, - 11 - ], - [ - 62612, - 23 - ], - [ - 62667, - 92 - ], - [ - 62785, - 1 - ], - [ - 62878, - 6 - ], - [ - 62912, - 23 - ], - [ - 62966, - 95 - ], - [ - 63086, - 1 - ], - [ - 63212, - 23 - ], - [ - 63265, - 35 - ] - ], - "point": [ - 149, - 137 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "Statue|+10.46|+00.60|+00.68" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 119, - 115, - 159, - 199 - ], - "mask": [ - [ - 34330, - 6 - ], - [ - 34629, - 8 - ], - [ - 34929, - 8 - ], - [ - 35228, - 9 - ], - [ - 35528, - 10 - ], - [ - 35828, - 10 - ], - [ - 36127, - 11 - ], - [ - 36428, - 10 - ], - [ - 36451, - 1 - ], - [ - 36727, - 12 - ], - [ - 36752, - 2 - ], - [ - 37027, - 12 - ], - [ - 37052, - 3 - ], - [ - 37328, - 9 - ], - [ - 37353, - 3 - ], - [ - 37629, - 8 - ], - [ - 37651, - 2 - ], - [ - 37654, - 2 - ], - [ - 37930, - 7 - ], - [ - 37952, - 4 - ], - [ - 38231, - 6 - ], - [ - 38253, - 3 - ], - [ - 38530, - 7 - ], - [ - 38554, - 3 - ], - [ - 38830, - 8 - ], - [ - 38854, - 3 - ], - [ - 39130, - 10 - ], - [ - 39155, - 2 - ], - [ - 39423, - 24 - ], - [ - 39455, - 2 - ], - [ - 39722, - 26 - ], - [ - 39754, - 3 - ], - [ - 40021, - 27 - ], - [ - 40054, - 3 - ], - [ - 40320, - 29 - ], - [ - 40353, - 4 - ], - [ - 40620, - 29 - ], - [ - 40653, - 3 - ], - [ - 40920, - 30 - ], - [ - 40952, - 4 - ], - [ - 41220, - 30 - ], - [ - 41252, - 4 - ], - [ - 41520, - 31 - ], - [ - 41552, - 4 - ], - [ - 41820, - 36 - ], - [ - 42120, - 5 - ], - [ - 42126, - 18 - ], - [ - 42145, - 10 - ], - [ - 42420, - 5 - ], - [ - 42426, - 18 - ], - [ - 42446, - 9 - ], - [ - 42720, - 5 - ], - [ - 42727, - 19 - ], - [ - 42747, - 8 - ], - [ - 43020, - 5 - ], - [ - 43028, - 26 - ], - [ - 43320, - 4 - ], - [ - 43329, - 25 - ], - [ - 43620, - 4 - ], - [ - 43629, - 19 - ], - [ - 43649, - 5 - ], - [ - 43920, - 4 - ], - [ - 43929, - 20 - ], - [ - 43950, - 2 - ], - [ - 44220, - 6 - ], - [ - 44230, - 19 - ], - [ - 44520, - 8 - ], - [ - 44529, - 20 - ], - [ - 44821, - 28 - ], - [ - 45121, - 29 - ], - [ - 45421, - 29 - ], - [ - 45721, - 29 - ], - [ - 46022, - 28 - ], - [ - 46322, - 28 - ], - [ - 46622, - 27 - ], - [ - 46922, - 27 - ], - [ - 47222, - 9 - ], - [ - 47233, - 6 - ], - [ - 47240, - 8 - ], - [ - 47523, - 7 - ], - [ - 47533, - 6 - ], - [ - 47540, - 8 - ], - [ - 47823, - 7 - ], - [ - 47833, - 6 - ], - [ - 47840, - 8 - ], - [ - 48123, - 7 - ], - [ - 48133, - 14 - ], - [ - 48423, - 7 - ], - [ - 48431, - 18 - ], - [ - 48723, - 27 - ], - [ - 49023, - 29 - ], - [ - 49324, - 30 - ], - [ - 49623, - 32 - ], - [ - 49923, - 33 - ], - [ - 50223, - 33 - ], - [ - 50523, - 34 - ], - [ - 50822, - 36 - ], - [ - 51121, - 38 - ], - [ - 51421, - 38 - ], - [ - 51720, - 39 - ], - [ - 52020, - 39 - ], - [ - 52320, - 40 - ], - [ - 52620, - 40 - ], - [ - 52919, - 41 - ], - [ - 53219, - 41 - ], - [ - 53519, - 41 - ], - [ - 53819, - 41 - ], - [ - 54119, - 41 - ], - [ - 54419, - 41 - ], - [ - 54720, - 40 - ], - [ - 55020, - 39 - ], - [ - 55320, - 39 - ], - [ - 55620, - 39 - ], - [ - 55920, - 39 - ], - [ - 56221, - 37 - ], - [ - 56522, - 35 - ], - [ - 56822, - 35 - ], - [ - 57123, - 33 - ], - [ - 57424, - 31 - ], - [ - 57724, - 31 - ], - [ - 58025, - 28 - ], - [ - 58327, - 25 - ], - [ - 58629, - 21 - ], - [ - 58930, - 19 - ], - [ - 59233, - 13 - ], - [ - 59538, - 3 - ] - ], - "point": [ - 139, - 156 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|+10.46|+00.60|+00.68", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 2 - ], - [ - 7810, - 85 - ], - [ - 8100, - 3 - ], - [ - 8110, - 89 - ], - [ - 8401, - 3 - ], - [ - 8411, - 97 - ], - [ - 8526, - 1 - ], - [ - 8701, - 4 - ], - [ - 8712, - 155 - ], - [ - 8983, - 17 - ], - [ - 9001, - 5 - ], - [ - 9013, - 155 - ], - [ - 9282, - 18 - ], - [ - 9302, - 5 - ], - [ - 9314, - 154 - ], - [ - 9582, - 18 - ], - [ - 9603, - 5 - ], - [ - 9615, - 153 - ], - [ - 9881, - 19 - ], - [ - 9904, - 5 - ], - [ - 9915, - 153 - ], - [ - 10181, - 19 - ], - [ - 10206, - 4 - ], - [ - 10216, - 152 - ], - [ - 10481, - 19 - ], - [ - 10507, - 3 - ], - [ - 10517, - 151 - ], - [ - 10780, - 20 - ], - [ - 10808, - 3 - ], - [ - 10817, - 151 - ], - [ - 11080, - 20 - ], - [ - 11109, - 3 - ], - [ - 11118, - 150 - ], - [ - 11380, - 20 - ], - [ - 11409, - 3 - ], - [ - 11418, - 150 - ], - [ - 11679, - 21 - ], - [ - 11710, - 3 - ], - [ - 11718, - 150 - ], - [ - 11979, - 21 - ], - [ - 12011, - 2 - ], - [ - 12019, - 149 - ], - [ - 12278, - 22 - ], - [ - 12312, - 2 - ], - [ - 12319, - 150 - ], - [ - 12578, - 22 - ], - [ - 12606, - 1 - ], - [ - 12613, - 2 - ], - [ - 12619, - 150 - ], - [ - 12878, - 22 - ], - [ - 12906, - 2 - ], - [ - 12913, - 2 - ], - [ - 12919, - 150 - ], - [ - 13177, - 23 - ], - [ - 13206, - 3 - ], - [ - 13214, - 2 - ], - [ - 13220, - 149 - ], - [ - 13477, - 23 - ], - [ - 13507, - 4 - ], - [ - 13515, - 2 - ], - [ - 13524, - 145 - ], - [ - 13776, - 24 - ], - [ - 13807, - 5 - ], - [ - 13827, - 142 - ], - [ - 14076, - 24 - ], - [ - 14108, - 3 - ], - [ - 14130, - 139 - ], - [ - 14376, - 24 - ], - [ - 14408, - 2 - ], - [ - 14433, - 136 - ], - [ - 14675, - 25 - ], - [ - 14735, - 134 - ], - [ - 14976, - 24 - ], - [ - 15037, - 132 - ], - [ - 15276, - 24 - ], - [ - 15338, - 131 - ], - [ - 15576, - 24 - ], - [ - 15638, - 131 - ], - [ - 15876, - 24 - ], - [ - 15901, - 1 - ], - [ - 15904, - 1 - ], - [ - 15939, - 130 - ], - [ - 16176, - 24 - ], - [ - 16201, - 2 - ], - [ - 16204, - 1 - ], - [ - 16240, - 129 - ], - [ - 16476, - 25 - ], - [ - 16502, - 3 - ], - [ - 16540, - 129 - ], - [ - 16776, - 26 - ], - [ - 16803, - 1 - ], - [ - 16841, - 128 - ], - [ - 17076, - 28 - ], - [ - 17141, - 128 - ], - [ - 17377, - 26 - ], - [ - 17441, - 128 - ], - [ - 17677, - 26 - ], - [ - 17741, - 7 - ], - [ - 17811, - 58 - ], - [ - 17978, - 24 - ], - [ - 18041, - 7 - ], - [ - 18111, - 58 - ], - [ - 18278, - 24 - ], - [ - 18341, - 6 - ], - [ - 18411, - 58 - ], - [ - 18579, - 23 - ], - [ - 18641, - 6 - ], - [ - 18712, - 57 - ], - [ - 18880, - 22 - ], - [ - 18940, - 7 - ], - [ - 19012, - 57 - ], - [ - 19180, - 22 - ], - [ - 19239, - 8 - ], - [ - 19311, - 58 - ], - [ - 19481, - 21 - ], - [ - 19539, - 7 - ], - [ - 19611, - 58 - ], - [ - 19781, - 21 - ], - [ - 19838, - 8 - ], - [ - 19911, - 58 - ], - [ - 20082, - 21 - ], - [ - 20137, - 9 - ], - [ - 20211, - 58 - ], - [ - 20382, - 22 - ], - [ - 20436, - 10 - ], - [ - 20511, - 58 - ], - [ - 20682, - 22 - ], - [ - 20735, - 10 - ], - [ - 20811, - 58 - ], - [ - 20982, - 18 - ], - [ - 21001, - 4 - ], - [ - 21034, - 11 - ], - [ - 21111, - 58 - ], - [ - 21282, - 18 - ], - [ - 21301, - 4 - ], - [ - 21333, - 12 - ], - [ - 21411, - 140 - ], - [ - 21558, - 1 - ], - [ - 21583, - 17 - ], - [ - 21602, - 5 - ], - [ - 21630, - 14 - ], - [ - 21711, - 139 - ], - [ - 21859, - 1 - ], - [ - 21883, - 17 - ], - [ - 21903, - 6 - ], - [ - 21928, - 16 - ], - [ - 22011, - 141 - ], - [ - 22183, - 17 - ], - [ - 22203, - 7 - ], - [ - 22225, - 19 - ], - [ - 22310, - 143 - ], - [ - 22483, - 17 - ], - [ - 22504, - 12 - ], - [ - 22519, - 25 - ], - [ - 22610, - 144 - ], - [ - 22783, - 17 - ], - [ - 22805, - 38 - ], - [ - 22910, - 145 - ], - [ - 23083, - 17 - ], - [ - 23105, - 38 - ], - [ - 23210, - 146 - ], - [ - 23384, - 16 - ], - [ - 23406, - 37 - ], - [ - 23510, - 147 - ], - [ - 23684, - 16 - ], - [ - 23707, - 35 - ], - [ - 23810, - 148 - ], - [ - 23984, - 16 - ], - [ - 24007, - 35 - ], - [ - 24110, - 149 - ], - [ - 24284, - 16 - ], - [ - 24308, - 34 - ], - [ - 24410, - 150 - ], - [ - 24584, - 16 - ], - [ - 24608, - 34 - ], - [ - 24710, - 151 - ], - [ - 24885, - 15 - ], - [ - 24909, - 32 - ], - [ - 25009, - 153 - ], - [ - 25185, - 15 - ], - [ - 25210, - 31 - ], - [ - 25309, - 154 - ], - [ - 25485, - 15 - ], - [ - 25510, - 31 - ], - [ - 25609, - 154 - ], - [ - 25785, - 15 - ], - [ - 25811, - 29 - ], - [ - 25909, - 154 - ], - [ - 26085, - 15 - ], - [ - 26110, - 30 - ], - [ - 26209, - 154 - ], - [ - 26386, - 14 - ], - [ - 26409, - 31 - ], - [ - 26509, - 154 - ], - [ - 26686, - 14 - ], - [ - 26710, - 30 - ], - [ - 26809, - 84 - ], - [ - 26905, - 58 - ], - [ - 26986, - 14 - ], - [ - 27010, - 29 - ], - [ - 27109, - 84 - ], - [ - 27206, - 57 - ], - [ - 27286, - 14 - ], - [ - 27310, - 29 - ], - [ - 27409, - 84 - ], - [ - 27506, - 57 - ], - [ - 27586, - 8 - ], - [ - 27609, - 30 - ], - [ - 27771, - 22 - ], - [ - 27806, - 57 - ], - [ - 27887, - 7 - ], - [ - 27908, - 31 - ], - [ - 28071, - 22 - ], - [ - 28106, - 57 - ], - [ - 28187, - 6 - ], - [ - 28207, - 32 - ], - [ - 28371, - 22 - ], - [ - 28406, - 57 - ], - [ - 28487, - 5 - ], - [ - 28506, - 33 - ], - [ - 28671, - 23 - ], - [ - 28706, - 57 - ], - [ - 28787, - 5 - ], - [ - 28805, - 35 - ], - [ - 28971, - 23 - ], - [ - 29006, - 57 - ], - [ - 29087, - 5 - ], - [ - 29103, - 99 - ], - [ - 29271, - 23 - ], - [ - 29307, - 56 - ], - [ - 29387, - 6 - ], - [ - 29402, - 100 - ], - [ - 29572, - 22 - ], - [ - 29607, - 57 - ], - [ - 29687, - 6 - ], - [ - 29701, - 101 - ], - [ - 29872, - 22 - ], - [ - 29907, - 57 - ], - [ - 29987, - 6 - ], - [ - 30000, - 102 - ], - [ - 30172, - 22 - ], - [ - 30207, - 57 - ], - [ - 30287, - 7 - ], - [ - 30300, - 102 - ], - [ - 30472, - 22 - ], - [ - 30507, - 57 - ], - [ - 30587, - 7 - ], - [ - 30600, - 101 - ], - [ - 30772, - 22 - ], - [ - 30807, - 57 - ], - [ - 30887, - 7 - ], - [ - 30900, - 101 - ], - [ - 31072, - 22 - ], - [ - 31107, - 57 - ], - [ - 31187, - 8 - ], - [ - 31200, - 101 - ], - [ - 31372, - 92 - ], - [ - 31487, - 8 - ], - [ - 31500, - 101 - ], - [ - 31672, - 93 - ], - [ - 31787, - 8 - ], - [ - 31800, - 101 - ], - [ - 31972, - 93 - ], - [ - 32087, - 9 - ], - [ - 32100, - 101 - ], - [ - 32272, - 94 - ], - [ - 32387, - 9 - ], - [ - 32400, - 101 - ], - [ - 32572, - 94 - ], - [ - 32687, - 10 - ], - [ - 32700, - 101 - ], - [ - 32872, - 95 - ], - [ - 32987, - 10 - ], - [ - 33000, - 100 - ], - [ - 33172, - 96 - ], - [ - 33287, - 10 - ], - [ - 33300, - 100 - ], - [ - 33472, - 96 - ], - [ - 33586, - 12 - ], - [ - 33600, - 100 - ], - [ - 33772, - 97 - ], - [ - 33886, - 12 - ], - [ - 33900, - 100 - ], - [ - 34072, - 98 - ], - [ - 34186, - 12 - ], - [ - 34200, - 100 - ], - [ - 34372, - 97 - ], - [ - 34486, - 13 - ], - [ - 34500, - 100 - ], - [ - 34672, - 97 - ], - [ - 34786, - 13 - ], - [ - 34800, - 100 - ], - [ - 34973, - 96 - ], - [ - 35086, - 13 - ], - [ - 35100, - 100 - ], - [ - 35273, - 95 - ], - [ - 35385, - 115 - ], - [ - 35573, - 95 - ], - [ - 35685, - 114 - ], - [ - 35873, - 94 - ], - [ - 35985, - 114 - ], - [ - 36173, - 94 - ], - [ - 36285, - 114 - ], - [ - 36473, - 93 - ], - [ - 36585, - 114 - ], - [ - 36773, - 93 - ], - [ - 36885, - 114 - ], - [ - 37073, - 93 - ], - [ - 37184, - 115 - ], - [ - 37373, - 92 - ], - [ - 37484, - 115 - ], - [ - 37673, - 92 - ], - [ - 37784, - 115 - ], - [ - 37973, - 91 - ], - [ - 38084, - 114 - ], - [ - 38273, - 91 - ], - [ - 38384, - 114 - ], - [ - 38573, - 90 - ], - [ - 38684, - 114 - ], - [ - 38873, - 90 - ], - [ - 38984, - 114 - ], - [ - 39173, - 90 - ], - [ - 39283, - 115 - ], - [ - 39473, - 89 - ], - [ - 39583, - 115 - ], - [ - 39773, - 89 - ], - [ - 39883, - 115 - ], - [ - 40073, - 88 - ], - [ - 40183, - 115 - ], - [ - 40373, - 88 - ], - [ - 40483, - 115 - ], - [ - 40673, - 87 - ], - [ - 40783, - 116 - ], - [ - 40973, - 87 - ], - [ - 41083, - 277 - ], - [ - 41382, - 277 - ], - [ - 41682, - 277 - ], - [ - 41982, - 276 - ], - [ - 42282, - 276 - ], - [ - 42582, - 275 - ], - [ - 42882, - 275 - ], - [ - 43182, - 275 - ], - [ - 43481, - 275 - ], - [ - 43781, - 275 - ], - [ - 44081, - 274 - ], - [ - 44381, - 274 - ], - [ - 44681, - 219 - ], - [ - 44901, - 53 - ], - [ - 44981, - 273 - ], - [ - 45281, - 273 - ], - [ - 45580, - 273 - ], - [ - 45880, - 273 - ], - [ - 46180, - 272 - ], - [ - 46480, - 90 - ], - [ - 46571, - 181 - ], - [ - 46780, - 90 - ], - [ - 46871, - 180 - ], - [ - 47080, - 90 - ], - [ - 47172, - 179 - ], - [ - 47380, - 89 - ], - [ - 47472, - 179 - ], - [ - 47679, - 90 - ], - [ - 47772, - 178 - ], - [ - 47979, - 21 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 57739, - 1 - ], - [ - 58039, - 1 - ], - [ - 58339, - 1 - ], - [ - 58639, - 1 - ], - [ - 58939, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 57 - ], - [ - 62576, - 11 - ], - [ - 62612, - 23 - ], - [ - 62667, - 92 - ], - [ - 62785, - 1 - ], - [ - 62878, - 6 - ], - [ - 62912, - 23 - ], - [ - 62966, - 95 - ], - [ - 63086, - 1 - ], - [ - 63212, - 23 - ], - [ - 63265, - 35 - ] - ], - "point": [ - 149, - 137 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 13.75, - "y": 0.9028512, - "z": 3.0 - }, - "object_poses": [ - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.4579926, - "y": 0.5976794, - "z": 0.6782548 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.4579926, - "y": 0.5976794, - "z": 0.863987565 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.6516485, - "y": 0.5976794, - "z": 1.235453 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.1357975, - "y": 0.7523519, - "z": 1.30329967 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.1357975, - "y": 0.755106866, - "z": 0.5198047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 14.2333994, - "y": 0.751895964, - "z": 1.04213476 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.8751583, - "y": 0.706692755, - "z": 3.30447173 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 9.402172, - "y": 0.427999943, - "z": 3.14374924 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 10.8072624, - "y": 0.528624356, - "z": 3.15594339 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 14.331, - "y": 0.7523519, - "z": 1.56446457 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 11.42627, - "y": 0.840692759, - "z": 0.863987565 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 11.51032, - "y": 0.4878536, - "z": -1.070751 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 10.2643375, - "y": 0.591835737, - "z": 0.771121144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 11.2344208, - "y": 0.528624356, - "z": 3.15594339 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.8453035, - "y": 0.5976794, - "z": 0.6782548 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 14.24, - "y": 0.747655, - "z": 2.067 - }, - "rotation": { - "x": 0.0, - "y": 300.000061, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 14.616, - "y": 0.52070725, - "z": -0.83949995 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 14.1461048, - "y": 0.5530764, - "z": 1.44802094 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1573692042, - "scene_num": 213 - }, - "task_id": "trial_T20190909_065343_750913", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_3LOTDFNYAAQH9MULG27AUFDZF6WWF9", - "high_descs": [ - "Turn around and cross the room to face the coffee table with statues on it.", - "Pick the statue up that is in the middle of the table.", - "Turn to face the television cabinet to the right.", - "Put the statue down on the cabinet that has the television on it.", - "Turn around and face the coffee table.", - "Pick the statue up that is closest to the keys.", - "Turn to face the television cabinet to the right.", - "Put the statue down on the cabinet with the television on it." - ], - "task_desc": "Put two statues on a television stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3PM8NZGV817TPBPK4NEQ8XVKVABQXQ", - "high_descs": [ - "walk to face coffee table", - "pick up human statue from table", - "walk to face tv monitor stand", - "put statue on stand to left of monitor", - "walk to face coffee table", - "pick up human statue from table", - "walk to face tv monitor stand", - "put statue on stand behind monitor" - ], - "task_desc": "put two human statues on tv monitor stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1OWHPMKE7YAGL_3U84XHCDIF4B512178VY2FAQ7H34ZT", - "high_descs": [ - "Back up, turn around, go to the first pink couch and hang a left, go past the table, hang a right and go to the statues on the table.", - "Pick up the statue on the left that is behind the one closest to you.", - "Turn to the right, go across the room to the table where the TV is.", - "Put the statue on the table to the left of the books, behind the computer.", - "Turn to the right, go forward, turn to the right, go to the statues on the left side of the table.", - "Pick up the leftmost statue on the table. ", - "Turn to the right, go across the room to the table where the TV is. ", - "Put the statue on the table behind the TV on the right hand side. " - ], - "task_desc": "Put two statues on a table.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065419_372851/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065419_372851/traj_data.json deleted file mode 100644 index 67e090550..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Statue-None-Dresser-213/trial_T20190909_065419_372851/traj_data.json +++ /dev/null @@ -1,7239 +0,0 @@ -{ - "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": 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": 7 - }, - { - "high_idx": 0, - "image_name": "000000026.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000027.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000028.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000029.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000030.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000031.png", - "low_idx": 7 - }, - { - "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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 22 - }, - { - "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": 1, - "image_name": "000000093.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 24 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 24 - }, - { - "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": 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": 25 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 25 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 35 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 35 - }, - { - "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": 44 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 3, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000195.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000196.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000197.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000198.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000199.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000200.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000201.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000202.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000203.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000204.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000205.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000206.png", - "low_idx": 45 - }, - { - "high_idx": 3, - "image_name": "000000207.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000319.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000320.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000321.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000322.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000323.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000324.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000325.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000326.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000327.png", - "low_idx": 78 - }, - { - "high_idx": 5, - "image_name": "000000328.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000329.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000330.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000331.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000332.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000333.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000334.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000335.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000336.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000337.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000338.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000339.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000340.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 79 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 97 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 97 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 100 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 100 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 101 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 101 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000428.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000429.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000430.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000431.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000432.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000433.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000434.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000435.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000436.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000437.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000438.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000439.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000440.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000441.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000442.png", - "low_idx": 107 - }, - { - "high_idx": 6, - "image_name": "000000443.png", - "low_idx": 107 - }, - { - "high_idx": 6, - "image_name": "000000444.png", - "low_idx": 108 - }, - { - "high_idx": 6, - "image_name": "000000445.png", - "low_idx": 108 - }, - { - "high_idx": 6, - "image_name": "000000446.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000447.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000448.png", - "low_idx": 110 - }, - { - "high_idx": 6, - "image_name": "000000449.png", - "low_idx": 110 - }, - { - "high_idx": 6, - "image_name": "000000450.png", - "low_idx": 111 - }, - { - "high_idx": 6, - "image_name": "000000451.png", - "low_idx": 111 - }, - { - "high_idx": 6, - "image_name": "000000452.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000453.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000454.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000455.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000456.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000457.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000458.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000459.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000460.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000461.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000462.png", - "low_idx": 112 - }, - { - "high_idx": 7, - "image_name": "000000463.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000464.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000465.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000466.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000467.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000468.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000469.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000470.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000471.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000472.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000473.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000474.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000475.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000476.png", - "low_idx": 113 - }, - { - "high_idx": 7, - "image_name": "000000477.png", - "low_idx": 113 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Statue", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "coffeetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|43|1|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - 42.606594, - 42.606594, - 2.7130192, - 2.7130192, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "CoffeeTable", - [ - 43.29548, - 43.29548, - 3.789484, - 3.789484, - 0.052, - 0.052 - ] - ], - "forceVisible": true, - "objectId": "Statue|+10.65|+00.60|+00.68" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - 42.606594, - 42.606594, - 2.7130192, - 2.7130192, - 2.3907176, - 2.3907176 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Statue|+10.65|+00.60|+00.68", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|35|13|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "statue" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Statue", - [ - 37.996, - 37.996, - 13.15300272, - 13.15300272, - 1.7467176, - 1.7467176 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 37.996, - 37.996, - 13.064, - 13.064, - -0.084, - -0.084 - ] - ], - "forceVisible": true, - "objectId": "Statue|+09.50|+00.44|+03.29" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|54|5|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "statue", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Statue", - [ - 37.996, - 37.996, - 13.15300272, - 13.15300272, - 1.7467176, - 1.7467176 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 57.324, - 57.324, - 5.296, - 5.296, - 0.076, - 0.076 - ] - ], - "forceVisible": true, - "objectId": "Statue|+09.50|+00.44|+03.29", - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - } - }, - { - "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": "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": "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": "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": "Statue|+10.65|+00.60|+00.68" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 101, - 115, - 145, - 199 - ], - "mask": [ - [ - 34310, - 6 - ], - [ - 34609, - 7 - ], - [ - 34908, - 9 - ], - [ - 35208, - 9 - ], - [ - 35507, - 11 - ], - [ - 35807, - 11 - ], - [ - 36107, - 11 - ], - [ - 36407, - 11 - ], - [ - 36433, - 1 - ], - [ - 36707, - 12 - ], - [ - 36734, - 1 - ], - [ - 37007, - 12 - ], - [ - 37034, - 2 - ], - [ - 37308, - 10 - ], - [ - 37335, - 2 - ], - [ - 37608, - 9 - ], - [ - 37633, - 1 - ], - [ - 37636, - 2 - ], - [ - 37910, - 7 - ], - [ - 37934, - 1 - ], - [ - 37936, - 2 - ], - [ - 38211, - 6 - ], - [ - 38235, - 3 - ], - [ - 38511, - 7 - ], - [ - 38535, - 3 - ], - [ - 38811, - 7 - ], - [ - 38836, - 3 - ], - [ - 39110, - 11 - ], - [ - 39137, - 2 - ], - [ - 39404, - 23 - ], - [ - 39437, - 2 - ], - [ - 39703, - 25 - ], - [ - 39736, - 3 - ], - [ - 40002, - 27 - ], - [ - 40036, - 3 - ], - [ - 40301, - 29 - ], - [ - 40335, - 3 - ], - [ - 40601, - 29 - ], - [ - 40635, - 3 - ], - [ - 40901, - 30 - ], - [ - 40934, - 4 - ], - [ - 41201, - 30 - ], - [ - 41234, - 4 - ], - [ - 41502, - 30 - ], - [ - 41533, - 5 - ], - [ - 41802, - 30 - ], - [ - 41833, - 4 - ], - [ - 42102, - 35 - ], - [ - 42402, - 5 - ], - [ - 42408, - 29 - ], - [ - 42702, - 5 - ], - [ - 42709, - 28 - ], - [ - 43002, - 4 - ], - [ - 43009, - 27 - ], - [ - 43302, - 4 - ], - [ - 43310, - 26 - ], - [ - 43602, - 4 - ], - [ - 43611, - 24 - ], - [ - 43902, - 5 - ], - [ - 43912, - 22 - ], - [ - 44203, - 3 - ], - [ - 44207, - 2 - ], - [ - 44212, - 20 - ], - [ - 44503, - 29 - ], - [ - 44804, - 28 - ], - [ - 45104, - 29 - ], - [ - 45404, - 29 - ], - [ - 45705, - 28 - ], - [ - 46006, - 27 - ], - [ - 46306, - 27 - ], - [ - 46606, - 27 - ], - [ - 46906, - 26 - ], - [ - 47206, - 9 - ], - [ - 47216, - 16 - ], - [ - 47507, - 8 - ], - [ - 47517, - 6 - ], - [ - 47524, - 8 - ], - [ - 47807, - 7 - ], - [ - 47817, - 6 - ], - [ - 47824, - 7 - ], - [ - 48108, - 7 - ], - [ - 48117, - 15 - ], - [ - 48408, - 7 - ], - [ - 48417, - 18 - ], - [ - 48708, - 7 - ], - [ - 48716, - 21 - ], - [ - 49008, - 5 - ], - [ - 49014, - 25 - ], - [ - 49308, - 4 - ], - [ - 49313, - 27 - ], - [ - 49608, - 33 - ], - [ - 49908, - 34 - ], - [ - 50209, - 34 - ], - [ - 50509, - 34 - ], - [ - 50808, - 36 - ], - [ - 51107, - 38 - ], - [ - 51407, - 38 - ], - [ - 51707, - 38 - ], - [ - 52006, - 40 - ], - [ - 52306, - 40 - ], - [ - 52606, - 40 - ], - [ - 52905, - 41 - ], - [ - 53205, - 41 - ], - [ - 53505, - 41 - ], - [ - 53805, - 41 - ], - [ - 54105, - 41 - ], - [ - 54405, - 41 - ], - [ - 54706, - 40 - ], - [ - 55006, - 39 - ], - [ - 55306, - 39 - ], - [ - 55606, - 39 - ], - [ - 55906, - 39 - ], - [ - 56207, - 37 - ], - [ - 56508, - 35 - ], - [ - 56808, - 35 - ], - [ - 57109, - 33 - ], - [ - 57409, - 32 - ], - [ - 57710, - 30 - ], - [ - 58011, - 28 - ], - [ - 58313, - 24 - ], - [ - 58614, - 22 - ], - [ - 58916, - 18 - ], - [ - 59218, - 13 - ], - [ - 59524, - 2 - ] - ], - "point": [ - 123, - 156 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|+10.65|+00.60|+00.68", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 95 - ], - [ - 8100, - 99 - ], - [ - 8400, - 108 - ], - [ - 8526, - 1 - ], - [ - 8700, - 167 - ], - [ - 8983, - 185 - ], - [ - 9282, - 186 - ], - [ - 9582, - 186 - ], - [ - 9881, - 187 - ], - [ - 10181, - 187 - ], - [ - 10481, - 187 - ], - [ - 10780, - 188 - ], - [ - 11080, - 188 - ], - [ - 11380, - 188 - ], - [ - 11679, - 189 - ], - [ - 11979, - 189 - ], - [ - 12278, - 191 - ], - [ - 12578, - 191 - ], - [ - 12878, - 191 - ], - [ - 13177, - 192 - ], - [ - 13477, - 192 - ], - [ - 13776, - 193 - ], - [ - 14076, - 193 - ], - [ - 14376, - 193 - ], - [ - 14675, - 194 - ], - [ - 14976, - 193 - ], - [ - 15276, - 193 - ], - [ - 15576, - 193 - ], - [ - 15876, - 193 - ], - [ - 16176, - 193 - ], - [ - 16476, - 193 - ], - [ - 16776, - 193 - ], - [ - 17076, - 193 - ], - [ - 17377, - 192 - ], - [ - 17677, - 192 - ], - [ - 17978, - 191 - ], - [ - 18278, - 191 - ], - [ - 18579, - 190 - ], - [ - 18880, - 189 - ], - [ - 19180, - 189 - ], - [ - 19481, - 188 - ], - [ - 19781, - 188 - ], - [ - 20082, - 187 - ], - [ - 20382, - 187 - ], - [ - 20682, - 187 - ], - [ - 20982, - 18 - ], - [ - 21001, - 77 - ], - [ - 21079, - 90 - ], - [ - 21282, - 18 - ], - [ - 21301, - 75 - ], - [ - 21380, - 171 - ], - [ - 21558, - 1 - ], - [ - 21583, - 17 - ], - [ - 21602, - 72 - ], - [ - 21681, - 169 - ], - [ - 21859, - 1 - ], - [ - 21883, - 17 - ], - [ - 21903, - 71 - ], - [ - 21979, - 1 - ], - [ - 21981, - 171 - ], - [ - 22183, - 17 - ], - [ - 22203, - 70 - ], - [ - 22277, - 1 - ], - [ - 22282, - 171 - ], - [ - 22483, - 17 - ], - [ - 22504, - 68 - ], - [ - 22576, - 3 - ], - [ - 22582, - 172 - ], - [ - 22783, - 17 - ], - [ - 22805, - 67 - ], - [ - 22875, - 4 - ], - [ - 22883, - 172 - ], - [ - 23083, - 17 - ], - [ - 23105, - 67 - ], - [ - 23175, - 4 - ], - [ - 23183, - 173 - ], - [ - 23384, - 16 - ], - [ - 23406, - 65 - ], - [ - 23474, - 5 - ], - [ - 23483, - 174 - ], - [ - 23684, - 16 - ], - [ - 23707, - 65 - ], - [ - 23774, - 5 - ], - [ - 23783, - 175 - ], - [ - 23984, - 16 - ], - [ - 24007, - 65 - ], - [ - 24074, - 5 - ], - [ - 24083, - 176 - ], - [ - 24284, - 16 - ], - [ - 24308, - 64 - ], - [ - 24373, - 5 - ], - [ - 24381, - 179 - ], - [ - 24584, - 16 - ], - [ - 24608, - 64 - ], - [ - 24673, - 4 - ], - [ - 24681, - 180 - ], - [ - 24885, - 15 - ], - [ - 24909, - 64 - ], - [ - 24980, - 182 - ], - [ - 25185, - 15 - ], - [ - 25210, - 64 - ], - [ - 25279, - 184 - ], - [ - 25485, - 15 - ], - [ - 25510, - 65 - ], - [ - 25578, - 185 - ], - [ - 25785, - 15 - ], - [ - 25811, - 252 - ], - [ - 26085, - 15 - ], - [ - 26110, - 253 - ], - [ - 26386, - 14 - ], - [ - 26409, - 254 - ], - [ - 26686, - 14 - ], - [ - 26710, - 253 - ], - [ - 26986, - 14 - ], - [ - 27010, - 253 - ], - [ - 27286, - 14 - ], - [ - 27310, - 253 - ], - [ - 27586, - 14 - ], - [ - 27609, - 254 - ], - [ - 27887, - 13 - ], - [ - 27908, - 255 - ], - [ - 28187, - 13 - ], - [ - 28207, - 256 - ], - [ - 28487, - 13 - ], - [ - 28506, - 257 - ], - [ - 28787, - 13 - ], - [ - 28805, - 258 - ], - [ - 29087, - 13 - ], - [ - 29103, - 260 - ], - [ - 29387, - 13 - ], - [ - 29402, - 262 - ], - [ - 29687, - 13 - ], - [ - 29701, - 263 - ], - [ - 29987, - 277 - ], - [ - 30287, - 277 - ], - [ - 30587, - 277 - ], - [ - 30887, - 277 - ], - [ - 31187, - 277 - ], - [ - 31487, - 278 - ], - [ - 31787, - 278 - ], - [ - 32087, - 279 - ], - [ - 32387, - 279 - ], - [ - 32687, - 280 - ], - [ - 32987, - 281 - ], - [ - 33287, - 281 - ], - [ - 33586, - 283 - ], - [ - 33886, - 284 - ], - [ - 34186, - 283 - ], - [ - 34486, - 283 - ], - [ - 34786, - 283 - ], - [ - 35086, - 282 - ], - [ - 35385, - 283 - ], - [ - 35685, - 282 - ], - [ - 35985, - 282 - ], - [ - 36285, - 281 - ], - [ - 36585, - 281 - ], - [ - 36885, - 281 - ], - [ - 37184, - 281 - ], - [ - 37484, - 281 - ], - [ - 37784, - 280 - ], - [ - 38084, - 280 - ], - [ - 38384, - 279 - ], - [ - 38684, - 279 - ], - [ - 38984, - 279 - ], - [ - 39283, - 279 - ], - [ - 39583, - 279 - ], - [ - 39883, - 278 - ], - [ - 40183, - 278 - ], - [ - 40483, - 277 - ], - [ - 40783, - 277 - ], - [ - 41083, - 277 - ], - [ - 41382, - 277 - ], - [ - 41682, - 277 - ], - [ - 41982, - 276 - ], - [ - 42282, - 276 - ], - [ - 42582, - 275 - ], - [ - 42882, - 275 - ], - [ - 43182, - 275 - ], - [ - 43481, - 275 - ], - [ - 43781, - 275 - ], - [ - 44081, - 274 - ], - [ - 44381, - 274 - ], - [ - 44681, - 219 - ], - [ - 44901, - 53 - ], - [ - 44981, - 273 - ], - [ - 45281, - 273 - ], - [ - 45580, - 273 - ], - [ - 45880, - 273 - ], - [ - 46180, - 272 - ], - [ - 46480, - 90 - ], - [ - 46571, - 181 - ], - [ - 46780, - 90 - ], - [ - 46871, - 180 - ], - [ - 47080, - 90 - ], - [ - 47172, - 179 - ], - [ - 47380, - 89 - ], - [ - 47472, - 179 - ], - [ - 47679, - 90 - ], - [ - 47772, - 178 - ], - [ - 47979, - 21 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 57739, - 1 - ], - [ - 58039, - 1 - ], - [ - 58339, - 1 - ], - [ - 58639, - 1 - ], - [ - 58939, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 57 - ], - [ - 62576, - 11 - ], - [ - 62612, - 23 - ], - [ - 62667, - 92 - ], - [ - 62785, - 1 - ], - [ - 62878, - 6 - ], - [ - 62912, - 23 - ], - [ - 62966, - 95 - ], - [ - 63086, - 1 - ], - [ - 63212, - 23 - ], - [ - 63265, - 35 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "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": "PickupObject", - "objectId": "Statue|+09.50|+00.44|+03.29" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 127, - 78, - 158, - 149 - ], - "mask": [ - [ - 23236, - 6 - ], - [ - 23535, - 8 - ], - [ - 23834, - 9 - ], - [ - 24134, - 9 - ], - [ - 24431, - 1 - ], - [ - 24434, - 9 - ], - [ - 24730, - 14 - ], - [ - 25030, - 15 - ], - [ - 25329, - 2 - ], - [ - 25332, - 14 - ], - [ - 25635, - 11 - ], - [ - 25935, - 11 - ], - [ - 26238, - 8 - ], - [ - 26538, - 9 - ], - [ - 26837, - 10 - ], - [ - 27137, - 10 - ], - [ - 27436, - 11 - ], - [ - 27736, - 10 - ], - [ - 28037, - 9 - ], - [ - 28337, - 9 - ], - [ - 28636, - 10 - ], - [ - 28936, - 10 - ], - [ - 29235, - 11 - ], - [ - 29535, - 11 - ], - [ - 29836, - 10 - ], - [ - 30137, - 10 - ], - [ - 30437, - 10 - ], - [ - 30737, - 10 - ], - [ - 31037, - 10 - ], - [ - 31337, - 10 - ], - [ - 31638, - 9 - ], - [ - 31938, - 9 - ], - [ - 32238, - 9 - ], - [ - 32536, - 11 - ], - [ - 32836, - 10 - ], - [ - 33135, - 11 - ], - [ - 33435, - 10 - ], - [ - 33734, - 11 - ], - [ - 34034, - 11 - ], - [ - 34334, - 11 - ], - [ - 34634, - 12 - ], - [ - 34934, - 12 - ], - [ - 35234, - 13 - ], - [ - 35534, - 13 - ], - [ - 35835, - 12 - ], - [ - 36135, - 7 - ], - [ - 36143, - 4 - ], - [ - 36434, - 14 - ], - [ - 36735, - 15 - ], - [ - 37033, - 19 - ], - [ - 37332, - 22 - ], - [ - 37631, - 24 - ], - [ - 37930, - 26 - ], - [ - 38229, - 28 - ], - [ - 38528, - 29 - ], - [ - 38828, - 30 - ], - [ - 39127, - 31 - ], - [ - 39427, - 31 - ], - [ - 39727, - 31 - ], - [ - 40027, - 32 - ], - [ - 40327, - 32 - ], - [ - 40627, - 32 - ], - [ - 40927, - 31 - ], - [ - 41227, - 31 - ], - [ - 41527, - 31 - ], - [ - 41827, - 31 - ], - [ - 42128, - 29 - ], - [ - 42428, - 29 - ], - [ - 42729, - 27 - ], - [ - 43030, - 25 - ], - [ - 43331, - 23 - ], - [ - 43632, - 21 - ], - [ - 43934, - 17 - ], - [ - 44235, - 14 - ], - [ - 44540, - 5 - ] - ], - "point": [ - 142, - 112 - ] - } - }, - "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Statue|+09.50|+00.44|+03.29", - "placeStationary": true, - "receptacleObjectId": "Dresser|+14.33|+00.02|+01.32" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 27, - 299, - 211 - ], - "mask": [ - [ - 7800, - 2 - ], - [ - 7810, - 85 - ], - [ - 8100, - 3 - ], - [ - 8110, - 89 - ], - [ - 8401, - 3 - ], - [ - 8411, - 97 - ], - [ - 8526, - 1 - ], - [ - 8701, - 4 - ], - [ - 8712, - 155 - ], - [ - 8983, - 17 - ], - [ - 9001, - 5 - ], - [ - 9013, - 155 - ], - [ - 9282, - 18 - ], - [ - 9302, - 5 - ], - [ - 9314, - 154 - ], - [ - 9582, - 18 - ], - [ - 9603, - 5 - ], - [ - 9615, - 153 - ], - [ - 9881, - 19 - ], - [ - 9904, - 5 - ], - [ - 9915, - 153 - ], - [ - 10181, - 19 - ], - [ - 10206, - 4 - ], - [ - 10216, - 152 - ], - [ - 10481, - 19 - ], - [ - 10507, - 3 - ], - [ - 10517, - 151 - ], - [ - 10780, - 20 - ], - [ - 10808, - 3 - ], - [ - 10817, - 151 - ], - [ - 11080, - 20 - ], - [ - 11109, - 3 - ], - [ - 11118, - 150 - ], - [ - 11380, - 20 - ], - [ - 11409, - 3 - ], - [ - 11418, - 150 - ], - [ - 11679, - 21 - ], - [ - 11710, - 3 - ], - [ - 11718, - 150 - ], - [ - 11979, - 21 - ], - [ - 12011, - 2 - ], - [ - 12019, - 149 - ], - [ - 12278, - 22 - ], - [ - 12312, - 2 - ], - [ - 12319, - 150 - ], - [ - 12578, - 22 - ], - [ - 12606, - 1 - ], - [ - 12613, - 2 - ], - [ - 12619, - 150 - ], - [ - 12878, - 22 - ], - [ - 12906, - 2 - ], - [ - 12913, - 2 - ], - [ - 12919, - 150 - ], - [ - 13177, - 23 - ], - [ - 13206, - 3 - ], - [ - 13214, - 2 - ], - [ - 13220, - 149 - ], - [ - 13477, - 23 - ], - [ - 13507, - 4 - ], - [ - 13515, - 2 - ], - [ - 13524, - 145 - ], - [ - 13776, - 24 - ], - [ - 13807, - 5 - ], - [ - 13827, - 142 - ], - [ - 14076, - 24 - ], - [ - 14108, - 3 - ], - [ - 14130, - 139 - ], - [ - 14376, - 24 - ], - [ - 14408, - 2 - ], - [ - 14433, - 136 - ], - [ - 14675, - 25 - ], - [ - 14735, - 134 - ], - [ - 14976, - 24 - ], - [ - 15037, - 132 - ], - [ - 15276, - 24 - ], - [ - 15338, - 131 - ], - [ - 15576, - 24 - ], - [ - 15638, - 131 - ], - [ - 15876, - 24 - ], - [ - 15901, - 1 - ], - [ - 15904, - 1 - ], - [ - 15939, - 130 - ], - [ - 16176, - 24 - ], - [ - 16201, - 2 - ], - [ - 16204, - 1 - ], - [ - 16240, - 129 - ], - [ - 16476, - 25 - ], - [ - 16502, - 3 - ], - [ - 16540, - 129 - ], - [ - 16776, - 26 - ], - [ - 16803, - 1 - ], - [ - 16841, - 128 - ], - [ - 17076, - 28 - ], - [ - 17141, - 128 - ], - [ - 17377, - 26 - ], - [ - 17441, - 128 - ], - [ - 17677, - 26 - ], - [ - 17741, - 128 - ], - [ - 17978, - 24 - ], - [ - 18041, - 128 - ], - [ - 18278, - 24 - ], - [ - 18341, - 128 - ], - [ - 18579, - 23 - ], - [ - 18641, - 128 - ], - [ - 18880, - 22 - ], - [ - 18940, - 129 - ], - [ - 19180, - 22 - ], - [ - 19239, - 130 - ], - [ - 19481, - 21 - ], - [ - 19539, - 130 - ], - [ - 19781, - 21 - ], - [ - 19838, - 131 - ], - [ - 20082, - 21 - ], - [ - 20137, - 132 - ], - [ - 20382, - 22 - ], - [ - 20436, - 133 - ], - [ - 20682, - 22 - ], - [ - 20735, - 134 - ], - [ - 20982, - 18 - ], - [ - 21001, - 4 - ], - [ - 21034, - 44 - ], - [ - 21079, - 90 - ], - [ - 21282, - 18 - ], - [ - 21301, - 4 - ], - [ - 21333, - 43 - ], - [ - 21380, - 171 - ], - [ - 21558, - 1 - ], - [ - 21583, - 17 - ], - [ - 21602, - 5 - ], - [ - 21630, - 44 - ], - [ - 21681, - 169 - ], - [ - 21859, - 1 - ], - [ - 21883, - 17 - ], - [ - 21903, - 6 - ], - [ - 21928, - 46 - ], - [ - 21979, - 1 - ], - [ - 21981, - 171 - ], - [ - 22183, - 17 - ], - [ - 22203, - 7 - ], - [ - 22225, - 48 - ], - [ - 22277, - 1 - ], - [ - 22282, - 171 - ], - [ - 22483, - 17 - ], - [ - 22504, - 12 - ], - [ - 22519, - 53 - ], - [ - 22576, - 3 - ], - [ - 22582, - 172 - ], - [ - 22783, - 17 - ], - [ - 22805, - 67 - ], - [ - 22875, - 4 - ], - [ - 22883, - 172 - ], - [ - 23083, - 17 - ], - [ - 23105, - 67 - ], - [ - 23175, - 4 - ], - [ - 23183, - 173 - ], - [ - 23384, - 16 - ], - [ - 23406, - 65 - ], - [ - 23474, - 5 - ], - [ - 23483, - 174 - ], - [ - 23684, - 16 - ], - [ - 23707, - 65 - ], - [ - 23774, - 5 - ], - [ - 23783, - 175 - ], - [ - 23984, - 16 - ], - [ - 24007, - 65 - ], - [ - 24074, - 5 - ], - [ - 24083, - 176 - ], - [ - 24284, - 16 - ], - [ - 24308, - 64 - ], - [ - 24373, - 5 - ], - [ - 24381, - 179 - ], - [ - 24584, - 16 - ], - [ - 24608, - 64 - ], - [ - 24673, - 4 - ], - [ - 24681, - 180 - ], - [ - 24885, - 15 - ], - [ - 24909, - 64 - ], - [ - 24980, - 182 - ], - [ - 25185, - 15 - ], - [ - 25210, - 64 - ], - [ - 25279, - 184 - ], - [ - 25485, - 15 - ], - [ - 25510, - 65 - ], - [ - 25578, - 185 - ], - [ - 25785, - 15 - ], - [ - 25811, - 252 - ], - [ - 26085, - 15 - ], - [ - 26110, - 253 - ], - [ - 26386, - 14 - ], - [ - 26409, - 254 - ], - [ - 26686, - 14 - ], - [ - 26710, - 253 - ], - [ - 26986, - 14 - ], - [ - 27010, - 253 - ], - [ - 27286, - 14 - ], - [ - 27310, - 253 - ], - [ - 27586, - 14 - ], - [ - 27609, - 254 - ], - [ - 27887, - 13 - ], - [ - 27908, - 255 - ], - [ - 28187, - 13 - ], - [ - 28207, - 256 - ], - [ - 28487, - 13 - ], - [ - 28506, - 257 - ], - [ - 28787, - 13 - ], - [ - 28805, - 258 - ], - [ - 29087, - 13 - ], - [ - 29103, - 260 - ], - [ - 29387, - 13 - ], - [ - 29402, - 262 - ], - [ - 29687, - 13 - ], - [ - 29701, - 263 - ], - [ - 29987, - 277 - ], - [ - 30287, - 277 - ], - [ - 30587, - 277 - ], - [ - 30887, - 277 - ], - [ - 31187, - 277 - ], - [ - 31487, - 278 - ], - [ - 31787, - 278 - ], - [ - 32087, - 279 - ], - [ - 32387, - 279 - ], - [ - 32687, - 280 - ], - [ - 32987, - 281 - ], - [ - 33287, - 281 - ], - [ - 33586, - 283 - ], - [ - 33886, - 284 - ], - [ - 34186, - 283 - ], - [ - 34486, - 283 - ], - [ - 34786, - 283 - ], - [ - 35086, - 282 - ], - [ - 35385, - 283 - ], - [ - 35685, - 282 - ], - [ - 35985, - 282 - ], - [ - 36285, - 281 - ], - [ - 36585, - 281 - ], - [ - 36885, - 281 - ], - [ - 37184, - 281 - ], - [ - 37484, - 281 - ], - [ - 37784, - 280 - ], - [ - 38084, - 280 - ], - [ - 38384, - 279 - ], - [ - 38684, - 279 - ], - [ - 38984, - 279 - ], - [ - 39283, - 279 - ], - [ - 39583, - 279 - ], - [ - 39883, - 278 - ], - [ - 40183, - 278 - ], - [ - 40483, - 277 - ], - [ - 40783, - 277 - ], - [ - 41083, - 277 - ], - [ - 41382, - 277 - ], - [ - 41682, - 277 - ], - [ - 41982, - 276 - ], - [ - 42282, - 276 - ], - [ - 42582, - 275 - ], - [ - 42882, - 275 - ], - [ - 43182, - 275 - ], - [ - 43481, - 275 - ], - [ - 43781, - 275 - ], - [ - 44081, - 274 - ], - [ - 44381, - 274 - ], - [ - 44681, - 219 - ], - [ - 44901, - 53 - ], - [ - 44981, - 273 - ], - [ - 45281, - 273 - ], - [ - 45580, - 273 - ], - [ - 45880, - 273 - ], - [ - 46180, - 272 - ], - [ - 46480, - 90 - ], - [ - 46571, - 181 - ], - [ - 46780, - 90 - ], - [ - 46871, - 180 - ], - [ - 47080, - 90 - ], - [ - 47172, - 179 - ], - [ - 47380, - 89 - ], - [ - 47472, - 179 - ], - [ - 47679, - 90 - ], - [ - 47772, - 178 - ], - [ - 47979, - 21 - ], - [ - 48736, - 1 - ], - [ - 49036, - 1 - ], - [ - 49336, - 1 - ], - [ - 49636, - 1 - ], - [ - 49936, - 1 - ], - [ - 51737, - 1 - ], - [ - 52037, - 1 - ], - [ - 52337, - 1 - ], - [ - 52637, - 1 - ], - [ - 52937, - 1 - ], - [ - 53237, - 1 - ], - [ - 54738, - 1 - ], - [ - 55038, - 1 - ], - [ - 55338, - 1 - ], - [ - 57739, - 1 - ], - [ - 58039, - 1 - ], - [ - 58339, - 1 - ], - [ - 58639, - 1 - ], - [ - 58939, - 1 - ], - [ - 62151, - 2 - ], - [ - 62329, - 1 - ], - [ - 62400, - 57 - ], - [ - 62576, - 11 - ], - [ - 62612, - 23 - ], - [ - 62667, - 92 - ], - [ - 62785, - 1 - ], - [ - 62878, - 6 - ], - [ - 62912, - 23 - ], - [ - 62966, - 95 - ], - [ - 63086, - 1 - ], - [ - 63212, - 23 - ], - [ - 63265, - 35 - ] - ], - "point": [ - 149, - 118 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan213", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 270, - "x": 13.5, - "y": 0.9028512, - "z": 2.25 - }, - "object_poses": [ - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 10.6516485, - "y": 0.5976794, - "z": 0.6782548 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 14.03957, - "y": 0.347856641, - "z": 1.16287911 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 11.42627, - "y": 0.590995967, - "z": 0.9568539 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 12.3823919, - "y": 0.607007265, - "z": -1.13911843 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Book_4ab20428", - "position": { - "x": 11.8751583, - "y": 0.45745188, - "z": 3.30447173 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_8883cccc", - "position": { - "x": 10.8453035, - "y": 0.840692759, - "z": 0.9568539 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_705a3dcb", - "position": { - "x": 14.6935005, - "y": 0.517996, - "z": -0.96449995 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7db85c27", - "position": { - "x": 9.402172, - "y": 0.430835754, - "z": 3.216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_dbd13737", - "position": { - "x": 10.8072624, - "y": 0.528624356, - "z": 3.15594339 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_1f10aaf1", - "position": { - "x": 9.499, - "y": 0.4366794, - "z": 3.28825068 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_4db8f8db", - "position": { - "x": 14.24, - "y": 0.747655, - "z": 2.067 - }, - "rotation": { - "x": 0.0, - "y": 300.000061, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_24c7992d", - "position": { - "x": 14.5772505, - "y": 0.52070725, - "z": -0.77699995 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_fac78eb0", - "position": { - "x": 14.331, - "y": 0.752172649, - "z": 1.56446457 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3741823306, - "scene_num": 213 - }, - "task_id": "trial_T20190909_065419_372851", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3ZWMVK6GNTJ8_30BXRYBRP7O1NILRBSVAX0PCVL7WH5", - "high_descs": [ - "Head towards your left around to the coffee table.", - "pick up the sculpture off the top of the coffee table.", - "Turn to the right and head to the front of the TV.", - "Place the sculpture to the left of the TV behind the laptop.", - "Turn around and go all the way to the end of the pink chair beside couch.", - "Pick up the sculpture off the pink chair.", - "Head back around the chair and couch to the front of the TV.", - "Put the sculpture on top of the TV stand." - ], - "task_desc": "Put the two sculptures on top of the TV stand.", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3NXNZ5RS1DOTIX2758Z6S3S7JHU79S", - "high_descs": [ - "Go left and then right and turn to face the statue on the table with the box.", - "Pick the statue up from the table.", - "Go right and face the cabinet with the television on it.", - "Put the statue down in front of the television.", - "Turn around and cross the room to stand on the side of the red chair.", - "Pick the statue up from the red chair.", - "Cross the room and stand in front of the cabinet with the television.", - "Set the statue down on the cabinet." - ], - "task_desc": "Set two statues down near a television.", - "votes": [ - 1, - 1, - 1, - 1, - 1 - ] - }, - { - "assignment_id": "ADXRJFEHIDXRE_3PDJHANYK873T36LKAI6Z6QZ7NDH6W", - "high_descs": [ - "Walk to the center of the brown table, standing by the side farthest away from the red couch.", - "Pick up the statue from the table.", - "Go right and stand in front of the counter the TV is on.", - "Put the statue down to the right of the laptop next to the TV.", - "Go to the red sofa next to the lamp in the corner.", - "Pickup the statue from the red sofa.", - "Go back over to the counter the TV is on.", - "Put the statue down on the counter." - ], - "task_desc": "Move two statues to the counter that the TV and laptop are on.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_181954_161870/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_181954_161870/traj_data.json deleted file mode 100644 index 27239abe7..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_181954_161870/traj_data.json +++ /dev/null @@ -1,7396 +0,0 @@ -{ - "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": 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": 6 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000043.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000044.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 6 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 7 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 7 - }, - { - "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": 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": 16 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 17 - }, - { - "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": 0, - "image_name": "000000087.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 21 - }, - { - "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": 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": 1, - "image_name": "000000097.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000105.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000106.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000107.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000108.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000109.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "image_name": "000000110.png", - "low_idx": 26 - }, - { - "high_idx": 1, - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 34 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 34 - }, - { - "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": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 53 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 54 - }, - { - "high_idx": 3, - "image_name": "000000225.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 79 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 79 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 81 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 81 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 82 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 82 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 83 - }, - { - "high_idx": 4, - "image_name": "000000319.png", - "low_idx": 83 - }, - { - "high_idx": 4, - "image_name": "000000320.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000321.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000322.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000323.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000324.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000325.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000326.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000327.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000328.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000329.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000330.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000331.png", - "low_idx": 85 - }, - { - "high_idx": 4, - "image_name": "000000332.png", - "low_idx": 85 - }, - { - "high_idx": 4, - "image_name": "000000333.png", - "low_idx": 86 - }, - { - "high_idx": 4, - "image_name": "000000334.png", - "low_idx": 86 - }, - { - "high_idx": 4, - "image_name": "000000335.png", - "low_idx": 87 - }, - { - "high_idx": 4, - "image_name": "000000336.png", - "low_idx": 87 - }, - { - "high_idx": 4, - "image_name": "000000337.png", - "low_idx": 88 - }, - { - "high_idx": 4, - "image_name": "000000338.png", - "low_idx": 88 - }, - { - "high_idx": 4, - "image_name": "000000339.png", - "low_idx": 89 - }, - { - "high_idx": 4, - "image_name": "000000340.png", - "low_idx": 89 - }, - { - "high_idx": 4, - "image_name": "000000341.png", - "low_idx": 90 - }, - { - "high_idx": 4, - "image_name": "000000342.png", - "low_idx": 90 - }, - { - "high_idx": 4, - "image_name": "000000343.png", - "low_idx": 91 - }, - { - "high_idx": 4, - "image_name": "000000344.png", - "low_idx": 91 - }, - { - "high_idx": 4, - "image_name": "000000345.png", - "low_idx": 92 - }, - { - "high_idx": 4, - "image_name": "000000346.png", - "low_idx": 92 - }, - { - "high_idx": 4, - "image_name": "000000347.png", - "low_idx": 93 - }, - { - "high_idx": 4, - "image_name": "000000348.png", - "low_idx": 93 - }, - { - "high_idx": 4, - "image_name": "000000349.png", - "low_idx": 94 - }, - { - "high_idx": 4, - "image_name": "000000350.png", - "low_idx": 94 - }, - { - "high_idx": 4, - "image_name": "000000351.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000352.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000353.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000354.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000355.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000356.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000357.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000358.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000359.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000360.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000361.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000362.png", - "low_idx": 96 - }, - { - "high_idx": 4, - "image_name": "000000363.png", - "low_idx": 96 - }, - { - "high_idx": 4, - "image_name": "000000364.png", - "low_idx": 97 - }, - { - "high_idx": 4, - "image_name": "000000365.png", - "low_idx": 97 - }, - { - "high_idx": 4, - "image_name": "000000366.png", - "low_idx": 98 - }, - { - "high_idx": 4, - "image_name": "000000367.png", - "low_idx": 98 - }, - { - "high_idx": 4, - "image_name": "000000368.png", - "low_idx": 99 - }, - { - "high_idx": 4, - "image_name": "000000369.png", - "low_idx": 99 - }, - { - "high_idx": 4, - "image_name": "000000370.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000371.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000372.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000373.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000374.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000375.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000376.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000377.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000378.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000379.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000380.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000381.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000382.png", - "low_idx": 101 - }, - { - "high_idx": 4, - "image_name": "000000383.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000384.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000385.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000386.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000387.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000388.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000389.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000390.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000391.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000392.png", - "low_idx": 102 - }, - { - "high_idx": 4, - "image_name": "000000393.png", - "low_idx": 102 - }, - { - "high_idx": 5, - "image_name": "000000394.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000395.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000396.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000397.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000398.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000399.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000400.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000401.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000402.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000403.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000404.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000405.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000406.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000407.png", - "low_idx": 103 - }, - { - "high_idx": 5, - "image_name": "000000408.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000428.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000429.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000430.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000431.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000432.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000433.png", - "low_idx": 107 - }, - { - "high_idx": 6, - "image_name": "000000434.png", - "low_idx": 107 - }, - { - "high_idx": 6, - "image_name": "000000435.png", - "low_idx": 108 - }, - { - "high_idx": 6, - "image_name": "000000436.png", - "low_idx": 108 - }, - { - "high_idx": 6, - "image_name": "000000437.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000438.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000439.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000440.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000441.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000442.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000443.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000444.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000445.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000446.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000447.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000448.png", - "low_idx": 110 - }, - { - "high_idx": 6, - "image_name": "000000449.png", - "low_idx": 110 - }, - { - "high_idx": 6, - "image_name": "000000450.png", - "low_idx": 111 - }, - { - "high_idx": 6, - "image_name": "000000451.png", - "low_idx": 111 - }, - { - "high_idx": 6, - "image_name": "000000452.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000453.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000454.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000455.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000456.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000457.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000458.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000459.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000460.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000461.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000462.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000463.png", - "low_idx": 113 - }, - { - "high_idx": 6, - "image_name": "000000464.png", - "low_idx": 113 - }, - { - "high_idx": 6, - "image_name": "000000465.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000466.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000467.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000468.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000469.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000470.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000471.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000472.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000473.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000474.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000475.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000476.png", - "low_idx": 115 - }, - { - "high_idx": 6, - "image_name": "000000477.png", - "low_idx": 115 - }, - { - "high_idx": 6, - "image_name": "000000478.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000479.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000480.png", - "low_idx": 117 - }, - { - "high_idx": 6, - "image_name": "000000481.png", - "low_idx": 117 - }, - { - "high_idx": 6, - "image_name": "000000482.png", - "low_idx": 118 - }, - { - "high_idx": 6, - "image_name": "000000483.png", - "low_idx": 118 - }, - { - "high_idx": 6, - "image_name": "000000484.png", - "low_idx": 119 - }, - { - "high_idx": 6, - "image_name": "000000485.png", - "low_idx": 119 - }, - { - "high_idx": 6, - "image_name": "000000486.png", - "low_idx": 120 - }, - { - "high_idx": 6, - "image_name": "000000487.png", - "low_idx": 120 - }, - { - "high_idx": 6, - "image_name": "000000488.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000489.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000490.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000491.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000492.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000493.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000494.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000495.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000496.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000497.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000498.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000499.png", - "low_idx": 122 - }, - { - "high_idx": 6, - "image_name": "000000500.png", - "low_idx": 122 - }, - { - "high_idx": 6, - "image_name": "000000501.png", - "low_idx": 123 - }, - { - "high_idx": 6, - "image_name": "000000502.png", - "low_idx": 123 - }, - { - "high_idx": 6, - "image_name": "000000503.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000504.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000505.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000506.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000507.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000508.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000509.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000510.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000511.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000512.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000513.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000514.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000515.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000516.png", - "low_idx": 126 - }, - { - "high_idx": 6, - "image_name": "000000517.png", - "low_idx": 126 - }, - { - "high_idx": 6, - "image_name": "000000518.png", - "low_idx": 127 - }, - { - "high_idx": 6, - "image_name": "000000519.png", - "low_idx": 127 - }, - { - "high_idx": 6, - "image_name": "000000520.png", - "low_idx": 128 - }, - { - "high_idx": 6, - "image_name": "000000521.png", - "low_idx": 128 - }, - { - "high_idx": 6, - "image_name": "000000522.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000523.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000524.png", - "low_idx": 130 - }, - { - "high_idx": 6, - "image_name": "000000525.png", - "low_idx": 130 - }, - { - "high_idx": 6, - "image_name": "000000526.png", - "low_idx": 131 - }, - { - "high_idx": 6, - "image_name": "000000527.png", - "low_idx": 131 - }, - { - "high_idx": 6, - "image_name": "000000528.png", - "low_idx": 132 - }, - { - "high_idx": 6, - "image_name": "000000529.png", - "low_idx": 132 - }, - { - "high_idx": 6, - "image_name": "000000530.png", - "low_idx": 133 - }, - { - "high_idx": 6, - "image_name": "000000531.png", - "low_idx": 133 - }, - { - "high_idx": 6, - "image_name": "000000532.png", - "low_idx": 134 - }, - { - "high_idx": 6, - "image_name": "000000533.png", - "low_idx": 134 - }, - { - "high_idx": 6, - "image_name": "000000534.png", - "low_idx": 135 - }, - { - "high_idx": 6, - "image_name": "000000535.png", - "low_idx": 135 - }, - { - "high_idx": 6, - "image_name": "000000536.png", - "low_idx": 136 - }, - { - "high_idx": 6, - "image_name": "000000537.png", - "low_idx": 136 - }, - { - "high_idx": 6, - "image_name": "000000538.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000539.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000540.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000541.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000542.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000543.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000544.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000545.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000546.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000547.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000548.png", - "low_idx": 137 - }, - { - "high_idx": 6, - "image_name": "000000549.png", - "low_idx": 138 - }, - { - "high_idx": 6, - "image_name": "000000550.png", - "low_idx": 138 - }, - { - "high_idx": 6, - "image_name": "000000551.png", - "low_idx": 139 - }, - { - "high_idx": 6, - "image_name": "000000552.png", - "low_idx": 139 - }, - { - "high_idx": 6, - "image_name": "000000553.png", - "low_idx": 140 - }, - { - "high_idx": 6, - "image_name": "000000554.png", - "low_idx": 140 - }, - { - "high_idx": 6, - "image_name": "000000555.png", - "low_idx": 141 - }, - { - "high_idx": 6, - "image_name": "000000556.png", - "low_idx": 141 - }, - { - "high_idx": 6, - "image_name": "000000557.png", - "low_idx": 142 - }, - { - "high_idx": 6, - "image_name": "000000558.png", - "low_idx": 142 - }, - { - "high_idx": 6, - "image_name": "000000559.png", - "low_idx": 143 - }, - { - "high_idx": 6, - "image_name": "000000560.png", - "low_idx": 143 - }, - { - "high_idx": 6, - "image_name": "000000561.png", - "low_idx": 144 - }, - { - "high_idx": 6, - "image_name": "000000562.png", - "low_idx": 144 - }, - { - "high_idx": 6, - "image_name": "000000563.png", - "low_idx": 145 - }, - { - "high_idx": 6, - "image_name": "000000564.png", - "low_idx": 145 - }, - { - "high_idx": 6, - "image_name": "000000565.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000566.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000567.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000568.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000569.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000570.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000571.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000572.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000573.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000574.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000575.png", - "low_idx": 146 - }, - { - "high_idx": 6, - "image_name": "000000576.png", - "low_idx": 147 - }, - { - "high_idx": 6, - "image_name": "000000577.png", - "low_idx": 147 - }, - { - "high_idx": 6, - "image_name": "000000578.png", - "low_idx": 148 - }, - { - "high_idx": 6, - "image_name": "000000579.png", - "low_idx": 148 - }, - { - "high_idx": 6, - "image_name": "000000580.png", - "low_idx": 149 - }, - { - "high_idx": 6, - "image_name": "000000581.png", - "low_idx": 149 - }, - { - "high_idx": 6, - "image_name": "000000582.png", - "low_idx": 150 - }, - { - "high_idx": 6, - "image_name": "000000583.png", - "low_idx": 150 - }, - { - "high_idx": 6, - "image_name": "000000584.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000585.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000586.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000587.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000588.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000589.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000590.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000591.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000592.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000593.png", - "low_idx": 151 - }, - { - "high_idx": 6, - "image_name": "000000594.png", - "low_idx": 151 - }, - { - "high_idx": 7, - "image_name": "000000595.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000596.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000597.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000598.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000599.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000600.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000601.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000602.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000603.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000604.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000605.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000606.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000607.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000608.png", - "low_idx": 152 - }, - { - "high_idx": 7, - "image_name": "000000609.png", - "low_idx": 152 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Watch", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-6|9|2|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - -5.80471228, - -5.80471228, - 6.219536, - 6.219536, - 3.025145052, - 3.025145052 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -6.368032, - -6.368032, - 5.096312, - 5.096312, - 1.2581852, - 1.2581852 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.45|+00.76|+01.55" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|24|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - -5.80471228, - -5.80471228, - 6.219536, - 6.219536, - 3.025145052, - 3.025145052 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -12.804, - -12.804, - 27.164, - 27.164, - -0.032, - -0.032 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.45|+00.76|+01.55", - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-6|1|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - -5.80471228, - -5.80471228, - 3.411476612, - 3.411476612, - 3.025145052, - 3.025145052 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -6.368032, - -6.368032, - 5.096312, - 5.096312, - 1.2581852, - 1.2581852 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.45|+00.76|+00.85" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|24|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - -5.80471228, - -5.80471228, - 3.411476612, - 3.411476612, - 3.025145052, - 3.025145052 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -12.804, - -12.804, - 27.164, - 27.164, - -0.032, - -0.032 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.45|+00.76|+00.85", - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - } - }, - { - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "Watch|-01.45|+00.76|+01.55" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 129, - 166, - 146, - 177 - ], - "mask": [ - [ - 49635, - 6 - ], - [ - 49934, - 10 - ], - [ - 50230, - 16 - ], - [ - 50529, - 5 - ], - [ - 50535, - 7 - ], - [ - 50543, - 4 - ], - [ - 50829, - 2 - ], - [ - 50846, - 1 - ], - [ - 51129, - 1 - ], - [ - 51446, - 1 - ], - [ - 51729, - 1 - ], - [ - 51745, - 2 - ], - [ - 52030, - 2 - ], - [ - 52044, - 3 - ], - [ - 52331, - 15 - ], - [ - 52632, - 12 - ], - [ - 52936, - 3 - ] - ], - "point": [ - 137, - 168 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|-01.45|+00.76|+01.55", - "placeStationary": true, - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 17, - 79, - 299, - 191 - ], - "mask": [ - [ - 23433, - 34 - ], - [ - 23658, - 29 - ], - [ - 23732, - 34 - ], - [ - 23959, - 29 - ], - [ - 24032, - 33 - ], - [ - 24259, - 29 - ], - [ - 24332, - 33 - ], - [ - 24560, - 28 - ], - [ - 24632, - 33 - ], - [ - 24860, - 29 - ], - [ - 24931, - 34 - ], - [ - 25160, - 29 - ], - [ - 25231, - 33 - ], - [ - 25461, - 28 - ], - [ - 25531, - 33 - ], - [ - 25761, - 29 - ], - [ - 25830, - 34 - ], - [ - 26061, - 29 - ], - [ - 26130, - 34 - ], - [ - 26361, - 29 - ], - [ - 26430, - 34 - ], - [ - 26662, - 29 - ], - [ - 26729, - 34 - ], - [ - 26962, - 29 - ], - [ - 27029, - 34 - ], - [ - 27262, - 30 - ], - [ - 27329, - 34 - ], - [ - 27563, - 29 - ], - [ - 27628, - 35 - ], - [ - 27863, - 29 - ], - [ - 27928, - 34 - ], - [ - 28163, - 30 - ], - [ - 28228, - 34 - ], - [ - 28463, - 30 - ], - [ - 28527, - 35 - ], - [ - 28764, - 29 - ], - [ - 28827, - 35 - ], - [ - 29064, - 30 - ], - [ - 29127, - 35 - ], - [ - 29364, - 30 - ], - [ - 29427, - 34 - ], - [ - 29665, - 29 - ], - [ - 29726, - 35 - ], - [ - 29965, - 30 - ], - [ - 30026, - 35 - ], - [ - 30265, - 30 - ], - [ - 30326, - 35 - ], - [ - 30565, - 31 - ], - [ - 30625, - 35 - ], - [ - 30866, - 30 - ], - [ - 30925, - 35 - ], - [ - 31166, - 30 - ], - [ - 31225, - 35 - ], - [ - 31466, - 31 - ], - [ - 31524, - 36 - ], - [ - 31767, - 30 - ], - [ - 31824, - 36 - ], - [ - 32067, - 30 - ], - [ - 32124, - 35 - ], - [ - 32367, - 31 - ], - [ - 32423, - 36 - ], - [ - 32668, - 30 - ], - [ - 32723, - 36 - ], - [ - 32968, - 30 - ], - [ - 33023, - 36 - ], - [ - 33268, - 31 - ], - [ - 33323, - 35 - ], - [ - 33568, - 31 - ], - [ - 33622, - 36 - ], - [ - 33869, - 31 - ], - [ - 33922, - 36 - ], - [ - 34169, - 31 - ], - [ - 34222, - 36 - ], - [ - 34469, - 31 - ], - [ - 34521, - 37 - ], - [ - 34770, - 30 - ], - [ - 34821, - 36 - ], - [ - 35070, - 30 - ], - [ - 35121, - 36 - ], - [ - 35370, - 30 - ], - [ - 35420, - 37 - ], - [ - 35670, - 30 - ], - [ - 35720, - 37 - ], - [ - 35971, - 29 - ], - [ - 36020, - 37 - ], - [ - 36271, - 29 - ], - [ - 36319, - 38 - ], - [ - 36570, - 30 - ], - [ - 36619, - 281 - ], - [ - 36919, - 281 - ], - [ - 37219, - 281 - ], - [ - 37518, - 282 - ], - [ - 37818, - 282 - ], - [ - 38118, - 282 - ], - [ - 38417, - 283 - ], - [ - 38717, - 283 - ], - [ - 39017, - 283 - ], - [ - 39318, - 282 - ], - [ - 39618, - 282 - ], - [ - 39919, - 281 - ], - [ - 40220, - 280 - ], - [ - 40521, - 279 - ], - [ - 40823, - 276 - ], - [ - 41124, - 11 - ], - [ - 41260, - 2 - ], - [ - 41388, - 10 - ], - [ - 41425, - 9 - ], - [ - 41561, - 1 - ], - [ - 41689, - 8 - ], - [ - 41725, - 9 - ], - [ - 41861, - 1 - ], - [ - 41989, - 7 - ], - [ - 42026, - 7 - ], - [ - 42161, - 1 - ], - [ - 42290, - 5 - ], - [ - 42327, - 7 - ], - [ - 42589, - 5 - ], - [ - 42628, - 7 - ], - [ - 42888, - 5 - ], - [ - 42928, - 7 - ], - [ - 43187, - 5 - ], - [ - 43229, - 7 - ], - [ - 43486, - 6 - ], - [ - 43530, - 7 - ], - [ - 43785, - 6 - ], - [ - 43831, - 7 - ], - [ - 44084, - 6 - ], - [ - 44132, - 6 - ], - [ - 44384, - 5 - ], - [ - 44432, - 7 - ], - [ - 44683, - 5 - ], - [ - 44733, - 7 - ], - [ - 44860, - 1 - ], - [ - 44982, - 5 - ], - [ - 45034, - 7 - ], - [ - 45160, - 1 - ], - [ - 45281, - 5 - ], - [ - 45335, - 6 - ], - [ - 45460, - 1 - ], - [ - 45580, - 5 - ], - [ - 45635, - 7 - ], - [ - 45760, - 1 - ], - [ - 45879, - 5 - ], - [ - 45936, - 7 - ], - [ - 46060, - 1 - ], - [ - 46178, - 5 - ], - [ - 46237, - 6 - ], - [ - 46360, - 1 - ], - [ - 46477, - 5 - ], - [ - 46538, - 6 - ], - [ - 46777, - 5 - ], - [ - 46839, - 6 - ], - [ - 47076, - 5 - ], - [ - 47139, - 7 - ], - [ - 47375, - 5 - ], - [ - 47440, - 6 - ], - [ - 47674, - 5 - ], - [ - 47741, - 6 - ], - [ - 47973, - 5 - ], - [ - 48042, - 6 - ], - [ - 48272, - 5 - ], - [ - 48342, - 7 - ], - [ - 48571, - 5 - ], - [ - 48643, - 6 - ], - [ - 48870, - 5 - ], - [ - 48944, - 6 - ], - [ - 49059, - 1 - ], - [ - 49170, - 4 - ], - [ - 49245, - 6 - ], - [ - 49359, - 1 - ], - [ - 49469, - 4 - ], - [ - 49546, - 6 - ], - [ - 49659, - 1 - ], - [ - 49768, - 4 - ], - [ - 49846, - 6 - ], - [ - 49959, - 1 - ], - [ - 50067, - 5 - ], - [ - 50147, - 6 - ], - [ - 50259, - 1 - ], - [ - 50366, - 5 - ], - [ - 50448, - 6 - ], - [ - 50559, - 1 - ], - [ - 50665, - 5 - ], - [ - 50749, - 5 - ], - [ - 50964, - 5 - ], - [ - 51049, - 6 - ], - [ - 51263, - 5 - ], - [ - 51350, - 6 - ], - [ - 51562, - 5 - ], - [ - 51651, - 6 - ], - [ - 51862, - 4 - ], - [ - 51952, - 5 - ], - [ - 52161, - 4 - ], - [ - 52253, - 5 - ], - [ - 52460, - 4 - ], - [ - 52553, - 6 - ], - [ - 52759, - 4 - ], - [ - 52854, - 6 - ], - [ - 53058, - 4 - ], - [ - 53155, - 5 - ], - [ - 53357, - 5 - ], - [ - 53456, - 5 - ], - [ - 53558, - 1 - ], - [ - 53656, - 5 - ], - [ - 53756, - 6 - ], - [ - 53858, - 1 - ], - [ - 53956, - 4 - ], - [ - 54057, - 6 - ], - [ - 54158, - 1 - ], - [ - 54255, - 4 - ], - [ - 54358, - 5 - ], - [ - 54458, - 1 - ], - [ - 54554, - 4 - ], - [ - 54659, - 5 - ], - [ - 54758, - 1 - ], - [ - 54853, - 4 - ], - [ - 54960, - 5 - ], - [ - 55152, - 4 - ], - [ - 55260, - 5 - ], - [ - 55451, - 4 - ], - [ - 55561, - 5 - ], - [ - 55750, - 4 - ], - [ - 55862, - 5 - ], - [ - 56049, - 4 - ], - [ - 56163, - 5 - ], - [ - 56349, - 3 - ], - [ - 56463, - 5 - ], - [ - 56648, - 3 - ], - [ - 56764, - 5 - ], - [ - 56947, - 4 - ], - [ - 57065, - 5 - ], - [ - 57246, - 4 - ] - ], - "point": [ - 158, - 134 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Watch|-01.45|+00.76|+00.85" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 152, - 116, - 171, - 127 - ], - "mask": [ - [ - 34659, - 7 - ], - [ - 34955, - 15 - ], - [ - 35253, - 19 - ], - [ - 35553, - 19 - ], - [ - 35852, - 4 - ], - [ - 35862, - 1 - ], - [ - 35869, - 3 - ], - [ - 36153, - 1 - ], - [ - 36160, - 5 - ], - [ - 36171, - 1 - ], - [ - 36453, - 3 - ], - [ - 36459, - 7 - ], - [ - 36468, - 4 - ], - [ - 36753, - 19 - ], - [ - 37054, - 17 - ], - [ - 37356, - 12 - ], - [ - 37659, - 7 - ], - [ - 37960, - 4 - ] - ], - "point": [ - 161, - 120 - ] - } - }, - "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": "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": "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": "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|-01.45|+00.76|+00.85", - "placeStationary": true, - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 17, - 79, - 299, - 191 - ], - "mask": [ - [ - 23433, - 34 - ], - [ - 23658, - 29 - ], - [ - 23732, - 34 - ], - [ - 23959, - 29 - ], - [ - 24032, - 33 - ], - [ - 24259, - 29 - ], - [ - 24332, - 33 - ], - [ - 24560, - 28 - ], - [ - 24632, - 33 - ], - [ - 24860, - 29 - ], - [ - 24931, - 34 - ], - [ - 25160, - 29 - ], - [ - 25231, - 33 - ], - [ - 25461, - 28 - ], - [ - 25531, - 33 - ], - [ - 25761, - 29 - ], - [ - 25830, - 34 - ], - [ - 26061, - 29 - ], - [ - 26130, - 34 - ], - [ - 26361, - 29 - ], - [ - 26430, - 34 - ], - [ - 26662, - 29 - ], - [ - 26729, - 34 - ], - [ - 26962, - 29 - ], - [ - 27029, - 34 - ], - [ - 27262, - 30 - ], - [ - 27329, - 34 - ], - [ - 27563, - 29 - ], - [ - 27628, - 35 - ], - [ - 27863, - 29 - ], - [ - 27928, - 34 - ], - [ - 28163, - 30 - ], - [ - 28228, - 34 - ], - [ - 28463, - 30 - ], - [ - 28527, - 35 - ], - [ - 28764, - 29 - ], - [ - 28827, - 35 - ], - [ - 29064, - 30 - ], - [ - 29127, - 35 - ], - [ - 29364, - 30 - ], - [ - 29427, - 34 - ], - [ - 29665, - 29 - ], - [ - 29726, - 35 - ], - [ - 29965, - 30 - ], - [ - 30026, - 35 - ], - [ - 30265, - 30 - ], - [ - 30326, - 35 - ], - [ - 30565, - 31 - ], - [ - 30625, - 35 - ], - [ - 30866, - 30 - ], - [ - 30925, - 35 - ], - [ - 31166, - 30 - ], - [ - 31225, - 35 - ], - [ - 31466, - 31 - ], - [ - 31524, - 36 - ], - [ - 31767, - 30 - ], - [ - 31824, - 36 - ], - [ - 32067, - 30 - ], - [ - 32124, - 35 - ], - [ - 32367, - 31 - ], - [ - 32423, - 36 - ], - [ - 32668, - 30 - ], - [ - 32723, - 36 - ], - [ - 32968, - 30 - ], - [ - 33023, - 36 - ], - [ - 33268, - 31 - ], - [ - 33323, - 35 - ], - [ - 33568, - 31 - ], - [ - 33622, - 36 - ], - [ - 33869, - 31 - ], - [ - 33922, - 36 - ], - [ - 34169, - 31 - ], - [ - 34222, - 36 - ], - [ - 34469, - 31 - ], - [ - 34521, - 37 - ], - [ - 34770, - 30 - ], - [ - 34821, - 36 - ], - [ - 35070, - 30 - ], - [ - 35121, - 36 - ], - [ - 35370, - 30 - ], - [ - 35420, - 37 - ], - [ - 35670, - 30 - ], - [ - 35720, - 37 - ], - [ - 35971, - 29 - ], - [ - 36020, - 37 - ], - [ - 36271, - 29 - ], - [ - 36319, - 38 - ], - [ - 36570, - 30 - ], - [ - 36619, - 281 - ], - [ - 36919, - 281 - ], - [ - 37219, - 281 - ], - [ - 37518, - 282 - ], - [ - 37818, - 282 - ], - [ - 38118, - 282 - ], - [ - 38417, - 283 - ], - [ - 38717, - 283 - ], - [ - 39017, - 283 - ], - [ - 39318, - 282 - ], - [ - 39618, - 282 - ], - [ - 39919, - 281 - ], - [ - 40220, - 280 - ], - [ - 40521, - 279 - ], - [ - 40823, - 276 - ], - [ - 41124, - 11 - ], - [ - 41260, - 2 - ], - [ - 41388, - 10 - ], - [ - 41425, - 9 - ], - [ - 41561, - 1 - ], - [ - 41689, - 8 - ], - [ - 41725, - 9 - ], - [ - 41861, - 1 - ], - [ - 41989, - 7 - ], - [ - 42026, - 7 - ], - [ - 42161, - 1 - ], - [ - 42290, - 5 - ], - [ - 42327, - 7 - ], - [ - 42589, - 5 - ], - [ - 42628, - 7 - ], - [ - 42888, - 5 - ], - [ - 42928, - 7 - ], - [ - 43187, - 5 - ], - [ - 43229, - 7 - ], - [ - 43486, - 6 - ], - [ - 43530, - 7 - ], - [ - 43785, - 6 - ], - [ - 43831, - 7 - ], - [ - 44084, - 6 - ], - [ - 44132, - 6 - ], - [ - 44384, - 5 - ], - [ - 44432, - 7 - ], - [ - 44683, - 5 - ], - [ - 44733, - 7 - ], - [ - 44860, - 1 - ], - [ - 44982, - 5 - ], - [ - 45034, - 7 - ], - [ - 45160, - 1 - ], - [ - 45281, - 5 - ], - [ - 45335, - 6 - ], - [ - 45460, - 1 - ], - [ - 45580, - 5 - ], - [ - 45635, - 7 - ], - [ - 45760, - 1 - ], - [ - 45879, - 5 - ], - [ - 45936, - 7 - ], - [ - 46060, - 1 - ], - [ - 46178, - 5 - ], - [ - 46237, - 6 - ], - [ - 46360, - 1 - ], - [ - 46477, - 5 - ], - [ - 46538, - 6 - ], - [ - 46777, - 5 - ], - [ - 46839, - 6 - ], - [ - 47076, - 5 - ], - [ - 47139, - 7 - ], - [ - 47375, - 5 - ], - [ - 47440, - 6 - ], - [ - 47674, - 5 - ], - [ - 47741, - 6 - ], - [ - 47973, - 5 - ], - [ - 48042, - 6 - ], - [ - 48272, - 5 - ], - [ - 48342, - 7 - ], - [ - 48571, - 5 - ], - [ - 48643, - 6 - ], - [ - 48870, - 5 - ], - [ - 48944, - 6 - ], - [ - 49059, - 1 - ], - [ - 49170, - 4 - ], - [ - 49245, - 6 - ], - [ - 49359, - 1 - ], - [ - 49469, - 4 - ], - [ - 49546, - 6 - ], - [ - 49659, - 1 - ], - [ - 49768, - 4 - ], - [ - 49846, - 6 - ], - [ - 49959, - 1 - ], - [ - 50067, - 5 - ], - [ - 50147, - 6 - ], - [ - 50259, - 1 - ], - [ - 50366, - 5 - ], - [ - 50448, - 6 - ], - [ - 50559, - 1 - ], - [ - 50665, - 5 - ], - [ - 50749, - 5 - ], - [ - 50964, - 5 - ], - [ - 51049, - 6 - ], - [ - 51263, - 5 - ], - [ - 51350, - 6 - ], - [ - 51562, - 5 - ], - [ - 51651, - 6 - ], - [ - 51862, - 4 - ], - [ - 51952, - 5 - ], - [ - 52161, - 4 - ], - [ - 52253, - 5 - ], - [ - 52460, - 4 - ], - [ - 52553, - 6 - ], - [ - 52759, - 4 - ], - [ - 52854, - 6 - ], - [ - 53058, - 4 - ], - [ - 53155, - 5 - ], - [ - 53357, - 5 - ], - [ - 53456, - 5 - ], - [ - 53558, - 1 - ], - [ - 53656, - 5 - ], - [ - 53756, - 6 - ], - [ - 53858, - 1 - ], - [ - 53956, - 4 - ], - [ - 54057, - 6 - ], - [ - 54158, - 1 - ], - [ - 54255, - 4 - ], - [ - 54358, - 5 - ], - [ - 54458, - 1 - ], - [ - 54554, - 4 - ], - [ - 54659, - 5 - ], - [ - 54758, - 1 - ], - [ - 54853, - 4 - ], - [ - 54960, - 5 - ], - [ - 55152, - 4 - ], - [ - 55260, - 5 - ], - [ - 55451, - 4 - ], - [ - 55561, - 5 - ], - [ - 55750, - 4 - ], - [ - 55862, - 5 - ], - [ - 56049, - 4 - ], - [ - 56163, - 5 - ], - [ - 56349, - 3 - ], - [ - 56463, - 5 - ], - [ - 56648, - 3 - ], - [ - 56764, - 5 - ], - [ - 56947, - 4 - ], - [ - 57065, - 5 - ], - [ - 57246, - 4 - ] - ], - "point": [ - 158, - 134 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan205", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -3.25, - "y": 0.9011251, - "z": 4.25 - }, - "object_poses": [ - { - "objectName": "Watch_6926efef", - "position": { - "x": -1.45117807, - "y": 0.756286263, - "z": 1.554884 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_aa8e7163", - "position": { - "x": -1.31034827, - "y": 0.7614341, - "z": 0.852869153 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_aa8e7163", - "position": { - "x": -1.31034827, - "y": 0.7614341, - "z": 1.554884 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9d14e7c7", - "position": { - "x": -2.32240868, - "y": 0.400770664, - "z": 3.55113888 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9d14e7c7", - "position": { - "x": -2.01449776, - "y": 0.7555422, - "z": 1.1336751 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d314e78a", - "position": { - "x": -1.31034827, - "y": 0.867203236, - "z": 0.9932721 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_aa8e7163", - "position": { - "x": -4.22874069, - "y": 0.489887834, - "z": 3.588 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_6926efef", - "position": { - "x": -1.45117807, - "y": 0.756286263, - "z": 0.852869153 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_404c0a66", - "position": { - "x": -0.208212316, - "y": -0.000733211637, - "z": 3.22562766 - }, - "rotation": { - "x": -0.00117355876, - "y": 63.9287148, - "z": 0.00114551524 - } - }, - { - "objectName": "Laptop_0fe92e8d", - "position": { - "x": -1.68310452, - "y": 0.747589, - "z": 1.48901808 - }, - "rotation": { - "x": 0.0, - "y": 338.703461, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9d14e7c7", - "position": { - "x": -3.604088, - "y": 0.396496, - "z": 3.75033045 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_07fab907", - "position": { - "x": -4.300413, - "y": 0.478610456, - "z": 5.556703 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_65434bec", - "position": { - "x": -4.335, - "y": 0.465, - "z": 4.398 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_ce66a10f", - "position": { - "x": -2.00501847, - "y": 0.844392955, - "z": 6.63202524 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1691512709, - "scene_num": 205 - }, - "task_id": "trial_T20190907_181954_161870", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1AKL5YH9NLD2V_392CY0QWG48HPMRTBWIV1YNYH9J4IR", - "high_descs": [ - "Walk to the glass dining table on the other side of the red chair.", - "Pick up the watch between the statue and the compute on the table.", - "Turn around and walk to the TV.", - "Place the watch on the middle of the TV stand.", - "Turn around and walk to the far side of the glass dining table.", - "Pick up the watch next to the statue on the dining table.", - "Walk to the TV on the other side of the room.", - "Place the watch to the left of the other watch on the TV stand." - ], - "task_desc": "Place two watches on the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AKW57KYG90X61_3ERMJ6L4D1904SZ3Y9EUW3EPPJ9M7N", - "high_descs": [ - "turn left and head towards the dining", - "pick up the watch", - "turn around and locate the tv", - "drop the watch on the tv stand", - "turn around and head for the dining", - "pick up the wrist watch", - "turn around and head for the television stand", - "place the watch on the tv stand" - ], - "task_desc": "place two watches on the tv stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3Z7VU45IP1YMSDJKOINF3VJL120Z1V", - "high_descs": [ - "Walk to stand in front of the chair you can see in front of you to the left that's sitting in front of a statue and laptop.", - "Pick up the watch you see on the table.", - "Turn arouind and walk over to the tv you can see in front of you to the left,", - "Put the watch in the middle of the tv stand.", - "Walk to the opposite side of the table that where you got the first watch.", - "Pick up the watch on that side of the table.", - "Walk back over to the tv.", - "Put this watch ot the left of the first watch." - ], - "task_desc": "Put two watches on the tv stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182257_096741/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182257_096741/traj_data.json deleted file mode 100644 index 5133ce0df..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182257_096741/traj_data.json +++ /dev/null @@ -1,6174 +0,0 @@ -{ - "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": 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": 8 - }, - { - "high_idx": 0, - "image_name": "000000037.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000038.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000039.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000040.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000041.png", - "low_idx": 8 - }, - { - "high_idx": 0, - "image_name": "000000042.png", - "low_idx": 8 - }, - { - "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": 1, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "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": 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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 33 - }, - { - "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": 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": 43 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 45 - }, - { - "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": 51 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 53 - }, - { - "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": 56 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 56 - }, - { - "high_idx": 3, - "image_name": "000000235.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000236.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000237.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000238.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000239.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000240.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000241.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000242.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000243.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000244.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000245.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000246.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000247.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000248.png", - "low_idx": 57 - }, - { - "high_idx": 3, - "image_name": "000000249.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 61 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 62 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 63 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 64 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 65 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 66 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 67 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 68 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 69 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 70 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 71 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 72 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 73 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000319.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000320.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000321.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000322.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000323.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000324.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000325.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000326.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000327.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000328.png", - "low_idx": 79 - }, - { - "high_idx": 4, - "image_name": "000000329.png", - "low_idx": 79 - }, - { - "high_idx": 4, - "image_name": "000000330.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000331.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000332.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000333.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000334.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000335.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000336.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000337.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000338.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000339.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000340.png", - "low_idx": 80 - }, - { - "high_idx": 5, - "image_name": "000000341.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000342.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000343.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000344.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000345.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000346.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000347.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000348.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000349.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000350.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000351.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000352.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000353.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000354.png", - "low_idx": 81 - }, - { - "high_idx": 5, - "image_name": "000000355.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 84 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 85 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 86 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 87 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 88 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 89 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 90 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 91 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 92 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 93 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 94 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 95 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 96 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 97 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 97 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 98 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 99 - }, - { - "high_idx": 6, - "image_name": "000000428.png", - "low_idx": 100 - }, - { - "high_idx": 6, - "image_name": "000000429.png", - "low_idx": 100 - }, - { - "high_idx": 6, - "image_name": "000000430.png", - "low_idx": 101 - }, - { - "high_idx": 6, - "image_name": "000000431.png", - "low_idx": 101 - }, - { - "high_idx": 6, - "image_name": "000000432.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000433.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000434.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000435.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000436.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000437.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000438.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000439.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000440.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000441.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000442.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000443.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000444.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000445.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000446.png", - "low_idx": 104 - }, - { - "high_idx": 7, - "image_name": "000000447.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000448.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000449.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000450.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000451.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000452.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000453.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000454.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000455.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000456.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000457.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000458.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000459.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000460.png", - "low_idx": 105 - }, - { - "high_idx": 7, - "image_name": "000000461.png", - "low_idx": 105 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Watch", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-17|12|0|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - -16.764, - -16.764, - 13.89229776, - 13.89229776, - 1.938960076, - 1.938960076 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -16.764, - -16.764, - 14.352, - 14.352, - -0.004, - -0.004 - ] - ], - "forceVisible": true, - "objectId": "Watch|-04.19|+00.48|+03.47" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|24|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - -16.764, - -16.764, - 13.89229776, - 13.89229776, - 1.938960076, - 1.938960076 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -12.804, - -12.804, - 27.164, - 27.164, - -0.032, - -0.032 - ] - ], - "forceVisible": true, - "objectId": "Watch|-04.19|+00.48|+03.47", - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|16|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - -1.19347346, - -1.19347346, - 15.85562324, - 15.85562324, - 2.5053244, - 2.5053244 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - -0.97492236, - -0.97492236, - 14.09669112, - 14.09669112, - 0.01436424256, - 0.01436424256 - ] - ], - "forceVisible": true, - "objectId": "Watch|-00.30|+00.63|+03.96" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|24|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - -1.19347346, - -1.19347346, - 15.85562324, - 15.85562324, - 2.5053244, - 2.5053244 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -12.804, - -12.804, - 27.164, - 27.164, - -0.032, - -0.032 - ] - ], - "forceVisible": true, - "objectId": "Watch|-00.30|+00.63|+03.96", - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Watch|-04.19|+00.48|+03.47" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 155, - 175, - 171, - 185 - ], - "mask": [ - [ - 52362, - 1 - ], - [ - 52657, - 11 - ], - [ - 52956, - 14 - ], - [ - 53255, - 3 - ], - [ - 53268, - 3 - ], - [ - 53555, - 1 - ], - [ - 53570, - 2 - ], - [ - 53870, - 1 - ], - [ - 54155, - 1 - ], - [ - 54161, - 4 - ], - [ - 54170, - 1 - ], - [ - 54455, - 16 - ], - [ - 54756, - 14 - ], - [ - 55060, - 7 - ], - [ - 55361, - 4 - ] - ], - "point": [ - 163, - 180 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|-04.19|+00.48|+03.47", - "placeStationary": true, - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 17, - 79, - 299, - 191 - ], - "mask": [ - [ - 23433, - 34 - ], - [ - 23658, - 29 - ], - [ - 23732, - 34 - ], - [ - 23959, - 29 - ], - [ - 24032, - 33 - ], - [ - 24259, - 29 - ], - [ - 24332, - 33 - ], - [ - 24560, - 28 - ], - [ - 24632, - 33 - ], - [ - 24860, - 29 - ], - [ - 24931, - 34 - ], - [ - 25160, - 29 - ], - [ - 25231, - 33 - ], - [ - 25461, - 28 - ], - [ - 25531, - 33 - ], - [ - 25761, - 29 - ], - [ - 25830, - 34 - ], - [ - 26061, - 29 - ], - [ - 26130, - 34 - ], - [ - 26361, - 29 - ], - [ - 26430, - 34 - ], - [ - 26662, - 29 - ], - [ - 26729, - 34 - ], - [ - 26962, - 29 - ], - [ - 27029, - 34 - ], - [ - 27262, - 30 - ], - [ - 27329, - 34 - ], - [ - 27563, - 29 - ], - [ - 27628, - 35 - ], - [ - 27863, - 29 - ], - [ - 27928, - 34 - ], - [ - 28163, - 30 - ], - [ - 28228, - 34 - ], - [ - 28463, - 30 - ], - [ - 28527, - 35 - ], - [ - 28764, - 29 - ], - [ - 28827, - 35 - ], - [ - 29064, - 30 - ], - [ - 29127, - 35 - ], - [ - 29364, - 30 - ], - [ - 29427, - 34 - ], - [ - 29665, - 29 - ], - [ - 29726, - 35 - ], - [ - 29965, - 30 - ], - [ - 30026, - 35 - ], - [ - 30265, - 30 - ], - [ - 30326, - 35 - ], - [ - 30565, - 31 - ], - [ - 30625, - 35 - ], - [ - 30866, - 30 - ], - [ - 30925, - 35 - ], - [ - 31166, - 30 - ], - [ - 31225, - 35 - ], - [ - 31466, - 31 - ], - [ - 31524, - 36 - ], - [ - 31767, - 30 - ], - [ - 31824, - 36 - ], - [ - 32067, - 30 - ], - [ - 32124, - 35 - ], - [ - 32367, - 31 - ], - [ - 32423, - 36 - ], - [ - 32668, - 30 - ], - [ - 32723, - 36 - ], - [ - 32968, - 30 - ], - [ - 33023, - 36 - ], - [ - 33268, - 31 - ], - [ - 33323, - 35 - ], - [ - 33568, - 31 - ], - [ - 33622, - 36 - ], - [ - 33869, - 31 - ], - [ - 33922, - 36 - ], - [ - 34169, - 31 - ], - [ - 34222, - 36 - ], - [ - 34469, - 31 - ], - [ - 34521, - 37 - ], - [ - 34770, - 30 - ], - [ - 34821, - 36 - ], - [ - 35070, - 30 - ], - [ - 35121, - 36 - ], - [ - 35370, - 30 - ], - [ - 35420, - 37 - ], - [ - 35670, - 30 - ], - [ - 35720, - 37 - ], - [ - 35971, - 29 - ], - [ - 36020, - 37 - ], - [ - 36271, - 29 - ], - [ - 36319, - 38 - ], - [ - 36570, - 30 - ], - [ - 36619, - 281 - ], - [ - 36919, - 281 - ], - [ - 37219, - 281 - ], - [ - 37518, - 282 - ], - [ - 37818, - 282 - ], - [ - 38118, - 282 - ], - [ - 38417, - 283 - ], - [ - 38717, - 283 - ], - [ - 39017, - 283 - ], - [ - 39318, - 282 - ], - [ - 39618, - 282 - ], - [ - 39919, - 281 - ], - [ - 40220, - 280 - ], - [ - 40521, - 279 - ], - [ - 40823, - 276 - ], - [ - 41124, - 11 - ], - [ - 41260, - 2 - ], - [ - 41388, - 10 - ], - [ - 41425, - 9 - ], - [ - 41561, - 1 - ], - [ - 41689, - 8 - ], - [ - 41725, - 9 - ], - [ - 41861, - 1 - ], - [ - 41989, - 7 - ], - [ - 42026, - 7 - ], - [ - 42161, - 1 - ], - [ - 42290, - 5 - ], - [ - 42327, - 7 - ], - [ - 42589, - 5 - ], - [ - 42628, - 7 - ], - [ - 42888, - 5 - ], - [ - 42928, - 7 - ], - [ - 43187, - 5 - ], - [ - 43229, - 7 - ], - [ - 43486, - 6 - ], - [ - 43530, - 7 - ], - [ - 43785, - 6 - ], - [ - 43831, - 7 - ], - [ - 44084, - 6 - ], - [ - 44132, - 6 - ], - [ - 44384, - 5 - ], - [ - 44432, - 7 - ], - [ - 44683, - 5 - ], - [ - 44733, - 7 - ], - [ - 44860, - 1 - ], - [ - 44982, - 5 - ], - [ - 45034, - 7 - ], - [ - 45160, - 1 - ], - [ - 45281, - 5 - ], - [ - 45335, - 6 - ], - [ - 45460, - 1 - ], - [ - 45580, - 5 - ], - [ - 45635, - 7 - ], - [ - 45760, - 1 - ], - [ - 45879, - 5 - ], - [ - 45936, - 7 - ], - [ - 46060, - 1 - ], - [ - 46178, - 5 - ], - [ - 46237, - 6 - ], - [ - 46360, - 1 - ], - [ - 46477, - 5 - ], - [ - 46538, - 6 - ], - [ - 46777, - 5 - ], - [ - 46839, - 6 - ], - [ - 47076, - 5 - ], - [ - 47139, - 7 - ], - [ - 47375, - 5 - ], - [ - 47440, - 6 - ], - [ - 47674, - 5 - ], - [ - 47741, - 6 - ], - [ - 47973, - 5 - ], - [ - 48042, - 6 - ], - [ - 48272, - 5 - ], - [ - 48342, - 7 - ], - [ - 48571, - 5 - ], - [ - 48643, - 6 - ], - [ - 48870, - 5 - ], - [ - 48944, - 6 - ], - [ - 49059, - 1 - ], - [ - 49170, - 4 - ], - [ - 49245, - 6 - ], - [ - 49359, - 1 - ], - [ - 49469, - 4 - ], - [ - 49546, - 6 - ], - [ - 49659, - 1 - ], - [ - 49768, - 4 - ], - [ - 49846, - 6 - ], - [ - 49959, - 1 - ], - [ - 50067, - 5 - ], - [ - 50147, - 6 - ], - [ - 50259, - 1 - ], - [ - 50366, - 5 - ], - [ - 50448, - 6 - ], - [ - 50559, - 1 - ], - [ - 50665, - 5 - ], - [ - 50749, - 5 - ], - [ - 50964, - 5 - ], - [ - 51049, - 6 - ], - [ - 51263, - 5 - ], - [ - 51350, - 6 - ], - [ - 51562, - 5 - ], - [ - 51651, - 6 - ], - [ - 51862, - 4 - ], - [ - 51952, - 5 - ], - [ - 52161, - 4 - ], - [ - 52253, - 5 - ], - [ - 52460, - 4 - ], - [ - 52553, - 6 - ], - [ - 52759, - 4 - ], - [ - 52854, - 6 - ], - [ - 53058, - 4 - ], - [ - 53155, - 5 - ], - [ - 53357, - 5 - ], - [ - 53456, - 5 - ], - [ - 53558, - 1 - ], - [ - 53656, - 5 - ], - [ - 53756, - 6 - ], - [ - 53858, - 1 - ], - [ - 53956, - 4 - ], - [ - 54057, - 6 - ], - [ - 54158, - 1 - ], - [ - 54255, - 4 - ], - [ - 54358, - 5 - ], - [ - 54458, - 1 - ], - [ - 54554, - 4 - ], - [ - 54659, - 5 - ], - [ - 54758, - 1 - ], - [ - 54853, - 4 - ], - [ - 54960, - 5 - ], - [ - 55152, - 4 - ], - [ - 55260, - 5 - ], - [ - 55451, - 4 - ], - [ - 55561, - 5 - ], - [ - 55750, - 4 - ], - [ - 55862, - 5 - ], - [ - 56049, - 4 - ], - [ - 56163, - 5 - ], - [ - 56349, - 3 - ], - [ - 56463, - 5 - ], - [ - 56648, - 3 - ], - [ - 56764, - 5 - ], - [ - 56947, - 4 - ], - [ - 57065, - 5 - ], - [ - 57246, - 4 - ] - ], - "point": [ - 158, - 134 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "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": "Watch|-00.30|+00.63|+03.96" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 151, - 164, - 166, - 178 - ], - "mask": [ - [ - 49060, - 5 - ], - [ - 49358, - 8 - ], - [ - 49656, - 11 - ], - [ - 49955, - 4 - ], - [ - 49966, - 1 - ], - [ - 50254, - 4 - ], - [ - 50266, - 1 - ], - [ - 50553, - 3 - ], - [ - 50565, - 2 - ], - [ - 50852, - 3 - ], - [ - 50862, - 4 - ], - [ - 51151, - 3 - ], - [ - 51161, - 5 - ], - [ - 51451, - 2 - ], - [ - 51460, - 5 - ], - [ - 51751, - 1 - ], - [ - 51759, - 6 - ], - [ - 52051, - 1 - ], - [ - 52058, - 6 - ], - [ - 52351, - 1 - ], - [ - 52358, - 6 - ], - [ - 52651, - 1 - ], - [ - 52656, - 7 - ], - [ - 52952, - 7 - ], - [ - 52960, - 1 - ], - [ - 53253, - 4 - ] - ], - "point": [ - 160, - 171 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|-00.30|+00.63|+03.96", - "placeStationary": true, - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 17, - 79, - 299, - 191 - ], - "mask": [ - [ - 23433, - 34 - ], - [ - 23658, - 29 - ], - [ - 23732, - 34 - ], - [ - 23959, - 29 - ], - [ - 24032, - 33 - ], - [ - 24259, - 29 - ], - [ - 24332, - 33 - ], - [ - 24560, - 28 - ], - [ - 24632, - 33 - ], - [ - 24860, - 29 - ], - [ - 24931, - 34 - ], - [ - 25160, - 29 - ], - [ - 25231, - 33 - ], - [ - 25461, - 28 - ], - [ - 25531, - 33 - ], - [ - 25761, - 29 - ], - [ - 25830, - 34 - ], - [ - 26061, - 29 - ], - [ - 26130, - 34 - ], - [ - 26361, - 29 - ], - [ - 26430, - 34 - ], - [ - 26662, - 29 - ], - [ - 26729, - 34 - ], - [ - 26962, - 29 - ], - [ - 27029, - 34 - ], - [ - 27262, - 30 - ], - [ - 27329, - 34 - ], - [ - 27563, - 29 - ], - [ - 27628, - 35 - ], - [ - 27863, - 29 - ], - [ - 27928, - 34 - ], - [ - 28163, - 30 - ], - [ - 28228, - 34 - ], - [ - 28463, - 30 - ], - [ - 28527, - 35 - ], - [ - 28764, - 29 - ], - [ - 28827, - 35 - ], - [ - 29064, - 30 - ], - [ - 29127, - 35 - ], - [ - 29364, - 30 - ], - [ - 29427, - 34 - ], - [ - 29665, - 29 - ], - [ - 29726, - 35 - ], - [ - 29965, - 30 - ], - [ - 30026, - 35 - ], - [ - 30265, - 30 - ], - [ - 30326, - 35 - ], - [ - 30565, - 31 - ], - [ - 30625, - 35 - ], - [ - 30866, - 30 - ], - [ - 30925, - 35 - ], - [ - 31166, - 30 - ], - [ - 31225, - 35 - ], - [ - 31466, - 31 - ], - [ - 31524, - 36 - ], - [ - 31767, - 30 - ], - [ - 31824, - 36 - ], - [ - 32067, - 30 - ], - [ - 32124, - 35 - ], - [ - 32367, - 31 - ], - [ - 32423, - 36 - ], - [ - 32668, - 30 - ], - [ - 32723, - 36 - ], - [ - 32968, - 30 - ], - [ - 33023, - 36 - ], - [ - 33268, - 31 - ], - [ - 33323, - 35 - ], - [ - 33568, - 31 - ], - [ - 33622, - 36 - ], - [ - 33869, - 31 - ], - [ - 33922, - 36 - ], - [ - 34169, - 31 - ], - [ - 34222, - 36 - ], - [ - 34469, - 31 - ], - [ - 34521, - 37 - ], - [ - 34770, - 30 - ], - [ - 34821, - 36 - ], - [ - 35070, - 30 - ], - [ - 35121, - 36 - ], - [ - 35370, - 30 - ], - [ - 35420, - 37 - ], - [ - 35670, - 30 - ], - [ - 35720, - 37 - ], - [ - 35971, - 29 - ], - [ - 36020, - 37 - ], - [ - 36271, - 29 - ], - [ - 36319, - 38 - ], - [ - 36570, - 30 - ], - [ - 36619, - 281 - ], - [ - 36919, - 281 - ], - [ - 37219, - 281 - ], - [ - 37518, - 282 - ], - [ - 37818, - 282 - ], - [ - 38118, - 282 - ], - [ - 38417, - 283 - ], - [ - 38717, - 283 - ], - [ - 39017, - 283 - ], - [ - 39318, - 282 - ], - [ - 39618, - 282 - ], - [ - 39919, - 281 - ], - [ - 40220, - 280 - ], - [ - 40521, - 279 - ], - [ - 40823, - 276 - ], - [ - 41124, - 11 - ], - [ - 41260, - 2 - ], - [ - 41388, - 10 - ], - [ - 41425, - 9 - ], - [ - 41561, - 1 - ], - [ - 41689, - 8 - ], - [ - 41725, - 9 - ], - [ - 41861, - 1 - ], - [ - 41989, - 7 - ], - [ - 42026, - 7 - ], - [ - 42161, - 1 - ], - [ - 42290, - 5 - ], - [ - 42327, - 7 - ], - [ - 42589, - 5 - ], - [ - 42628, - 7 - ], - [ - 42888, - 5 - ], - [ - 42928, - 7 - ], - [ - 43187, - 5 - ], - [ - 43229, - 7 - ], - [ - 43486, - 6 - ], - [ - 43530, - 7 - ], - [ - 43785, - 6 - ], - [ - 43831, - 7 - ], - [ - 44084, - 6 - ], - [ - 44132, - 6 - ], - [ - 44384, - 5 - ], - [ - 44432, - 7 - ], - [ - 44683, - 5 - ], - [ - 44733, - 7 - ], - [ - 44860, - 1 - ], - [ - 44982, - 5 - ], - [ - 45034, - 7 - ], - [ - 45160, - 1 - ], - [ - 45281, - 5 - ], - [ - 45335, - 6 - ], - [ - 45460, - 1 - ], - [ - 45580, - 5 - ], - [ - 45635, - 7 - ], - [ - 45760, - 1 - ], - [ - 45879, - 5 - ], - [ - 45936, - 7 - ], - [ - 46060, - 1 - ], - [ - 46178, - 5 - ], - [ - 46237, - 6 - ], - [ - 46360, - 1 - ], - [ - 46477, - 5 - ], - [ - 46538, - 6 - ], - [ - 46777, - 5 - ], - [ - 46839, - 6 - ], - [ - 47076, - 5 - ], - [ - 47139, - 7 - ], - [ - 47375, - 5 - ], - [ - 47440, - 6 - ], - [ - 47674, - 5 - ], - [ - 47741, - 6 - ], - [ - 47973, - 5 - ], - [ - 48042, - 6 - ], - [ - 48272, - 5 - ], - [ - 48342, - 7 - ], - [ - 48571, - 5 - ], - [ - 48643, - 6 - ], - [ - 48870, - 5 - ], - [ - 48944, - 6 - ], - [ - 49059, - 1 - ], - [ - 49170, - 4 - ], - [ - 49245, - 6 - ], - [ - 49359, - 1 - ], - [ - 49469, - 4 - ], - [ - 49546, - 6 - ], - [ - 49659, - 1 - ], - [ - 49768, - 4 - ], - [ - 49846, - 6 - ], - [ - 49959, - 1 - ], - [ - 50067, - 5 - ], - [ - 50147, - 6 - ], - [ - 50259, - 1 - ], - [ - 50366, - 5 - ], - [ - 50448, - 6 - ], - [ - 50559, - 1 - ], - [ - 50665, - 5 - ], - [ - 50749, - 5 - ], - [ - 50964, - 5 - ], - [ - 51049, - 6 - ], - [ - 51263, - 5 - ], - [ - 51350, - 6 - ], - [ - 51562, - 5 - ], - [ - 51651, - 6 - ], - [ - 51862, - 4 - ], - [ - 51952, - 5 - ], - [ - 52161, - 4 - ], - [ - 52253, - 5 - ], - [ - 52460, - 4 - ], - [ - 52553, - 6 - ], - [ - 52759, - 4 - ], - [ - 52854, - 6 - ], - [ - 53058, - 4 - ], - [ - 53155, - 5 - ], - [ - 53357, - 5 - ], - [ - 53456, - 5 - ], - [ - 53558, - 1 - ], - [ - 53656, - 5 - ], - [ - 53756, - 6 - ], - [ - 53858, - 1 - ], - [ - 53956, - 4 - ], - [ - 54057, - 6 - ], - [ - 54158, - 1 - ], - [ - 54255, - 4 - ], - [ - 54358, - 5 - ], - [ - 54458, - 1 - ], - [ - 54554, - 4 - ], - [ - 54659, - 5 - ], - [ - 54758, - 1 - ], - [ - 54853, - 4 - ], - [ - 54960, - 5 - ], - [ - 55152, - 4 - ], - [ - 55260, - 5 - ], - [ - 55451, - 4 - ], - [ - 55561, - 5 - ], - [ - 55750, - 4 - ], - [ - 55862, - 5 - ], - [ - 56049, - 4 - ], - [ - 56163, - 5 - ], - [ - 56349, - 3 - ], - [ - 56463, - 5 - ], - [ - 56648, - 3 - ], - [ - 56764, - 5 - ], - [ - 56947, - 4 - ], - [ - 57065, - 5 - ], - [ - 57246, - 4 - ] - ], - "point": [ - 158, - 134 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan205", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": -2.75, - "y": 0.9011251, - "z": 1.5 - }, - "object_poses": [ - { - "objectName": "Watch_6926efef", - "position": { - "x": -4.191, - "y": 0.484740019, - "z": 3.47307444 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_6926efef", - "position": { - "x": -0.4599836, - "y": 0.6263311, - "z": 3.39417744 - }, - "rotation": { - "x": -1.18634183e-07, - "y": 336.0628, - "z": -5.258297e-06 - } - }, - { - "objectName": "KeyChain_07fab907", - "position": { - "x": -4.07777834, - "y": 0.484835744, - "z": 3.588 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_07fab907", - "position": { - "x": -4.191, - "y": 0.484835744, - "z": 3.588 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_ce66a10f", - "position": { - "x": -1.16951835, - "y": 0.758253455, - "z": 1.69528687 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_ce66a10f", - "position": { - "x": -1.16951835, - "y": 0.758253455, - "z": 1.41448092 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d314e78a", - "position": { - "x": -1.87366772, - "y": 0.867203236, - "z": 1.1336751 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_65434bec", - "position": { - "x": -2.40376258, - "y": 0.529230535, - "z": 3.62617373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_0fe92e8d", - "position": { - "x": -3.54402566, - "y": 0.395521581, - "z": 3.68953657 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d314e78a", - "position": { - "x": -1.73283792, - "y": 0.8672033, - "z": 1.554884 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_aa8e7163", - "position": { - "x": -2.00501847, - "y": 0.8475736, - "z": 6.76597452 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_6926efef", - "position": { - "x": -0.298368365, - "y": 0.6263311, - "z": 3.96390581 - }, - "rotation": { - "x": -1.18633572e-07, - "y": 48.40109, - "z": -5.25830364e-06 - } - }, - { - "objectName": "WateringCan_404c0a66", - "position": { - "x": -0.208212316, - "y": -0.000733211637, - "z": 3.22562766 - }, - "rotation": { - "x": -0.00117355876, - "y": 63.9287148, - "z": 0.00114551524 - } - }, - { - "objectName": "Laptop_0fe92e8d", - "position": { - "x": -4.38099432, - "y": 0.4757747, - "z": 5.787897 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9d14e7c7", - "position": { - "x": -1.592008, - "y": 0.7555422, - "z": 0.9932721 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_07fab907", - "position": { - "x": -4.38099432, - "y": 0.478610456, - "z": 4.863122 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_65434bec", - "position": { - "x": -4.335, - "y": 0.465, - "z": 4.398 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_ce66a10f", - "position": { - "x": -1.16951835, - "y": 0.758253455, - "z": 0.852869153 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2525461596, - "scene_num": 205 - }, - "task_id": "trial_T20190907_182257_096741", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1AKL5YH9NLD2V_3B837J3LDRDDK6WNRK8MDT4VILRSRC", - "high_descs": [ - "Walk to the watch on the table to the right of the lamp.", - "Pick up the watch from the table.", - "Turn right and walk to the window then hang a left and walk to the TV.", - "Place the watch on the stand of the TV.", - "Turn around and walk to the watch on the black table to the right of the fireplace.", - "Pick up the watch on the table.", - "Turn left and walk to the TV.", - "Place the watch to the left of the watch already on the stand of the TV." - ], - "task_desc": "Place two watches on the stand of the TV.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3SFPSMFRSRTB3_3H7XDTSHKF8F2X4IVEOBBET9MN8GWB", - "high_descs": [ - "Turn left and walk to the wall. Turn right and walk to the lamp and table.", - "Pick up the watch from the table.", - "Turn around to face door, take two steps. Turn left and walk towards window, stopping before reach the window and table. Turn left towards rug, walk to middle of the rug and turn left. Walk to couch, then turn right and walk to the tv.", - "Place the watch on the tv stand, in the middle towards the front.", - "Turn right towards fireplace. Walk until reach end of rug and turn right. Walk to edge of couch, turn left to face table.", - "Pick up watch near the plant.", - "Turn left, walk to rug. Turn left until face the couch, walk to couch. Turn right to face tv. Walk to tv.", - "Place watch to left of the other watch." - ], - "task_desc": "Move two watches to the television stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "ADXRJFEHIDXRE_3NGMS9VZTOZ7DBMSU58TP57XQ5GFFB", - "high_descs": [ - "Go to the small black table between the lamp and the couch.", - "Pick up the watch that is at the edge of the table.", - "Walk over to the TV on the cabinet.", - "Put the watch down in the center of the TV cabinet.", - "Walk to the large black table with the plant on it.", - "Pick up the watch that is in front of the plant on the table.", - "Walk back over to the TV on the cabinet.", - "Put the watch down on the TV cabinet to the left of the other watch." - ], - "task_desc": "Pick up two watches and put them on the TV cabinet.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180154_425245/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180154_425245/traj_data.json deleted file mode 100644 index f84a568fd..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180154_425245/traj_data.json +++ /dev/null @@ -1,7257 +0,0 @@ -{ - "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": 1, - "image_name": "000000055.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000056.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000057.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000058.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "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": 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": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "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": 26 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 26 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 26 - }, - { - "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": 27 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 27 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 28 - }, - { - "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": 31 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 33 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000162.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000163.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000164.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 34 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "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": 36 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 37 - }, - { - "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": 38 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 39 - }, - { - "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 - }, - { - "high_idx": 5, - "image_name": "000000226.png", - "low_idx": 40 - }, - { - "high_idx": 5, - "image_name": "000000227.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000228.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000229.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000230.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000231.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000232.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000233.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000236.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000237.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000238.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000239.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000240.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000241.png", - "low_idx": 41 - }, - { - "high_idx": 5, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000244.png", - "low_idx": 42 - }, - { - "high_idx": 5, - "image_name": "000000245.png", - "low_idx": 42 - }, - { - "high_idx": 6, - "image_name": "000000246.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000247.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000248.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000249.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000250.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000251.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000252.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000253.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000254.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000255.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000256.png", - "low_idx": 43 - }, - { - "high_idx": 6, - "image_name": "000000257.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000258.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000259.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000260.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000261.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000262.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000263.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000264.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000265.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000266.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000267.png", - "low_idx": 44 - }, - { - "high_idx": 6, - "image_name": "000000268.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000269.png", - "low_idx": 45 - }, - { - "high_idx": 6, - "image_name": "000000270.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000271.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000272.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000273.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000274.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000275.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000276.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000277.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000278.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000279.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000280.png", - "low_idx": 46 - }, - { - "high_idx": 6, - "image_name": "000000281.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 47 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 47 - }, - { - "high_idx": 7, - "image_name": "000000292.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000293.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000294.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000295.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000296.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000297.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000298.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000299.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000300.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000301.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000302.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000303.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000304.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000305.png", - "low_idx": 48 - }, - { - "high_idx": 7, - "image_name": "000000306.png", - "low_idx": 48 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Watch", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-3|2|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - 8.6694784, - 8.6694784, - -5.71164896, - -5.71164896, - 4.17998648, - 4.17998648 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 9.868, - 9.868, - -5.652, - -5.652, - 4.148, - 4.148 - ] - ], - "forceVisible": true, - "objectId": "Watch|+02.17|+01.04|-01.43" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - 8.6694784, - 8.6694784, - -5.71164896, - -5.71164896, - 4.17998648, - 4.17998648 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "Watch|+02.17|+01.04|-01.43", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "drawer" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - -5.4007778, - -5.4007778, - -2.3203252, - -2.3203252, - 0.425715268, - 0.425715268 - ] - ], - "coordinateReceptacleObjectId": [ - "Drawer", - [ - -5.1436, - -5.1436, - -2.3224, - -2.3224, - 0.663599968, - 0.663599968 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.35|+00.11|-00.58" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - -5.4007778, - -5.4007778, - -2.3203252, - -2.3203252, - 0.425715268, - 0.425715268 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.35|+00.11|-00.58", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - }, - { - "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": "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": "PickupObject", - "objectId": "Watch|+02.17|+01.04|-01.43" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 87, - 111, - 110, - 124 - ], - "mask": [ - [ - 33096, - 6 - ], - [ - 33395, - 9 - ], - [ - 33691, - 17 - ], - [ - 33988, - 22 - ], - [ - 34287, - 23 - ], - [ - 34587, - 8 - ], - [ - 34596, - 8 - ], - [ - 34607, - 3 - ], - [ - 34887, - 3 - ], - [ - 34897, - 6 - ], - [ - 34909, - 2 - ], - [ - 35187, - 2 - ], - [ - 35209, - 2 - ], - [ - 35508, - 3 - ], - [ - 35788, - 2 - ], - [ - 35806, - 5 - ], - [ - 36088, - 5 - ], - [ - 36094, - 1 - ], - [ - 36103, - 7 - ], - [ - 36389, - 20 - ], - [ - 36690, - 17 - ], - [ - 36994, - 10 - ] - ], - "point": [ - 98, - 116 - ] - } - }, - "high_idx": 1 - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|+02.17|+01.04|-01.43", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 218 - ], - "mask": [ - [ - 76, - 41 - ], - [ - 188, - 37 - ], - [ - 241, - 59 - ], - [ - 376, - 41 - ], - [ - 488, - 37 - ], - [ - 541, - 59 - ], - [ - 676, - 42 - ], - [ - 787, - 38 - ], - [ - 841, - 59 - ], - [ - 975, - 44 - ], - [ - 1086, - 39 - ], - [ - 1141, - 59 - ], - [ - 1275, - 45 - ], - [ - 1385, - 40 - ], - [ - 1441, - 59 - ], - [ - 1575, - 46 - ], - [ - 1684, - 42 - ], - [ - 1741, - 59 - ], - [ - 1875, - 47 - ], - [ - 1983, - 43 - ], - [ - 2041, - 59 - ], - [ - 2174, - 48 - ], - [ - 2282, - 46 - ], - [ - 2340, - 60 - ], - [ - 2474, - 50 - ], - [ - 2581, - 52 - ], - [ - 2636, - 64 - ], - [ - 2774, - 51 - ], - [ - 2880, - 120 - ], - [ - 3074, - 52 - ], - [ - 3179, - 26 - ], - [ - 3278, - 22 - ], - [ - 3373, - 55 - ], - [ - 3477, - 27 - ], - [ - 3580, - 20 - ], - [ - 3673, - 56 - ], - [ - 3775, - 29 - ], - [ - 3880, - 20 - ], - [ - 3973, - 58 - ], - [ - 4073, - 31 - ], - [ - 4181, - 19 - ], - [ - 4273, - 59 - ], - [ - 4372, - 32 - ], - [ - 4481, - 19 - ], - [ - 4572, - 62 - ], - [ - 4671, - 33 - ], - [ - 4781, - 19 - ], - [ - 4872, - 63 - ], - [ - 4969, - 35 - ], - [ - 5082, - 18 - ], - [ - 5172, - 65 - ], - [ - 5267, - 38 - ], - [ - 5382, - 18 - ], - [ - 5472, - 68 - ], - [ - 5565, - 40 - ], - [ - 5683, - 17 - ], - [ - 5771, - 72 - ], - [ - 5862, - 43 - ], - [ - 5983, - 17 - ], - [ - 6071, - 78 - ], - [ - 6156, - 49 - ], - [ - 6283, - 17 - ], - [ - 6369, - 136 - ], - [ - 6584, - 16 - ], - [ - 6669, - 136 - ], - [ - 6884, - 16 - ], - [ - 6969, - 137 - ], - [ - 7185, - 16 - ], - [ - 7269, - 137 - ], - [ - 7485, - 16 - ], - [ - 7568, - 138 - ], - [ - 7786, - 16 - ], - [ - 7868, - 138 - ], - [ - 8086, - 220 - ], - [ - 8386, - 220 - ], - [ - 8687, - 220 - ], - [ - 8987, - 220 - ], - [ - 9288, - 219 - ], - [ - 9588, - 219 - ], - [ - 9888, - 219 - ], - [ - 10188, - 220 - ], - [ - 10487, - 222 - ], - [ - 10711, - 72 - ], - [ - 10786, - 12016 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57448, - 5 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57748, - 5 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58048, - 5 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58348, - 5 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58648, - 5 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 58948, - 5 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59248, - 5 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59548, - 5 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59848, - 5 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60148, - 5 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60447, - 6 - ], - [ - 60517, - 9 - ], - [ - 60677, - 8 - ], - [ - 60748, - 5 - ], - [ - 60816, - 9 - ], - [ - 60978, - 7 - ], - [ - 61048, - 5 - ], - [ - 61115, - 9 - ], - [ - 61278, - 8 - ], - [ - 61348, - 5 - ], - [ - 61415, - 9 - ], - [ - 61579, - 8 - ], - [ - 61648, - 5 - ], - [ - 61714, - 9 - ], - [ - 61880, - 7 - ], - [ - 61948, - 5 - ], - [ - 62013, - 9 - ], - [ - 62181, - 7 - ], - [ - 62248, - 5 - ], - [ - 62313, - 8 - ], - [ - 62481, - 8 - ], - [ - 62548, - 5 - ], - [ - 62612, - 9 - ], - [ - 62782, - 7 - ], - [ - 62848, - 5 - ], - [ - 62911, - 9 - ], - [ - 63083, - 7 - ], - [ - 63148, - 5 - ], - [ - 63211, - 8 - ], - [ - 63384, - 7 - ], - [ - 63448, - 5 - ], - [ - 63510, - 8 - ], - [ - 63684, - 7 - ], - [ - 63748, - 5 - ], - [ - 63809, - 8 - ], - [ - 63985, - 7 - ], - [ - 64048, - 5 - ], - [ - 64109, - 8 - ], - [ - 64286, - 7 - ], - [ - 64348, - 5 - ], - [ - 64408, - 8 - ], - [ - 64587, - 6 - ], - [ - 64707, - 8 - ], - [ - 64887, - 7 - ], - [ - 65007, - 7 - ], - [ - 65188, - 10 - ], - [ - 65304, - 10 - ] - ], - "point": [ - 149, - 108 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "OpenObject", - "objectId": "Drawer|-01.29|+00.17|-00.58" - }, - "discrete_action": { - "action": "OpenObject", - "args": { - "bbox": [ - 103, - 203, - 165, - 217 - ], - "mask": [ - [ - 60703, - 63 - ], - [ - 61003, - 63 - ], - [ - 61304, - 61 - ], - [ - 61604, - 61 - ], - [ - 61904, - 61 - ], - [ - 62205, - 60 - ], - [ - 62505, - 60 - ], - [ - 62806, - 59 - ], - [ - 63106, - 59 - ], - [ - 63407, - 57 - ], - [ - 63707, - 57 - ], - [ - 64008, - 56 - ], - [ - 64308, - 56 - ], - [ - 64609, - 55 - ], - [ - 64909, - 55 - ] - ], - "point": [ - 134, - 209 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Watch|-01.35|+00.11|-00.58" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 132, - 215, - 138, - 229 - ], - "mask": [ - [ - 64334, - 2 - ], - [ - 64633, - 1 - ], - [ - 65232, - 1 - ], - [ - 65238, - 1 - ], - [ - 65532, - 1 - ], - [ - 65832, - 1 - ], - [ - 66132, - 1 - ], - [ - 66432, - 1 - ], - [ - 66732, - 1 - ], - [ - 67032, - 1 - ], - [ - 67038, - 1 - ], - [ - 67332, - 1 - ], - [ - 67632, - 1 - ], - [ - 67638, - 1 - ], - [ - 68233, - 1 - ], - [ - 68534, - 2 - ] - ], - "point": [ - 132, - 221 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "CloseObject", - "objectId": "Drawer|-01.29|+00.17|-00.58" - }, - "discrete_action": { - "action": "CloseObject", - "args": { - "bbox": [ - 99, - 203, - 165, - 255 - ], - "mask": [ - [ - 60705, - 59 - ], - [ - 61005, - 59 - ], - [ - 61305, - 59 - ], - [ - 61605, - 59 - ], - [ - 61905, - 59 - ], - [ - 62205, - 59 - ], - [ - 62504, - 60 - ], - [ - 62804, - 60 - ], - [ - 63104, - 60 - ], - [ - 63404, - 60 - ], - [ - 63704, - 60 - ], - [ - 64004, - 60 - ], - [ - 64304, - 60 - ], - [ - 64604, - 60 - ], - [ - 64904, - 60 - ], - [ - 65204, - 60 - ], - [ - 65504, - 60 - ], - [ - 65803, - 61 - ], - [ - 66103, - 61 - ], - [ - 66403, - 61 - ], - [ - 66703, - 61 - ], - [ - 67003, - 61 - ], - [ - 67303, - 61 - ], - [ - 67603, - 61 - ], - [ - 67903, - 61 - ], - [ - 68203, - 61 - ], - [ - 68503, - 61 - ], - [ - 68803, - 62 - ], - [ - 69102, - 63 - ], - [ - 69402, - 63 - ], - [ - 69702, - 63 - ], - [ - 70002, - 63 - ], - [ - 70302, - 63 - ], - [ - 70602, - 63 - ], - [ - 70902, - 63 - ], - [ - 71202, - 63 - ], - [ - 71502, - 63 - ], - [ - 71802, - 63 - ], - [ - 72102, - 44 - ], - [ - 72157, - 8 - ], - [ - 72401, - 37 - ], - [ - 72461, - 4 - ], - [ - 72701, - 34 - ], - [ - 72764, - 1 - ], - [ - 73001, - 32 - ], - [ - 73299, - 32 - ], - [ - 73599, - 30 - ], - [ - 73899, - 29 - ], - [ - 73940, - 13 - ], - [ - 73957, - 2 - ], - [ - 74200, - 27 - ], - [ - 74236, - 27 - ], - [ - 74501, - 25 - ], - [ - 74534, - 32 - ], - [ - 74802, - 23 - ], - [ - 74832, - 34 - ], - [ - 75103, - 21 - ], - [ - 75130, - 36 - ], - [ - 75404, - 20 - ], - [ - 75429, - 36 - ], - [ - 75705, - 18 - ], - [ - 75728, - 37 - ], - [ - 76006, - 17 - ], - [ - 76027, - 38 - ], - [ - 76307, - 15 - ], - [ - 76326, - 38 - ] - ], - "point": [ - 132, - 228 - ] - } - }, - "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": "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": "PutObject", - "forceAction": true, - "objectId": "Watch|-01.35|+00.11|-00.58", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 218 - ], - "mask": [ - [ - 76, - 41 - ], - [ - 188, - 37 - ], - [ - 241, - 59 - ], - [ - 376, - 41 - ], - [ - 488, - 37 - ], - [ - 541, - 59 - ], - [ - 676, - 42 - ], - [ - 787, - 38 - ], - [ - 841, - 59 - ], - [ - 975, - 44 - ], - [ - 1086, - 39 - ], - [ - 1141, - 59 - ], - [ - 1275, - 45 - ], - [ - 1385, - 40 - ], - [ - 1441, - 59 - ], - [ - 1575, - 46 - ], - [ - 1684, - 42 - ], - [ - 1741, - 59 - ], - [ - 1875, - 47 - ], - [ - 1983, - 43 - ], - [ - 2041, - 59 - ], - [ - 2174, - 48 - ], - [ - 2282, - 46 - ], - [ - 2340, - 60 - ], - [ - 2474, - 50 - ], - [ - 2581, - 52 - ], - [ - 2636, - 64 - ], - [ - 2774, - 51 - ], - [ - 2880, - 120 - ], - [ - 3074, - 52 - ], - [ - 3179, - 26 - ], - [ - 3278, - 22 - ], - [ - 3373, - 55 - ], - [ - 3477, - 27 - ], - [ - 3580, - 20 - ], - [ - 3673, - 56 - ], - [ - 3775, - 29 - ], - [ - 3880, - 20 - ], - [ - 3973, - 58 - ], - [ - 4073, - 31 - ], - [ - 4181, - 19 - ], - [ - 4273, - 59 - ], - [ - 4372, - 32 - ], - [ - 4481, - 19 - ], - [ - 4572, - 62 - ], - [ - 4671, - 33 - ], - [ - 4781, - 19 - ], - [ - 4872, - 63 - ], - [ - 4969, - 35 - ], - [ - 5082, - 18 - ], - [ - 5172, - 65 - ], - [ - 5267, - 38 - ], - [ - 5382, - 18 - ], - [ - 5472, - 68 - ], - [ - 5565, - 40 - ], - [ - 5683, - 17 - ], - [ - 5771, - 72 - ], - [ - 5862, - 43 - ], - [ - 5983, - 17 - ], - [ - 6071, - 78 - ], - [ - 6156, - 49 - ], - [ - 6283, - 17 - ], - [ - 6369, - 136 - ], - [ - 6584, - 16 - ], - [ - 6669, - 136 - ], - [ - 6884, - 16 - ], - [ - 6969, - 137 - ], - [ - 7185, - 16 - ], - [ - 7269, - 137 - ], - [ - 7485, - 16 - ], - [ - 7568, - 138 - ], - [ - 7786, - 16 - ], - [ - 7868, - 138 - ], - [ - 8086, - 64 - ], - [ - 8157, - 7 - ], - [ - 8166, - 140 - ], - [ - 8386, - 64 - ], - [ - 8458, - 6 - ], - [ - 8466, - 140 - ], - [ - 8687, - 64 - ], - [ - 8765, - 142 - ], - [ - 8987, - 65 - ], - [ - 9064, - 143 - ], - [ - 9288, - 65 - ], - [ - 9363, - 144 - ], - [ - 9588, - 66 - ], - [ - 9663, - 144 - ], - [ - 9888, - 68 - ], - [ - 9962, - 145 - ], - [ - 10188, - 220 - ], - [ - 10487, - 222 - ], - [ - 10711, - 72 - ], - [ - 10786, - 12016 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57448, - 5 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57748, - 5 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58048, - 5 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58348, - 5 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58648, - 5 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 58948, - 5 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59248, - 5 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59548, - 5 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59848, - 5 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60148, - 5 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60447, - 6 - ], - [ - 60517, - 9 - ], - [ - 60677, - 8 - ], - [ - 60748, - 5 - ], - [ - 60816, - 9 - ], - [ - 60978, - 7 - ], - [ - 61048, - 5 - ], - [ - 61115, - 9 - ], - [ - 61278, - 8 - ], - [ - 61348, - 5 - ], - [ - 61415, - 9 - ], - [ - 61579, - 8 - ], - [ - 61648, - 5 - ], - [ - 61714, - 9 - ], - [ - 61880, - 7 - ], - [ - 61948, - 5 - ], - [ - 62013, - 9 - ], - [ - 62181, - 7 - ], - [ - 62248, - 5 - ], - [ - 62313, - 8 - ], - [ - 62481, - 8 - ], - [ - 62548, - 5 - ], - [ - 62612, - 9 - ], - [ - 62782, - 7 - ], - [ - 62848, - 5 - ], - [ - 62911, - 9 - ], - [ - 63083, - 7 - ], - [ - 63148, - 5 - ], - [ - 63211, - 8 - ], - [ - 63384, - 7 - ], - [ - 63448, - 5 - ], - [ - 63510, - 8 - ], - [ - 63684, - 7 - ], - [ - 63748, - 5 - ], - [ - 63809, - 8 - ], - [ - 63985, - 7 - ], - [ - 64048, - 5 - ], - [ - 64109, - 8 - ], - [ - 64286, - 7 - ], - [ - 64348, - 5 - ], - [ - 64408, - 8 - ], - [ - 64587, - 6 - ], - [ - 64707, - 8 - ], - [ - 64887, - 7 - ], - [ - 65007, - 7 - ], - [ - 65188, - 10 - ], - [ - 65304, - 10 - ] - ], - "point": [ - 149, - 108 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan301", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.25, - "y": 0.9009992, - "z": 1.25 - }, - "object_poses": [ - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.40391779, - "y": 0.7928, - "z": -1.24994731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29435253, - "y": 0.677608252, - "z": -0.543508649 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 2.1673696, - "y": 1.04499662, - "z": -1.42791224 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 1.96231079, - "y": 1.04764462, - "z": -1.40308774 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": -1.35019445, - "y": 0.106428817, - "z": -0.5800813 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": -1.35019445, - "y": 0.105762854, - "z": -0.8818699 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.839, - "y": 0.0398521759, - "z": 0.18251498 - }, - "rotation": { - "x": 0.0, - "y": 270.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": 1.83983088, - "y": 0.798104942, - "z": -1.18569851 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 2.58702, - "y": 1.04471993, - "z": -1.39808774 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.651802, - "y": 0.794796, - "z": -1.12144959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": 2.5919466, - "y": 0.7965486, - "z": -1.21782291 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.902, - "y": 0.5744, - "z": 1.179 - }, - "rotation": { - "x": 0.0, - "y": 332.922272, - "z": 0.0 - } - }, - { - "objectName": "Box_32219d9d", - "position": { - "x": 2.7342, - "y": 0.195, - "z": 0.89 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.2898885, - "y": 0.561, - "z": 0.846990347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.248423, - "y": 1.23822176, - "z": -0.5537876 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_7de4b683", - "position": { - "x": 2.847, - "y": 0.643, - "z": 1.838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 335.1118 - } - }, - { - "objectName": "BasketBall_7b5f2c88", - "position": { - "x": 1.01986575, - "y": 0.330830961, - "z": -0.9766739 - }, - "rotation": { - "x": 346.948547, - "y": 295.819916, - "z": 0.6563854 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29372144, - "y": 0.384006232, - "z": -0.614350438 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 2.85323119, - "y": 0.5703723, - "z": -1.21824765 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": 2.21588874, - "y": 0.7965486, - "z": -1.28207183 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.58602, - "y": 0.81406486, - "z": -1.38217545 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_dc0ae5c1", - "position": { - "x": -1.27998614, - "y": 0.0006508231, - "z": -1.34300911 - }, - "rotation": { - "x": 359.9876, - "y": 27.1430378, - "z": 359.993652 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.634, - "y": 0.63, - "z": 1.6116 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": -1.35281718, - "y": 1.233747, - "z": -0.5537876 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": -1.31801915, - "y": 1.23453724, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 1.50911212, - "y": 0.796085656, - "z": -1.39515185 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.79416656, - "y": 0.124976709, - "z": -1.24647689 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 2.21588874, - "y": 0.8004528, - "z": -1.12144959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 2.82123256, - "y": 0.7887166, - "z": -1.22375643 - }, - "rotation": { - "x": -0.000668735, - "y": 2.97707666e-05, - "z": 0.0007859358 - } - }, - { - "objectName": "Statue_e0075340", - "position": { - "x": 1.823921, - "y": 1.036511, - "z": -1.419659 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1867495701, - "scene_num": 301 - }, - "task_id": "trial_T20190906_180154_425245", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3JZLYQ606HJJR_351SEKWQS3YGL10DPMHGWVOK8UZDMP", - "high_descs": [ - "Turn around and move to the white table across the room.", - "Pick up the watch on the top shelf of the desk.", - "Turn to the right and move across the room to the white dresser. ", - "Lean the watch on the lamp on the dresser. ", - "On the white dresser there are 8 drawers. Open the bottom drawer on the right hand side.", - "Pick up the watch from the drawer. ", - "Close the drawer that the watch was in.", - "Place the watch on top of the cell phone that is on top of the dresser. " - ], - "task_desc": "Moving two watches from one place to another. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3HFNH7HEMKVAI08WJ5P5JPBMVJHGQM", - "high_descs": [ - "Turn around and walk to the desk.", - "Pick up the watch on the left shelf.", - "Turn right and walk to the dresser.", - "Put the watch on the left side of the bowl.", - "Look down at the drawers.", - "Open up the bottom right drawer and take out the watch.", - "Look up to the top of the dresser.", - "Place the watch on top of the cell phone." - ], - "task_desc": "Place two watches on a dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A3PPLDHC3CG0YN_3CN4LGXD5053FM6YFE4YNMHM7ZB4Y5", - "high_descs": [ - "Turn around and walk to the white desk. ", - "Pick up the watch behind the alarm clock. ", - "Turn right and walk to the white dresser. ", - "Put the watch down on the top of the dresser in front of the lamp on the left. ", - "Move to the right side of the dresser and look at the bottom drawer. ", - "Open the bottom drawer on the right, take the watch out of the drawer, close the drawer. ", - "Move to face the top of the dresser. ", - "Put the watch down on the cell phone that's on the right side of the top of the dresser. " - ], - "task_desc": "To move two watches to the top of a dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3P59JYT76O1XVMSH1UYBMQS98I12TK", - "high_descs": [ - "Turn around and veer right to the white desk with shelves.", - "Pick up the left watch.", - "Turn right and walk to the night stand at the foot of the bed.", - "Place the watch on the night stand in front of the set of books.", - "Look down at the drawers.", - "Open the bottom right drawer and take out the watch.", - "Look back up at the counter.", - "Place the watch on top of the cell phone on the counter." - ], - "task_desc": "Place to watches on top of a cabinet.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3F7G1FSFWQPLE_3RKNTXVS3PF2J48VZ8QIK0ZF47XA4O", - "high_descs": [ - "Turn right and walk towards the wall, then hang a right and walk up to the desk.", - "Pick up the leftmost watch off of the white shelf behind the desk.", - "Turn around and walk towards the door, then hang a left and walk up to the tall white dresser.", - "Put the watch on top of the dresser in front of the lamp.", - "Turn right and walk towards the bed, then turn left.", - "Open the bottom right drawer of the dresser and take out the watch, then close the drawer.", - "Turn left and walk forward, then turn right to face the dresser.", - "Put the watch on top of the phone that is on the dresser." - ], - "task_desc": "Move two watches to the top of the dresser.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A3A0VPWPASCO9J_33F859I569U1EQ1IKTAX90SOOMLBH2", - "high_descs": [ - "Turn right and walk across the room to the door, turn right again and walk across the room to the desk.", - "Pick up the watch on the shelf directly above the alarm clock.", - "Turn right walk past the bean bag chair and turn left, walk to the window, turn right, walk to the dresser.", - "Set the watch down in front of the lamp.", - "Turn right and walk to the foot of the bed and turn left to face the dresser.", - "Open the bottom drawer on the right and take out the watch that's inside.", - "Turn left and walk to the window and turn back right to face the dresser.", - "Place the watch on top of the cell phone." - ], - "task_desc": "Place two watches on top of the dresser.", - "votes": [ - 1, - 1, - 0 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180223_908386/traj_data.json b/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180223_908386/traj_data.json deleted file mode 100644 index 3b43871d8..000000000 --- a/data/json_2.1.0/train/pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180223_908386/traj_data.json +++ /dev/null @@ -1,8089 +0,0 @@ -{ - "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": 9 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 9 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 9 - }, - { - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000129.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000130.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000131.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000132.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000133.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000135.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 23 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 25 - }, - { - "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": 29 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "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": 36 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 39 - }, - { - "high_idx": 3, - "image_name": "000000210.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000211.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000212.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000213.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000216.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000217.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000218.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000219.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000220.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000221.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000222.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 3, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000270.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000271.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000272.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000273.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000274.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000275.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000276.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000277.png", - "low_idx": 53 - }, - { - "high_idx": 4, - "image_name": "000000278.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000279.png", - "low_idx": 54 - }, - { - "high_idx": 4, - "image_name": "000000280.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000281.png", - "low_idx": 55 - }, - { - "high_idx": 4, - "image_name": "000000282.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000283.png", - "low_idx": 56 - }, - { - "high_idx": 4, - "image_name": "000000284.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000285.png", - "low_idx": 57 - }, - { - "high_idx": 4, - "image_name": "000000286.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000287.png", - "low_idx": 58 - }, - { - "high_idx": 4, - "image_name": "000000288.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000289.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000290.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000291.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000292.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 59 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 60 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 60 - }, - { - "high_idx": 5, - "image_name": "000000301.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000302.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000303.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000304.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000305.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000306.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000307.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000308.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000309.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000310.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000311.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000312.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000313.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000314.png", - "low_idx": 61 - }, - { - "high_idx": 5, - "image_name": "000000315.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 69 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 70 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 71 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 72 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 73 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 74 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 75 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000375.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000376.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000377.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000378.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000379.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000380.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000381.png", - "low_idx": 76 - }, - { - "high_idx": 6, - "image_name": "000000382.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000383.png", - "low_idx": 77 - }, - { - "high_idx": 6, - "image_name": "000000384.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000385.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000386.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000387.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000388.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000389.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000390.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000391.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000392.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000393.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000394.png", - "low_idx": 78 - }, - { - "high_idx": 6, - "image_name": "000000395.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 79 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 80 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 81 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 82 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 83 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 83 - }, - { - "high_idx": 7, - "image_name": "000000414.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000415.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000416.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000417.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000418.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000419.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000420.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000421.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000422.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000423.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000424.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000425.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000426.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000427.png", - "low_idx": 84 - }, - { - "high_idx": 7, - "image_name": "000000428.png", - "low_idx": 84 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Watch", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|-3|2|30" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - 10.41981508, - 10.41981508, - -5.668, - -5.668, - 5.11549236, - 5.11549236 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 10.796, - 10.796, - -5.668, - -5.668, - 5.08, - 5.08 - ] - ], - "forceVisible": true, - "objectId": "Watch|+02.60|+01.28|-01.42" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - 10.41981508, - 10.41981508, - -5.668, - -5.668, - 5.11549236, - 5.11549236 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "Watch|+02.60|+01.28|-01.42", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "shelf" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|-3|2|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - 11.18338108, - 11.18338108, - -5.648, - -5.648, - 3.243986608, - 3.243986608 - ] - ], - "coordinateReceptacleObjectId": [ - "Shelf", - [ - 9.864, - 9.864, - -5.648, - -5.648, - 3.212, - 3.212 - ] - ], - "forceVisible": true, - "objectId": "Watch|+02.80|+00.81|-01.41" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|-3|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - 11.18338108, - 11.18338108, - -5.648, - -5.648, - 3.243986608, - 3.243986608 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -5.312, - -5.312, - -2.98, - -2.98, - 0.0044, - 0.0044 - ] - ], - "forceVisible": true, - "objectId": "Watch|+02.80|+00.81|-01.41", - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - } - }, - { - "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": "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": "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": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Watch|+02.60|+01.28|-01.42" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 188, - 116, - 215, - 131 - ], - "mask": [ - [ - 34700, - 4 - ], - [ - 34998, - 7 - ], - [ - 35296, - 10 - ], - [ - 35592, - 20 - ], - [ - 35889, - 25 - ], - [ - 36188, - 28 - ], - [ - 36488, - 28 - ], - [ - 36788, - 28 - ], - [ - 37088, - 3 - ], - [ - 37096, - 9 - ], - [ - 37111, - 5 - ], - [ - 37388, - 4 - ], - [ - 37397, - 7 - ], - [ - 37413, - 2 - ], - [ - 37688, - 8 - ], - [ - 37710, - 5 - ], - [ - 37988, - 27 - ], - [ - 38289, - 26 - ], - [ - 38590, - 24 - ], - [ - 38892, - 20 - ], - [ - 39199, - 6 - ] - ], - "point": [ - 201, - 122 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|+02.60|+01.28|-01.42", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 218 - ], - "mask": [ - [ - 76, - 64 - ], - [ - 180, - 54 - ], - [ - 238, - 62 - ], - [ - 376, - 64 - ], - [ - 479, - 55 - ], - [ - 538, - 62 - ], - [ - 676, - 64 - ], - [ - 779, - 56 - ], - [ - 838, - 62 - ], - [ - 975, - 65 - ], - [ - 1079, - 56 - ], - [ - 1138, - 62 - ], - [ - 1275, - 65 - ], - [ - 1378, - 57 - ], - [ - 1439, - 61 - ], - [ - 1575, - 65 - ], - [ - 1729, - 7 - ], - [ - 1739, - 61 - ], - [ - 1875, - 65 - ], - [ - 2031, - 5 - ], - [ - 2039, - 61 - ], - [ - 2174, - 66 - ], - [ - 2331, - 5 - ], - [ - 2340, - 60 - ], - [ - 2474, - 67 - ], - [ - 2543, - 1 - ], - [ - 2631, - 5 - ], - [ - 2640, - 60 - ], - [ - 2774, - 72 - ], - [ - 2932, - 5 - ], - [ - 2940, - 60 - ], - [ - 3074, - 72 - ], - [ - 3152, - 7 - ], - [ - 3232, - 5 - ], - [ - 3241, - 59 - ], - [ - 3373, - 74 - ], - [ - 3451, - 8 - ], - [ - 3532, - 5 - ], - [ - 3541, - 59 - ], - [ - 3673, - 74 - ], - [ - 3751, - 8 - ], - [ - 3833, - 4 - ], - [ - 3841, - 59 - ], - [ - 3973, - 74 - ], - [ - 4051, - 8 - ], - [ - 4133, - 5 - ], - [ - 4141, - 59 - ], - [ - 4273, - 74 - ], - [ - 4351, - 8 - ], - [ - 4433, - 5 - ], - [ - 4442, - 58 - ], - [ - 4572, - 75 - ], - [ - 4651, - 8 - ], - [ - 4733, - 5 - ], - [ - 4742, - 58 - ], - [ - 4872, - 75 - ], - [ - 4950, - 9 - ], - [ - 5034, - 5 - ], - [ - 5042, - 58 - ], - [ - 5172, - 75 - ], - [ - 5250, - 9 - ], - [ - 5334, - 5 - ], - [ - 5343, - 57 - ], - [ - 5472, - 75 - ], - [ - 5550, - 9 - ], - [ - 5634, - 5 - ], - [ - 5643, - 57 - ], - [ - 5771, - 76 - ], - [ - 5850, - 9 - ], - [ - 5934, - 5 - ], - [ - 5943, - 57 - ], - [ - 6071, - 76 - ], - [ - 6149, - 10 - ], - [ - 6235, - 5 - ], - [ - 6243, - 57 - ], - [ - 6369, - 90 - ], - [ - 6535, - 5 - ], - [ - 6544, - 56 - ], - [ - 6669, - 90 - ], - [ - 6835, - 5 - ], - [ - 6844, - 56 - ], - [ - 6969, - 90 - ], - [ - 7135, - 6 - ], - [ - 7144, - 57 - ], - [ - 7269, - 90 - ], - [ - 7436, - 5 - ], - [ - 7445, - 56 - ], - [ - 7568, - 91 - ], - [ - 7736, - 5 - ], - [ - 7745, - 57 - ], - [ - 7868, - 91 - ], - [ - 8036, - 5 - ], - [ - 8045, - 215 - ], - [ - 8336, - 6 - ], - [ - 8345, - 215 - ], - [ - 8635, - 7 - ], - [ - 8645, - 298 - ], - [ - 8945, - 298 - ], - [ - 9245, - 299 - ], - [ - 9545, - 13257 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57448, - 5 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57748, - 5 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58048, - 5 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58348, - 5 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58648, - 5 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 58948, - 5 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59248, - 5 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59548, - 5 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59848, - 5 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60148, - 5 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60447, - 6 - ], - [ - 60517, - 9 - ], - [ - 60677, - 8 - ], - [ - 60748, - 5 - ], - [ - 60816, - 9 - ], - [ - 60978, - 7 - ], - [ - 61048, - 5 - ], - [ - 61115, - 9 - ], - [ - 61278, - 8 - ], - [ - 61348, - 5 - ], - [ - 61415, - 9 - ], - [ - 61579, - 8 - ], - [ - 61648, - 5 - ], - [ - 61714, - 9 - ], - [ - 61880, - 7 - ], - [ - 61948, - 5 - ], - [ - 62013, - 9 - ], - [ - 62181, - 7 - ], - [ - 62248, - 5 - ], - [ - 62313, - 8 - ], - [ - 62481, - 8 - ], - [ - 62548, - 5 - ], - [ - 62612, - 9 - ], - [ - 62782, - 7 - ], - [ - 62848, - 5 - ], - [ - 62911, - 9 - ], - [ - 63083, - 7 - ], - [ - 63148, - 5 - ], - [ - 63211, - 8 - ], - [ - 63384, - 7 - ], - [ - 63448, - 5 - ], - [ - 63510, - 8 - ], - [ - 63684, - 7 - ], - [ - 63748, - 5 - ], - [ - 63809, - 8 - ], - [ - 63985, - 7 - ], - [ - 64048, - 5 - ], - [ - 64109, - 8 - ], - [ - 64286, - 7 - ], - [ - 64348, - 5 - ], - [ - 64408, - 8 - ], - [ - 64587, - 6 - ], - [ - 64707, - 8 - ], - [ - 64887, - 7 - ], - [ - 65007, - 7 - ], - [ - 65188, - 10 - ], - [ - 65304, - 10 - ] - ], - "point": [ - 149, - 108 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "PickupObject", - "objectId": "Watch|+02.80|+00.81|-01.41" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 128, - 163, - 147, - 174 - ], - "mask": [ - [ - 48735, - 7 - ], - [ - 49032, - 13 - ], - [ - 49330, - 17 - ], - [ - 49629, - 13 - ], - [ - 49643, - 5 - ], - [ - 49928, - 3 - ], - [ - 49937, - 3 - ], - [ - 49946, - 2 - ], - [ - 50228, - 1 - ], - [ - 50247, - 1 - ], - [ - 50528, - 1 - ], - [ - 50547, - 1 - ], - [ - 50829, - 1 - ], - [ - 50846, - 2 - ], - [ - 51129, - 2 - ], - [ - 51145, - 2 - ], - [ - 51430, - 4 - ], - [ - 51435, - 1 - ], - [ - 51442, - 5 - ], - [ - 51731, - 14 - ], - [ - 52034, - 8 - ] - ], - "point": [ - 137, - 166 - ] - } - }, - "high_idx": 5 - }, - { - "api_action": { - "action": "RotateRight", - "forceAction": true - }, - "discrete_action": { - "action": "RotateRight_90", - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|+02.80|+00.81|-01.41", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.33|+00.00|-00.75" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 1, - 299, - 218 - ], - "mask": [ - [ - 76, - 64 - ], - [ - 180, - 54 - ], - [ - 238, - 62 - ], - [ - 376, - 64 - ], - [ - 479, - 55 - ], - [ - 538, - 62 - ], - [ - 676, - 64 - ], - [ - 779, - 56 - ], - [ - 838, - 62 - ], - [ - 975, - 65 - ], - [ - 1079, - 56 - ], - [ - 1138, - 62 - ], - [ - 1275, - 65 - ], - [ - 1378, - 57 - ], - [ - 1439, - 61 - ], - [ - 1575, - 65 - ], - [ - 1729, - 7 - ], - [ - 1739, - 61 - ], - [ - 1875, - 65 - ], - [ - 2031, - 5 - ], - [ - 2039, - 61 - ], - [ - 2174, - 66 - ], - [ - 2331, - 5 - ], - [ - 2340, - 60 - ], - [ - 2474, - 67 - ], - [ - 2543, - 1 - ], - [ - 2631, - 5 - ], - [ - 2640, - 60 - ], - [ - 2774, - 72 - ], - [ - 2932, - 5 - ], - [ - 2940, - 60 - ], - [ - 3074, - 72 - ], - [ - 3152, - 7 - ], - [ - 3232, - 5 - ], - [ - 3241, - 59 - ], - [ - 3373, - 74 - ], - [ - 3451, - 8 - ], - [ - 3532, - 5 - ], - [ - 3541, - 59 - ], - [ - 3673, - 74 - ], - [ - 3751, - 8 - ], - [ - 3833, - 4 - ], - [ - 3841, - 59 - ], - [ - 3973, - 74 - ], - [ - 4051, - 8 - ], - [ - 4133, - 5 - ], - [ - 4141, - 59 - ], - [ - 4273, - 74 - ], - [ - 4351, - 8 - ], - [ - 4433, - 5 - ], - [ - 4442, - 58 - ], - [ - 4572, - 75 - ], - [ - 4651, - 8 - ], - [ - 4733, - 5 - ], - [ - 4742, - 58 - ], - [ - 4872, - 75 - ], - [ - 4950, - 9 - ], - [ - 5034, - 5 - ], - [ - 5042, - 58 - ], - [ - 5172, - 75 - ], - [ - 5250, - 9 - ], - [ - 5334, - 5 - ], - [ - 5343, - 57 - ], - [ - 5472, - 75 - ], - [ - 5550, - 9 - ], - [ - 5634, - 5 - ], - [ - 5643, - 57 - ], - [ - 5771, - 76 - ], - [ - 5850, - 9 - ], - [ - 5934, - 5 - ], - [ - 5943, - 57 - ], - [ - 6071, - 76 - ], - [ - 6149, - 10 - ], - [ - 6235, - 5 - ], - [ - 6243, - 57 - ], - [ - 6369, - 90 - ], - [ - 6535, - 5 - ], - [ - 6544, - 56 - ], - [ - 6669, - 90 - ], - [ - 6835, - 5 - ], - [ - 6844, - 56 - ], - [ - 6969, - 90 - ], - [ - 7135, - 6 - ], - [ - 7144, - 57 - ], - [ - 7269, - 90 - ], - [ - 7436, - 5 - ], - [ - 7445, - 56 - ], - [ - 7568, - 91 - ], - [ - 7736, - 5 - ], - [ - 7745, - 57 - ], - [ - 7868, - 91 - ], - [ - 8036, - 5 - ], - [ - 8045, - 105 - ], - [ - 8157, - 7 - ], - [ - 8166, - 94 - ], - [ - 8336, - 6 - ], - [ - 8345, - 105 - ], - [ - 8458, - 6 - ], - [ - 8466, - 94 - ], - [ - 8635, - 7 - ], - [ - 8645, - 106 - ], - [ - 8765, - 178 - ], - [ - 8945, - 107 - ], - [ - 9064, - 179 - ], - [ - 9245, - 108 - ], - [ - 9363, - 181 - ], - [ - 9545, - 109 - ], - [ - 9663, - 293 - ], - [ - 9962, - 12840 - ], - [ - 22943, - 14 - ], - [ - 23099, - 2 - ], - [ - 23244, - 12 - ], - [ - 23399, - 2 - ], - [ - 23545, - 11 - ], - [ - 23699, - 3 - ], - [ - 23845, - 11 - ], - [ - 23999, - 3 - ], - [ - 24145, - 11 - ], - [ - 24298, - 5 - ], - [ - 24445, - 11 - ], - [ - 24598, - 6 - ], - [ - 24745, - 11 - ], - [ - 24897, - 7 - ], - [ - 25045, - 11 - ], - [ - 25196, - 9 - ], - [ - 25345, - 11 - ], - [ - 25496, - 10 - ], - [ - 25645, - 11 - ], - [ - 25795, - 11 - ], - [ - 25945, - 11 - ], - [ - 26094, - 13 - ], - [ - 26245, - 11 - ], - [ - 26394, - 14 - ], - [ - 26545, - 11 - ], - [ - 26693, - 15 - ], - [ - 26845, - 11 - ], - [ - 26992, - 17 - ], - [ - 27145, - 11 - ], - [ - 27292, - 18 - ], - [ - 27445, - 11 - ], - [ - 27591, - 19 - ], - [ - 27745, - 11 - ], - [ - 27890, - 21 - ], - [ - 28045, - 11 - ], - [ - 28190, - 22 - ], - [ - 28345, - 11 - ], - [ - 28489, - 23 - ], - [ - 28645, - 11 - ], - [ - 28788, - 25 - ], - [ - 28945, - 11 - ], - [ - 29088, - 26 - ], - [ - 29245, - 11 - ], - [ - 29387, - 27 - ], - [ - 29545, - 11 - ], - [ - 29686, - 29 - ], - [ - 29845, - 10 - ], - [ - 29986, - 30 - ], - [ - 30145, - 10 - ], - [ - 30285, - 15 - ], - [ - 30301, - 15 - ], - [ - 30445, - 10 - ], - [ - 30584, - 16 - ], - [ - 30602, - 15 - ], - [ - 30745, - 10 - ], - [ - 30884, - 16 - ], - [ - 30903, - 15 - ], - [ - 31045, - 10 - ], - [ - 31183, - 17 - ], - [ - 31203, - 15 - ], - [ - 31345, - 10 - ], - [ - 31482, - 18 - ], - [ - 31504, - 15 - ], - [ - 31645, - 10 - ], - [ - 31781, - 19 - ], - [ - 31805, - 15 - ], - [ - 31945, - 10 - ], - [ - 32081, - 18 - ], - [ - 32106, - 14 - ], - [ - 32245, - 10 - ], - [ - 32380, - 18 - ], - [ - 32406, - 15 - ], - [ - 32545, - 10 - ], - [ - 32679, - 19 - ], - [ - 32707, - 15 - ], - [ - 32845, - 10 - ], - [ - 32979, - 18 - ], - [ - 33008, - 14 - ], - [ - 33145, - 10 - ], - [ - 33278, - 18 - ], - [ - 33309, - 14 - ], - [ - 33445, - 10 - ], - [ - 33577, - 18 - ], - [ - 33609, - 15 - ], - [ - 33745, - 10 - ], - [ - 33877, - 18 - ], - [ - 33910, - 14 - ], - [ - 34045, - 10 - ], - [ - 34176, - 18 - ], - [ - 34211, - 14 - ], - [ - 34345, - 10 - ], - [ - 34475, - 18 - ], - [ - 34512, - 14 - ], - [ - 34645, - 10 - ], - [ - 34775, - 17 - ], - [ - 34812, - 14 - ], - [ - 34946, - 9 - ], - [ - 35074, - 18 - ], - [ - 35113, - 14 - ], - [ - 35246, - 9 - ], - [ - 35373, - 18 - ], - [ - 35414, - 14 - ], - [ - 35546, - 9 - ], - [ - 35673, - 17 - ], - [ - 35715, - 13 - ], - [ - 35846, - 9 - ], - [ - 35972, - 17 - ], - [ - 36015, - 14 - ], - [ - 36146, - 9 - ], - [ - 36271, - 17 - ], - [ - 36316, - 14 - ], - [ - 36446, - 9 - ], - [ - 36571, - 17 - ], - [ - 36617, - 13 - ], - [ - 36746, - 9 - ], - [ - 36870, - 17 - ], - [ - 36918, - 13 - ], - [ - 37046, - 9 - ], - [ - 37169, - 17 - ], - [ - 37218, - 14 - ], - [ - 37346, - 9 - ], - [ - 37469, - 16 - ], - [ - 37519, - 13 - ], - [ - 37646, - 9 - ], - [ - 37768, - 17 - ], - [ - 37820, - 13 - ], - [ - 37946, - 9 - ], - [ - 38067, - 17 - ], - [ - 38121, - 13 - ], - [ - 38246, - 9 - ], - [ - 38367, - 16 - ], - [ - 38421, - 14 - ], - [ - 38546, - 9 - ], - [ - 38666, - 16 - ], - [ - 38722, - 13 - ], - [ - 38846, - 9 - ], - [ - 38965, - 16 - ], - [ - 39023, - 13 - ], - [ - 39146, - 9 - ], - [ - 39265, - 16 - ], - [ - 39324, - 13 - ], - [ - 39446, - 9 - ], - [ - 39564, - 16 - ], - [ - 39624, - 13 - ], - [ - 39746, - 9 - ], - [ - 39863, - 16 - ], - [ - 39925, - 13 - ], - [ - 40046, - 9 - ], - [ - 40163, - 15 - ], - [ - 40226, - 13 - ], - [ - 40346, - 9 - ], - [ - 40462, - 16 - ], - [ - 40527, - 12 - ], - [ - 40646, - 9 - ], - [ - 40761, - 16 - ], - [ - 40827, - 249 - ], - [ - 41128, - 247 - ], - [ - 41429, - 14 - ], - [ - 41545, - 10 - ], - [ - 41658, - 17 - ], - [ - 41730, - 13 - ], - [ - 41846, - 8 - ], - [ - 41958, - 16 - ], - [ - 42030, - 13 - ], - [ - 42146, - 8 - ], - [ - 42258, - 15 - ], - [ - 42331, - 12 - ], - [ - 42446, - 8 - ], - [ - 42557, - 15 - ], - [ - 42632, - 12 - ], - [ - 42746, - 8 - ], - [ - 42856, - 15 - ], - [ - 42933, - 12 - ], - [ - 43046, - 8 - ], - [ - 43156, - 15 - ], - [ - 43233, - 12 - ], - [ - 43346, - 8 - ], - [ - 43455, - 15 - ], - [ - 43534, - 12 - ], - [ - 43646, - 8 - ], - [ - 43754, - 15 - ], - [ - 43835, - 12 - ], - [ - 43946, - 8 - ], - [ - 44054, - 14 - ], - [ - 44136, - 11 - ], - [ - 44246, - 8 - ], - [ - 44353, - 15 - ], - [ - 44436, - 12 - ], - [ - 44546, - 8 - ], - [ - 44652, - 15 - ], - [ - 44737, - 12 - ], - [ - 44846, - 8 - ], - [ - 44952, - 14 - ], - [ - 45038, - 11 - ], - [ - 45146, - 8 - ], - [ - 45251, - 14 - ], - [ - 45339, - 11 - ], - [ - 45446, - 8 - ], - [ - 45550, - 15 - ], - [ - 45639, - 12 - ], - [ - 45746, - 8 - ], - [ - 45850, - 14 - ], - [ - 45940, - 11 - ], - [ - 46046, - 8 - ], - [ - 46149, - 14 - ], - [ - 46241, - 11 - ], - [ - 46346, - 8 - ], - [ - 46448, - 14 - ], - [ - 46542, - 11 - ], - [ - 46646, - 8 - ], - [ - 46748, - 13 - ], - [ - 46842, - 11 - ], - [ - 46946, - 8 - ], - [ - 47047, - 14 - ], - [ - 47143, - 11 - ], - [ - 47247, - 7 - ], - [ - 47346, - 14 - ], - [ - 47444, - 11 - ], - [ - 47547, - 7 - ], - [ - 47646, - 13 - ], - [ - 47745, - 10 - ], - [ - 47847, - 7 - ], - [ - 47945, - 13 - ], - [ - 48045, - 11 - ], - [ - 48147, - 7 - ], - [ - 48244, - 14 - ], - [ - 48346, - 11 - ], - [ - 48447, - 7 - ], - [ - 48544, - 13 - ], - [ - 48647, - 10 - ], - [ - 48747, - 7 - ], - [ - 48843, - 13 - ], - [ - 48948, - 10 - ], - [ - 49047, - 7 - ], - [ - 49142, - 13 - ], - [ - 49248, - 11 - ], - [ - 49347, - 7 - ], - [ - 49442, - 12 - ], - [ - 49549, - 10 - ], - [ - 49647, - 7 - ], - [ - 49741, - 13 - ], - [ - 49850, - 10 - ], - [ - 49947, - 7 - ], - [ - 50040, - 13 - ], - [ - 50151, - 10 - ], - [ - 50247, - 7 - ], - [ - 50340, - 12 - ], - [ - 50451, - 10 - ], - [ - 50547, - 7 - ], - [ - 50639, - 12 - ], - [ - 50752, - 10 - ], - [ - 50847, - 7 - ], - [ - 50938, - 13 - ], - [ - 51053, - 10 - ], - [ - 51147, - 7 - ], - [ - 51238, - 12 - ], - [ - 51354, - 9 - ], - [ - 51447, - 7 - ], - [ - 51537, - 12 - ], - [ - 51654, - 10 - ], - [ - 51747, - 6 - ], - [ - 51836, - 12 - ], - [ - 51955, - 10 - ], - [ - 52047, - 6 - ], - [ - 52136, - 12 - ], - [ - 52256, - 9 - ], - [ - 52347, - 6 - ], - [ - 52435, - 12 - ], - [ - 52557, - 9 - ], - [ - 52647, - 6 - ], - [ - 52734, - 12 - ], - [ - 52857, - 10 - ], - [ - 52947, - 7 - ], - [ - 53033, - 12 - ], - [ - 53158, - 186 - ], - [ - 53459, - 16 - ], - [ - 53546, - 9 - ], - [ - 53627, - 17 - ], - [ - 53760, - 10 - ], - [ - 53847, - 7 - ], - [ - 53931, - 12 - ], - [ - 54060, - 10 - ], - [ - 54147, - 7 - ], - [ - 54231, - 11 - ], - [ - 54361, - 9 - ], - [ - 54447, - 6 - ], - [ - 54530, - 11 - ], - [ - 54662, - 9 - ], - [ - 54747, - 6 - ], - [ - 54830, - 11 - ], - [ - 54963, - 9 - ], - [ - 55047, - 6 - ], - [ - 55129, - 11 - ], - [ - 55263, - 9 - ], - [ - 55347, - 6 - ], - [ - 55428, - 11 - ], - [ - 55564, - 9 - ], - [ - 55647, - 6 - ], - [ - 55728, - 10 - ], - [ - 55865, - 9 - ], - [ - 55947, - 6 - ], - [ - 56027, - 11 - ], - [ - 56166, - 8 - ], - [ - 56247, - 6 - ], - [ - 56326, - 11 - ], - [ - 56466, - 9 - ], - [ - 56548, - 5 - ], - [ - 56626, - 10 - ], - [ - 56767, - 9 - ], - [ - 56848, - 5 - ], - [ - 56925, - 10 - ], - [ - 57068, - 8 - ], - [ - 57148, - 5 - ], - [ - 57224, - 10 - ], - [ - 57369, - 8 - ], - [ - 57448, - 5 - ], - [ - 57524, - 10 - ], - [ - 57669, - 9 - ], - [ - 57748, - 5 - ], - [ - 57823, - 10 - ], - [ - 57970, - 8 - ], - [ - 58048, - 5 - ], - [ - 58122, - 10 - ], - [ - 58271, - 8 - ], - [ - 58348, - 5 - ], - [ - 58422, - 9 - ], - [ - 58572, - 8 - ], - [ - 58648, - 5 - ], - [ - 58721, - 10 - ], - [ - 58872, - 9 - ], - [ - 58948, - 5 - ], - [ - 59020, - 10 - ], - [ - 59173, - 8 - ], - [ - 59248, - 5 - ], - [ - 59320, - 9 - ], - [ - 59474, - 8 - ], - [ - 59548, - 5 - ], - [ - 59619, - 9 - ], - [ - 59775, - 8 - ], - [ - 59848, - 5 - ], - [ - 59918, - 9 - ], - [ - 60075, - 8 - ], - [ - 60148, - 5 - ], - [ - 60217, - 10 - ], - [ - 60376, - 8 - ], - [ - 60447, - 6 - ], - [ - 60517, - 9 - ], - [ - 60677, - 8 - ], - [ - 60748, - 5 - ], - [ - 60816, - 9 - ], - [ - 60978, - 7 - ], - [ - 61048, - 5 - ], - [ - 61115, - 9 - ], - [ - 61278, - 8 - ], - [ - 61348, - 5 - ], - [ - 61415, - 9 - ], - [ - 61579, - 8 - ], - [ - 61648, - 5 - ], - [ - 61714, - 9 - ], - [ - 61880, - 7 - ], - [ - 61948, - 5 - ], - [ - 62013, - 9 - ], - [ - 62181, - 7 - ], - [ - 62248, - 5 - ], - [ - 62313, - 8 - ], - [ - 62481, - 8 - ], - [ - 62548, - 5 - ], - [ - 62612, - 9 - ], - [ - 62782, - 7 - ], - [ - 62848, - 5 - ], - [ - 62911, - 9 - ], - [ - 63083, - 7 - ], - [ - 63148, - 5 - ], - [ - 63211, - 8 - ], - [ - 63384, - 7 - ], - [ - 63448, - 5 - ], - [ - 63510, - 8 - ], - [ - 63684, - 7 - ], - [ - 63748, - 5 - ], - [ - 63809, - 8 - ], - [ - 63985, - 7 - ], - [ - 64048, - 5 - ], - [ - 64109, - 8 - ], - [ - 64286, - 7 - ], - [ - 64348, - 5 - ], - [ - 64408, - 8 - ], - [ - 64587, - 6 - ], - [ - 64707, - 8 - ], - [ - 64887, - 7 - ], - [ - 65007, - 7 - ], - [ - 65188, - 10 - ], - [ - 65304, - 10 - ] - ], - "point": [ - 149, - 108 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan301", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 0, - "x": 1.5, - "y": 0.9009992, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": -1.29335022, - "y": 0.107855693, - "z": -0.8818699 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": 1.91130269, - "y": 0.129082769, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 2.60495377, - "y": 1.27887309, - "z": -1.417 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": -1.32206893, - "y": 0.381712884, - "z": -0.614350438 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -0.8068642, - "y": 0.5663049, - "z": 0.6025641 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": -1.283221, - "y": 1.23822176, - "z": -0.6493938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": -1.29372144, - "y": 0.3879595, - "z": -0.918191731 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": 1.83983088, - "y": 0.8004528, - "z": -1.153574 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": -1.31801915, - "y": 1.23825777, - "z": -0.5537876 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 1.651802, - "y": 0.7990561, - "z": -1.12144959 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": -1.31801915, - "y": 1.23443329, - "z": -0.745 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c3876352", - "position": { - "x": -0.2898885, - "y": 0.5653898, - "z": 1.0914166 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_32219d9d", - "position": { - "x": 2.7342, - "y": 0.195, - "z": 0.89 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_acb78e08", - "position": { - "x": -0.2898885, - "y": 0.6812781, - "z": 1.5802691 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_b9003495", - "position": { - "x": 1.66552961, - "y": 0.352588147, - "z": -1.21802711 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_7de4b683", - "position": { - "x": 2.847, - "y": 0.643, - "z": 1.838 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 335.1118 - } - }, - { - "objectName": "BasketBall_7b5f2c88", - "position": { - "x": 1.01986575, - "y": 0.330830961, - "z": -0.9766739 - }, - "rotation": { - "x": 346.948517, - "y": 295.8199, - "z": 0.656402946 - } - }, - { - "objectName": "TissueBox_00aeed40", - "position": { - "x": 2.21588874, - "y": 0.7974148, - "z": -1.21782291 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_80d98dab", - "position": { - "x": 1.6582824, - "y": 1.04736793, - "z": -1.43291223 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_a68436a8", - "position": { - "x": 1.651802, - "y": 0.7965486, - "z": -1.28207183 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_89afc677", - "position": { - "x": 2.69193268, - "y": 1.04806483, - "z": -1.36826336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Boots_dc0ae5c1", - "position": { - "x": -1.27998614, - "y": 0.0006508231, - "z": -1.34300911 - }, - "rotation": { - "x": 359.9876, - "y": 27.1430378, - "z": 359.993652 - } - }, - { - "objectName": "Pillow_419db2d8", - "position": { - "x": -0.634, - "y": 0.63, - "z": 1.6116 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_7bb65943", - "position": { - "x": -1.29435253, - "y": 0.6763282, - "z": -0.65047 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_600fd48d", - "position": { - "x": 2.451, - "y": 0.788715243, - "z": -1.20707834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_0f7be4f9", - "position": { - "x": 2.79584527, - "y": 0.810996652, - "z": -1.412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_f25640ea", - "position": { - "x": 2.02785969, - "y": 0.7944067, - "z": -1.21782291 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_d94967db", - "position": { - "x": -1.29335022, - "y": 0.111808971, - "z": -0.5444698 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_2a940808", - "position": { - "x": 1.83983088, - "y": 0.793715239, - "z": -1.28207183 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_e0075340", - "position": { - "x": 1.823921, - "y": 1.036511, - "z": -1.419659 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2934250999, - "scene_num": 301 - }, - "task_id": "trial_T20190906_180223_908386", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3JZLYQ606HJJR_3N2BF7Y2VTBXXH5FBI06NG3I0LRHMZ", - "high_descs": [ - "Turn around and walk to the white desk. ", - "Pick up the watch that is on the top shelf. ", - "Turn right and move to the white dresser across the room. ", - "Place the watch on the desk on the right side of the lamp. ", - "Turn around and go back to the white desk.", - "Pick up the watch on the bottom shelf.", - "Turn right and move to the white dresser. ", - "Place the watch on the dresser in between the lamp and the cell phone. " - ], - "task_desc": "Take two watches from the desk to the top of the dresser.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A1VAL7L9L79IN0_3TR2532VISBRZKFDC2WAAXMBNA96J6", - "high_descs": [ - "Walk to the waste bin to your right and then turn right again and walk to the white desk.", - "Grab the watch on the top shelf of the desk.", - "Walk to the white drawers on your right.", - "Put the watch on top of the drawer and under the lamp.", - "Turn around and walk back to the white desk.", - "Grab the other watch on the lowest shelf of the desk.", - "Walk back to the white drawers on your right.", - "Put the watch on top of the drawer and to the right of the other watch." - ], - "task_desc": "Put both of the watches on the desk onto the drawer.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A18X8ZAS0QDLKJ_386CSBG1O238L7JQ7SGJ7YYY4H36QS", - "high_descs": [ - "Turn all the way around, then walk towards the desk.", - "Pick up the watch on the top shelf.", - "Turn right then walk towards the tall dresser next to the bed.", - "Place the watch next to the lamp near the wall.", - "Turn all the way around, then walk towards the desk.", - "Pick up the watch from the bottom shelf.", - "Turn right then walk towards the tall dresser next to the bed.", - "Place the watch in between the lamp and the iphone." - ], - "task_desc": "Place two watches on the tall dresser next to the bed. One by the lamp and other by the iphone.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3RWE2M8QWKRS4ZKJPB8LU3T2M380NC", - "high_descs": [ - "Turn around and go to the far left side of the desk across the room. ", - "Pick up the watch on the shelf above the pencil, on the desk. ", - "Turn to your right and walk across the room to the dresser.", - "Place the watch on top of the dresser, above the left drawer. ", - "Turn around and go back to the far, left side of the desk. ", - "Pick up the watch on the bottom shelf, in the left corner, of the desk. ", - "Turn to your right and go back to the dresser across the room. ", - "Place the watch to the right of the other watch, on the dresser. " - ], - "task_desc": "Put two watches on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3FTYUGLFSX2IDUF7XN0UFTDYMUH5DP", - "high_descs": [ - "Turn around and walk to the desk.", - "Pick the watch up off of the shelf.", - "Walk to the cabinet at the foot of the bed.", - "Put the watch on top of the cabinet.", - "Walk back to the desk.", - "Pick the other watch up off the desk", - "Walk back to the cabinet.", - "Place the watch down on the cabinet to the right of the first watch." - ], - "task_desc": "Place two watches on a cabinet.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3O7L7BFSHH6ZHOOM02U8AKZPU5AEII", - "high_descs": [ - "move to the desk to the left of the bed", - "pick up a watch from the desk", - "move to the dresser at the foot of the bed", - "put the watch on the dresser", - "move to the desk behind you", - "pick up a watch from the desk", - "move to the dresser at the foot of the bed", - "put the watch on the dresser" - ], - "task_desc": "Put two watches on a dresser.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json b/data/json_2.1.0/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json deleted file mode 100644 index cbef1add4..000000000 --- a/data/json_2.1.0/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json +++ /dev/null @@ -1,3036 +0,0 @@ -{ - "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": 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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 13 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 14 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 14 - }, - { - "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": 2, - "image_name": "000000088.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 15 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 15 - }, - { - "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": 16 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 16 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 16 - }, - { - "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": 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": 19 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 21 - }, - { - "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": 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": 28 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "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 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Box", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sofa" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-9|4|3|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "box" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Box", - [ - -11.25122644, - -11.25122644, - 3.9254924, - 3.9254924, - 3.01596546, - 3.01596546 - ] - ], - "coordinateReceptacleObjectId": [ - "Sofa", - [ - -11.828, - -11.828, - 5.576, - 5.576, - 0.3068, - 0.3068 - ] - ], - "forceVisible": true, - "objectId": "Box|-02.81|+00.75|+00.98" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-3|8|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "box", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Box", - [ - -11.25122644, - -11.25122644, - 3.9254924, - 3.9254924, - 3.01596546, - 3.01596546 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.0928, - -0.0928, - 6.8896, - 6.8896, - 0.0436, - 0.0436 - ] - ], - "forceVisible": true, - "objectId": "Box|-02.81|+00.75|+00.98", - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Box|-02.81|+00.75|+00.98" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 98, - 103, - 188, - 192 - ], - "mask": [ - [ - 30783, - 1 - ], - [ - 31004, - 1 - ], - [ - 31083, - 1 - ], - [ - 31304, - 2 - ], - [ - 31382, - 2 - ], - [ - 31603, - 4 - ], - [ - 31616, - 57 - ], - [ - 31682, - 2 - ], - [ - 31903, - 4 - ], - [ - 31916, - 57 - ], - [ - 31981, - 4 - ], - [ - 32203, - 5 - ], - [ - 32216, - 57 - ], - [ - 32280, - 5 - ], - [ - 32503, - 6 - ], - [ - 32516, - 57 - ], - [ - 32580, - 5 - ], - [ - 32803, - 6 - ], - [ - 32816, - 56 - ], - [ - 32879, - 6 - ], - [ - 33103, - 7 - ], - [ - 33117, - 55 - ], - [ - 33179, - 6 - ], - [ - 33403, - 8 - ], - [ - 33417, - 55 - ], - [ - 33478, - 7 - ], - [ - 33703, - 8 - ], - [ - 33717, - 55 - ], - [ - 33777, - 8 - ], - [ - 34003, - 9 - ], - [ - 34017, - 55 - ], - [ - 34077, - 8 - ], - [ - 34302, - 11 - ], - [ - 34317, - 55 - ], - [ - 34376, - 9 - ], - [ - 34602, - 11 - ], - [ - 34617, - 55 - ], - [ - 34675, - 10 - ], - [ - 34902, - 12 - ], - [ - 34917, - 55 - ], - [ - 34975, - 10 - ], - [ - 35202, - 13 - ], - [ - 35217, - 55 - ], - [ - 35274, - 11 - ], - [ - 35502, - 13 - ], - [ - 35517, - 55 - ], - [ - 35574, - 12 - ], - [ - 35802, - 14 - ], - [ - 35817, - 55 - ], - [ - 35873, - 13 - ], - [ - 36102, - 15 - ], - [ - 36118, - 68 - ], - [ - 36402, - 84 - ], - [ - 36701, - 85 - ], - [ - 37001, - 85 - ], - [ - 37301, - 85 - ], - [ - 37601, - 85 - ], - [ - 37901, - 85 - ], - [ - 38201, - 85 - ], - [ - 38501, - 85 - ], - [ - 38801, - 85 - ], - [ - 39101, - 86 - ], - [ - 39400, - 87 - ], - [ - 39700, - 87 - ], - [ - 40000, - 87 - ], - [ - 40300, - 87 - ], - [ - 40600, - 87 - ], - [ - 40900, - 87 - ], - [ - 41200, - 87 - ], - [ - 41500, - 87 - ], - [ - 41800, - 87 - ], - [ - 42099, - 88 - ], - [ - 42399, - 89 - ], - [ - 42699, - 89 - ], - [ - 42999, - 89 - ], - [ - 43299, - 89 - ], - [ - 43599, - 89 - ], - [ - 43899, - 56 - ], - [ - 43969, - 19 - ], - [ - 44199, - 56 - ], - [ - 44269, - 19 - ], - [ - 44498, - 57 - ], - [ - 44569, - 19 - ], - [ - 44798, - 57 - ], - [ - 44869, - 19 - ], - [ - 45098, - 57 - ], - [ - 45169, - 19 - ], - [ - 45398, - 57 - ], - [ - 45469, - 19 - ], - [ - 45698, - 57 - ], - [ - 45769, - 19 - ], - [ - 45998, - 57 - ], - [ - 46069, - 20 - ], - [ - 46298, - 57 - ], - [ - 46369, - 20 - ], - [ - 46598, - 90 - ], - [ - 46899, - 88 - ], - [ - 47200, - 87 - ], - [ - 47501, - 85 - ], - [ - 47802, - 83 - ], - [ - 48103, - 81 - ], - [ - 48404, - 79 - ], - [ - 48705, - 77 - ], - [ - 49006, - 75 - ], - [ - 49307, - 73 - ], - [ - 49608, - 72 - ], - [ - 49909, - 70 - ], - [ - 50210, - 68 - ], - [ - 50511, - 66 - ], - [ - 50812, - 64 - ], - [ - 51112, - 64 - ], - [ - 51413, - 62 - ], - [ - 51713, - 62 - ], - [ - 52013, - 62 - ], - [ - 52314, - 61 - ], - [ - 52614, - 61 - ], - [ - 52914, - 60 - ], - [ - 53214, - 60 - ], - [ - 53515, - 59 - ], - [ - 53815, - 59 - ], - [ - 54115, - 59 - ], - [ - 54416, - 57 - ], - [ - 54716, - 57 - ], - [ - 55016, - 57 - ], - [ - 55316, - 57 - ], - [ - 55617, - 56 - ], - [ - 55917, - 56 - ], - [ - 56217, - 55 - ], - [ - 56518, - 54 - ], - [ - 56818, - 54 - ], - [ - 57118, - 54 - ], - [ - 57418, - 54 - ] - ], - "point": [ - 143, - 146 - ] - } - }, - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Box|-02.81|+00.75|+00.98", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.02|+00.01|+01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 16, - 299, - 224 - ], - "mask": [ - [ - 4500, - 27 - ], - [ - 4571, - 15 - ], - [ - 4800, - 27 - ], - [ - 4871, - 15 - ], - [ - 5100, - 27 - ], - [ - 5170, - 17 - ], - [ - 5400, - 26 - ], - [ - 5470, - 17 - ], - [ - 5700, - 26 - ], - [ - 5770, - 17 - ], - [ - 6000, - 25 - ], - [ - 6070, - 17 - ], - [ - 6300, - 25 - ], - [ - 6369, - 19 - ], - [ - 6600, - 25 - ], - [ - 6669, - 19 - ], - [ - 6900, - 24 - ], - [ - 6969, - 19 - ], - [ - 7200, - 24 - ], - [ - 7269, - 19 - ], - [ - 7500, - 23 - ], - [ - 7568, - 22 - ], - [ - 7800, - 23 - ], - [ - 7868, - 28 - ], - [ - 8100, - 23 - ], - [ - 8168, - 33 - ], - [ - 8400, - 22 - ], - [ - 8468, - 38 - ], - [ - 8700, - 22 - ], - [ - 8767, - 45 - ], - [ - 9000, - 22 - ], - [ - 9067, - 50 - ], - [ - 9300, - 21 - ], - [ - 9367, - 56 - ], - [ - 9600, - 21 - ], - [ - 9667, - 61 - ], - [ - 9900, - 20 - ], - [ - 9966, - 67 - ], - [ - 10200, - 20 - ], - [ - 10266, - 73 - ], - [ - 10500, - 20 - ], - [ - 10566, - 80 - ], - [ - 10800, - 19 - ], - [ - 10866, - 89 - ], - [ - 11100, - 19 - ], - [ - 11165, - 93 - ], - [ - 11400, - 18 - ], - [ - 11465, - 93 - ], - [ - 11700, - 18 - ], - [ - 11765, - 93 - ], - [ - 12000, - 18 - ], - [ - 12065, - 93 - ], - [ - 12294, - 23 - ], - [ - 12364, - 94 - ], - [ - 12594, - 23 - ], - [ - 12664, - 94 - ], - [ - 12895, - 21 - ], - [ - 12964, - 94 - ], - [ - 13195, - 21 - ], - [ - 13264, - 94 - ], - [ - 13495, - 21 - ], - [ - 13563, - 95 - ], - [ - 13796, - 19 - ], - [ - 13863, - 95 - ], - [ - 14096, - 19 - ], - [ - 14163, - 95 - ], - [ - 14396, - 19 - ], - [ - 14463, - 95 - ], - [ - 14697, - 17 - ], - [ - 14762, - 96 - ], - [ - 14997, - 17 - ], - [ - 15062, - 96 - ], - [ - 15297, - 16 - ], - [ - 15362, - 97 - ], - [ - 15597, - 16 - ], - [ - 15662, - 97 - ], - [ - 15897, - 16 - ], - [ - 15961, - 98 - ], - [ - 16197, - 15 - ], - [ - 16261, - 99 - ], - [ - 16497, - 15 - ], - [ - 16561, - 99 - ], - [ - 16796, - 15 - ], - [ - 16861, - 100 - ], - [ - 17096, - 15 - ], - [ - 17160, - 102 - ], - [ - 17395, - 16 - ], - [ - 17460, - 102 - ], - [ - 17695, - 15 - ], - [ - 17760, - 103 - ], - [ - 17994, - 16 - ], - [ - 18060, - 104 - ], - [ - 18294, - 16 - ], - [ - 18359, - 106 - ], - [ - 18593, - 16 - ], - [ - 18659, - 107 - ], - [ - 18893, - 16 - ], - [ - 18959, - 109 - ], - [ - 19192, - 17 - ], - [ - 19259, - 111 - ], - [ - 19490, - 21 - ], - [ - 19558, - 113 - ], - [ - 19789, - 26 - ], - [ - 19858, - 115 - ], - [ - 20088, - 187 - ], - [ - 20386, - 191 - ], - [ - 20685, - 194 - ], - [ - 20983, - 199 - ], - [ - 21281, - 204 - ], - [ - 21578, - 210 - ], - [ - 21875, - 216 - ], - [ - 22173, - 222 - ], - [ - 22469, - 231 - ], - [ - 22764, - 242 - ], - [ - 23059, - 257 - ], - [ - 23349, - 1346 - ], - [ - 24703, - 292 - ], - [ - 25004, - 290 - ], - [ - 25304, - 290 - ], - [ - 25604, - 290 - ], - [ - 25904, - 290 - ], - [ - 26204, - 290 - ], - [ - 26503, - 291 - ], - [ - 26803, - 291 - ], - [ - 27103, - 291 - ], - [ - 27403, - 291 - ], - [ - 27703, - 291 - ], - [ - 28002, - 292 - ], - [ - 28302, - 293 - ], - [ - 28601, - 293 - ], - [ - 28900, - 294 - ], - [ - 29195, - 2 - ], - [ - 29199, - 295 - ], - [ - 29500, - 293 - ], - [ - 29801, - 292 - ], - [ - 30102, - 115 - ], - [ - 30260, - 134 - ], - [ - 30402, - 115 - ], - [ - 30560, - 135 - ], - [ - 30702, - 115 - ], - [ - 30861, - 133 - ], - [ - 30996, - 1 - ], - [ - 31001, - 115 - ], - [ - 31161, - 132 - ], - [ - 31295, - 3 - ], - [ - 31301, - 116 - ], - [ - 31461, - 132 - ], - [ - 31595, - 3 - ], - [ - 31601, - 116 - ], - [ - 31762, - 130 - ], - [ - 31894, - 4 - ], - [ - 31901, - 116 - ], - [ - 32062, - 130 - ], - [ - 32194, - 4 - ], - [ - 32201, - 116 - ], - [ - 32362, - 129 - ], - [ - 32493, - 5 - ], - [ - 32501, - 116 - ], - [ - 32662, - 129 - ], - [ - 32793, - 6 - ], - [ - 32801, - 116 - ], - [ - 32963, - 127 - ], - [ - 33092, - 126 - ], - [ - 33263, - 127 - ], - [ - 33391, - 127 - ], - [ - 33563, - 255 - ], - [ - 33863, - 255 - ], - [ - 34164, - 254 - ], - [ - 34464, - 254 - ], - [ - 34764, - 255 - ], - [ - 35064, - 255 - ], - [ - 35364, - 256 - ], - [ - 35663, - 1395 - ], - [ - 37075, - 283 - ], - [ - 37375, - 284 - ], - [ - 37675, - 284 - ], - [ - 37975, - 284 - ], - [ - 38275, - 284 - ], - [ - 38575, - 284 - ], - [ - 38875, - 284 - ], - [ - 39175, - 284 - ], - [ - 39475, - 284 - ], - [ - 39776, - 283 - ], - [ - 40076, - 283 - ], - [ - 40376, - 283 - ], - [ - 40676, - 283 - ], - [ - 40976, - 283 - ], - [ - 41276, - 283 - ], - [ - 41576, - 283 - ], - [ - 41876, - 283 - ], - [ - 42176, - 283 - ], - [ - 42476, - 283 - ], - [ - 42776, - 283 - ], - [ - 43076, - 283 - ], - [ - 43376, - 4624 - ], - [ - 48095, - 1 - ], - [ - 48696, - 1 - ], - [ - 49297, - 1 - ], - [ - 49597, - 1 - ], - [ - 50198, - 1 - ], - [ - 50498, - 1 - ], - [ - 51099, - 1 - ], - [ - 51700, - 1 - ], - [ - 52000, - 1 - ], - [ - 52601, - 1 - ], - [ - 53202, - 1 - ], - [ - 53502, - 1 - ], - [ - 54103, - 1 - ], - [ - 54704, - 1 - ], - [ - 55004, - 1 - ], - [ - 55605, - 1 - ], - [ - 56506, - 1 - ], - [ - 57107, - 1 - ], - [ - 58008, - 1 - ], - [ - 58609, - 1 - ], - [ - 58909, - 1 - ], - [ - 59510, - 1 - ], - [ - 66353, - 20 - ], - [ - 66655, - 18 - ], - [ - 66958, - 15 - ] - ], - "point": [ - 149, - 119 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan224", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -1.75, - "y": 0.916797757, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": 0.158338, - "y": 0.9160614, - "z": 2.431799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": -0.295507044, - "y": 0.9062047, - "z": 1.94603217 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": 3.16004539, - "y": 0.7806822, - "z": 0.2987877 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": -2.81280661, - "y": 0.753991365, - "z": 0.9813731 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Book_4e0dbe45", - "position": { - "x": 0.116, - "y": 0.902580142, - "z": 1.073 - }, - "rotation": { - "x": 0.0, - "y": 29.9999466, - "z": 0.0 - } - }, - { - "objectName": "Box_ec78f573", - "position": { - "x": 3.173, - "y": 0.206, - "z": -0.048 - }, - "rotation": { - "x": 0.0, - "y": 19.4703255, - "z": 0.0 - } - }, - { - "objectName": "Statue_7e494874", - "position": { - "x": 3.12127233, - "y": 0.5958878, - "z": -0.573999763 - }, - "rotation": { - "x": 0.0, - "y": 180.000336, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_5dc34411", - "position": { - "x": -2.58120966, - "y": 0.3582066, - "z": -1.84022832 - }, - "rotation": { - "x": 0.0, - "y": 29.9999466, - "z": 0.0 - } - }, - { - "objectName": "Laptop_c532ec98", - "position": { - "x": -2.78081179, - "y": 0.365461469, - "z": -1.874968 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_cb2be04d", - "position": { - "x": 2.89399958, - "y": 0.014939107, - "z": -1.91600132 - }, - "rotation": { - "x": 0.000792835, - "y": 328.832336, - "z": 0.0008670822 - } - }, - { - "objectName": "Newspaper_1e8f1c02", - "position": { - "x": -2.885815, - "y": 0.5698145, - "z": 1.18768644 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "Vase_4c89f135", - "position": { - "x": -2.16899252, - "y": 1.19524324, - "z": -2.1836822 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_dad3503f", - "position": { - "x": -0.204738, - "y": 0.910291731, - "z": 1.70314872 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_b0bc5ae3", - "position": { - "x": -0.113969006, - "y": 0.9108142, - "z": 1.217382 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_eef72b70", - "position": { - "x": -1.04643679, - "y": 1.19524324, - "z": -2.15178347 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_fe37edd9", - "position": { - "x": -2.81279516, - "y": 0.6234813, - "z": 1.80662346 - }, - "rotation": { - "x": 0.0, - "y": 270.0008, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ec44dd4c", - "position": { - "x": -0.113969006, - "y": 0.909727156, - "z": 2.18891549 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3082673183, - "scene_num": 224 - }, - "task_id": "trial_T20190907_164104_229696", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A4UAFZ5LW71K_30MVJZJNHPUEH3HBA9ZMU7DEGC39JD", - "high_descs": [ - "turn right, turn right, walk towards the door, turn left to face the couch", - "pick up the box that is on the couch", - "turn around, walk across to the dresser", - "put the box on the dresser" - ], - "task_desc": "move a box from the couch to the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A38Z99XF4NDNH0_35BLDD71I9E2EPZIVW74AJQ1Q2EVZF", - "high_descs": [ - "Move to the left side of the black leather sofa", - "Pick up the empty box and the newspaper sitting on the sofa", - "Carry the newspaper and the empty box to the TV stand", - "Place the empty box and the newspaper on the left side of the TV stand to the left of the keys" - ], - "task_desc": "Move and empty box and newspaper to the TV stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A6U2C66WQ7QQN_3I33IC7ZWIJSGQT8VU7URL2HKIO2AL", - "high_descs": [ - "Turn around, head to the couch", - "Take the box from the couch", - "Turn around, head to the dresser", - "Put the box on the dresser" - ], - "task_desc": "Take the box from the couch, put it on the dresser", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/valid_seen/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152837_739016/traj_data.json b/data/json_2.1.0/valid_seen/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152837_739016/traj_data.json deleted file mode 100644 index 5dfe37156..000000000 --- a/data/json_2.1.0/valid_seen/pick_and_place_simple-Mug-None-Dresser-311/trial_T20190909_152837_739016/traj_data.json +++ /dev/null @@ -1,3329 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "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": 12 - }, - { - "high_idx": 2, - "image_name": "000000076.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000077.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 12 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000098.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000099.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000100.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 14 - }, - { - "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": 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": 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": 29 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 32 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 32 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 33 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Mug", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|7|15|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 9.05194856, - 9.05194856, - 14.86035348, - 14.86035348, - 3.221562, - 3.221562 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.26|+00.81|+03.72" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 9.05194856, - 9.05194856, - 14.86035348, - 14.86035348, - 3.221562, - 3.221562 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.26|+00.81|+03.72", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - } - ], - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.26|+00.81|+03.72" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 138, - 107, - 175, - 147 - ], - "mask": [ - [ - 31957, - 7 - ], - [ - 32254, - 13 - ], - [ - 32552, - 17 - ], - [ - 32850, - 21 - ], - [ - 33149, - 23 - ], - [ - 33448, - 25 - ], - [ - 33747, - 27 - ], - [ - 34047, - 28 - ], - [ - 34346, - 29 - ], - [ - 34646, - 29 - ], - [ - 34946, - 30 - ], - [ - 35240, - 36 - ], - [ - 35539, - 37 - ], - [ - 35839, - 37 - ], - [ - 36138, - 38 - ], - [ - 36438, - 38 - ], - [ - 36738, - 3 - ], - [ - 36745, - 31 - ], - [ - 37038, - 3 - ], - [ - 37045, - 30 - ], - [ - 37338, - 3 - ], - [ - 37346, - 29 - ], - [ - 37638, - 4 - ], - [ - 37646, - 29 - ], - [ - 37938, - 4 - ], - [ - 37946, - 29 - ], - [ - 38239, - 5 - ], - [ - 38246, - 29 - ], - [ - 38539, - 36 - ], - [ - 38840, - 35 - ], - [ - 39141, - 33 - ], - [ - 39442, - 32 - ], - [ - 39743, - 31 - ], - [ - 40046, - 28 - ], - [ - 40346, - 28 - ], - [ - 40646, - 28 - ], - [ - 40946, - 28 - ], - [ - 41246, - 27 - ], - [ - 41546, - 27 - ], - [ - 41847, - 26 - ], - [ - 42147, - 25 - ], - [ - 42448, - 24 - ], - [ - 42749, - 22 - ], - [ - 43050, - 20 - ], - [ - 43352, - 16 - ], - [ - 43653, - 14 - ], - [ - 43956, - 8 - ] - ], - "point": [ - 156, - 126 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Mug|+02.26|+00.81|+03.72", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18953, - 45 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 21 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 29 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 34 - ], - [ - 28881, - 39 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 29 - ], - [ - 29185, - 37 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 26 - ], - [ - 29487, - 36 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 25 - ], - [ - 29789, - 35 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 24 - ], - [ - 30090, - 36 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 23 - ], - [ - 30390, - 37 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 22 - ], - [ - 30691, - 38 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 22 - ], - [ - 30992, - 38 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 21 - ], - [ - 31292, - 40 - ], - [ - 31436, - 64 - ], - [ - 31542, - 21 - ], - [ - 31592, - 42 - ], - [ - 31734, - 66 - ], - [ - 31841, - 21 - ], - [ - 31876, - 3 - ], - [ - 31892, - 44 - ], - [ - 32032, - 68 - ], - [ - 32141, - 21 - ], - [ - 32175, - 4 - ], - [ - 32192, - 45 - ], - [ - 32331, - 69 - ], - [ - 32441, - 21 - ], - [ - 32475, - 4 - ], - [ - 32492, - 47 - ], - [ - 32628, - 72 - ], - [ - 32741, - 21 - ], - [ - 32775, - 3 - ], - [ - 32792, - 50 - ], - [ - 32926, - 74 - ], - [ - 33040, - 22 - ], - [ - 33091, - 53 - ], - [ - 33224, - 76 - ], - [ - 33340, - 22 - ], - [ - 33391, - 56 - ], - [ - 33522, - 78 - ], - [ - 33640, - 22 - ], - [ - 33691, - 58 - ], - [ - 33819, - 81 - ], - [ - 33940, - 23 - ], - [ - 33990, - 63 - ], - [ - 34116, - 84 - ], - [ - 34239, - 24 - ], - [ - 34289, - 67 - ], - [ - 34412, - 88 - ], - [ - 34539, - 25 - ], - [ - 34588, - 72 - ], - [ - 34708, - 92 - ], - [ - 34839, - 25 - ], - [ - 34887, - 79 - ], - [ - 35002, - 98 - ], - [ - 35139, - 27 - ], - [ - 35185, - 89 - ], - [ - 35294, - 106 - ], - [ - 35438, - 29 - ], - [ - 35483, - 217 - ], - [ - 35738, - 32 - ], - [ - 35781, - 219 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 0.75, - "y": 0.9101201, - "z": 4.5 - }, - "object_poses": [ - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.36734867, - "y": 0.8069972, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.749808, - "y": 0.913105667, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.78479528, - "y": 0.8073, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.78479528, - "y": 0.8073, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.44725227, - "y": 0.7500904, - "z": -1.58802092 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -0.749808, - "y": 0.9191518, - "z": 3.79900837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.66068769, - "y": 0.097323, - "z": 0.721920133 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.57583427, - "y": 0.458984017, - "z": 0.721920133 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -1.30783033, - "y": 0.400650442, - "z": -1.05339372 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.85065842, - "y": 0.844234169, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.312467, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.749808, - "y": 0.9127645, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.26298714, - "y": 0.8163972, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -0.116061687, - "y": 0.7142456, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.815475941, - "y": 0.915931046, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.490981, - "y": 0.458984017, - "z": 0.8198403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.59503245, - "y": 0.745273352, - "z": -1.37231946 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.618261, - "y": 0.09856117, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.21792388, - "y": 0.3978147, - "z": -1.227633 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.64429259, - "y": 0.7492128, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.5946238, - "y": 0.785215139, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.5946238, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.60967064, - "y": 0.8426067, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.26298714, - "y": 0.813980162, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.26298714, - "y": 0.8053905, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2811968744, - "scene_num": 311 - }, - "task_id": "trial_T20190909_152837_739016", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A12HZGOZQD5YK7_31T4R4OBOV7VGV9AHS9XUTTFPANC7K", - "high_descs": [ - "Go to the left side of the desk.", - "Pick up the white mug on the desk.", - "Go to the television.", - "Put the mug in front of the television to the right of the CD." - ], - "task_desc": "Put the mug on the dresser with the television.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1ELPYAFO7MANS_3BDCF01OG0L7YJZHHESWAP3ZNJ3LY5", - "high_descs": [ - "Walk ahead and right to the desk.", - "Pick up the mug on the desk.", - "Turn right and walk to the TV stand.", - "Place the mug on the TV stand, in front and to the right of the CD." - ], - "task_desc": "Place a mug on a TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "AJQGWGESKQT4Y_3TE3O85733ZS0W1NTDIXNXBTEVZ2RV", - "high_descs": [ - "Go forward and face the black table with the cup on it.", - "Pick the white mug up from the black table.", - "Move to the right and face the cabinet with the television on it.", - "Put the mug down in front of the television." - ], - "task_desc": "Put a mug in front of a television.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/valid_seen/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071128_012892/traj_data.json b/data/json_2.1.0/valid_seen/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071128_012892/traj_data.json deleted file mode 100644 index 4ab84905c..000000000 --- a/data/json_2.1.0/valid_seen/pick_and_place_simple-Pencil-None-Dresser-330/trial_T20190909_071128_012892/traj_data.json +++ /dev/null @@ -1,3771 +0,0 @@ -{ - "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": 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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 14 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 15 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 19 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 20 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 21 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000072.png", - "low_idx": 22 - }, - { - "high_idx": 0, - "image_name": "000000073.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000074.png", - "low_idx": 23 - }, - { - "high_idx": 0, - "image_name": "000000075.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000076.png", - "low_idx": 24 - }, - { - "high_idx": 0, - "image_name": "000000077.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000078.png", - "low_idx": 25 - }, - { - "high_idx": 0, - "image_name": "000000079.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000080.png", - "low_idx": 26 - }, - { - "high_idx": 0, - "image_name": "000000081.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000082.png", - "low_idx": 27 - }, - { - "high_idx": 0, - "image_name": "000000083.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000084.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000085.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000086.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000087.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000088.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000089.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000090.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000091.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000092.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000093.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000094.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000095.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000096.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000097.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000098.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000099.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000100.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000101.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000102.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000103.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 36 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 37 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 37 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 38 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 39 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 39 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000119.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000120.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000121.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000122.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000123.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000124.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000125.png", - "low_idx": 40 - }, - { - "high_idx": 0, - "image_name": "000000126.png", - "low_idx": 40 - }, - { - "high_idx": 1, - "image_name": "000000127.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000128.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000129.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000130.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000131.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000132.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000133.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000134.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000135.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000136.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000137.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000138.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000139.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000140.png", - "low_idx": 41 - }, - { - "high_idx": 1, - "image_name": "000000141.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 44 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 45 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 46 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000180.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000181.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000182.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000183.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000184.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000185.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000186.png", - "low_idx": 50 - }, - { - "high_idx": 2, - "image_name": "000000187.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000188.png", - "low_idx": 51 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 52 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000201.png", - "low_idx": 53 - }, - { - "high_idx": 2, - "image_name": "000000202.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000203.png", - "low_idx": 54 - }, - { - "high_idx": 2, - "image_name": "000000204.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000205.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000206.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000207.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000208.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000209.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000210.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000211.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000212.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000213.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 61 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 62 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 63 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 64 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000232.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000233.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000234.png", - "low_idx": 65 - }, - { - "high_idx": 2, - "image_name": "000000235.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000236.png", - "low_idx": 66 - }, - { - "high_idx": 2, - "image_name": "000000237.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000238.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000239.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000240.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000241.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000242.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000243.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000244.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000245.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000246.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000249.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000250.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000251.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000252.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000253.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000254.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000255.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000256.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000257.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000258.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000259.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000260.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000261.png", - "low_idx": 74 - }, - { - "high_idx": 2, - "image_name": "000000262.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000263.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000264.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000265.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000266.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000267.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000268.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000269.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000270.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000271.png", - "low_idx": 75 - }, - { - "high_idx": 2, - "image_name": "000000272.png", - "low_idx": 75 - }, - { - "high_idx": 3, - "image_name": "000000273.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000274.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000275.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000276.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000277.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000278.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000279.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000280.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000281.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000282.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000283.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000284.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000285.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000286.png", - "low_idx": 76 - }, - { - "high_idx": 3, - "image_name": "000000287.png", - "low_idx": 76 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|10|-5|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.061472, - 10.061472, - -6.507324, - -6.507324, - 2.745938, - 2.745938 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 9.752, - 9.752, - -6.412, - -6.412, - 1.852, - 1.852 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.52|+00.69|-01.63" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-4|-2|3|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.061472, - 10.061472, - -6.507324, - -6.507324, - 2.745938, - 2.745938 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -6.988, - -6.988, - -0.596, - -0.596, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.52|+00.69|-01.63", - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - } - }, - { - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Pencil|+02.52|+00.69|-01.63" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 123, - 183, - 168, - 184 - ], - "mask": [ - [ - 54723, - 46 - ], - [ - 55023, - 46 - ] - ], - "point": [ - 145, - 182 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+02.52|+00.69|-01.63", - "placeStationary": true, - "receptacleObjectId": "Dresser|-01.75|+00.00|-00.15" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 0, - 17, - 299, - 149 - ], - "mask": [ - [ - 4835, - 265 - ], - [ - 5134, - 266 - ], - [ - 5434, - 266 - ], - [ - 5734, - 266 - ], - [ - 6033, - 267 - ], - [ - 6333, - 267 - ], - [ - 6633, - 31 - ], - [ - 6666, - 234 - ], - [ - 6932, - 29 - ], - [ - 6966, - 234 - ], - [ - 7232, - 29 - ], - [ - 7267, - 233 - ], - [ - 7531, - 29 - ], - [ - 7568, - 232 - ], - [ - 7831, - 29 - ], - [ - 7868, - 232 - ], - [ - 8131, - 29 - ], - [ - 8169, - 231 - ], - [ - 8430, - 30 - ], - [ - 8470, - 230 - ], - [ - 8730, - 29 - ], - [ - 8770, - 230 - ], - [ - 9030, - 29 - ], - [ - 9071, - 229 - ], - [ - 9329, - 30 - ], - [ - 9372, - 228 - ], - [ - 9629, - 30 - ], - [ - 9672, - 228 - ], - [ - 9929, - 29 - ], - [ - 9973, - 227 - ], - [ - 10228, - 29 - ], - [ - 10274, - 226 - ], - [ - 10528, - 29 - ], - [ - 10574, - 226 - ], - [ - 10827, - 30 - ], - [ - 10875, - 225 - ], - [ - 11127, - 29 - ], - [ - 11176, - 224 - ], - [ - 11427, - 29 - ], - [ - 11476, - 224 - ], - [ - 11726, - 30 - ], - [ - 11777, - 223 - ], - [ - 12026, - 29 - ], - [ - 12078, - 222 - ], - [ - 12326, - 29 - ], - [ - 12379, - 221 - ], - [ - 12625, - 30 - ], - [ - 12679, - 221 - ], - [ - 12925, - 30 - ], - [ - 12980, - 220 - ], - [ - 13225, - 29 - ], - [ - 13281, - 219 - ], - [ - 13524, - 30 - ], - [ - 13581, - 219 - ], - [ - 13824, - 30 - ], - [ - 13882, - 218 - ], - [ - 14123, - 31 - ], - [ - 14183, - 217 - ], - [ - 14423, - 30 - ], - [ - 14483, - 217 - ], - [ - 14723, - 30 - ], - [ - 14784, - 216 - ], - [ - 15022, - 31 - ], - [ - 15085, - 215 - ], - [ - 15322, - 30 - ], - [ - 15385, - 215 - ], - [ - 15622, - 30 - ], - [ - 15686, - 214 - ], - [ - 15921, - 31 - ], - [ - 15987, - 213 - ], - [ - 16221, - 31 - ], - [ - 16287, - 213 - ], - [ - 16521, - 30 - ], - [ - 16588, - 212 - ], - [ - 16820, - 31 - ], - [ - 16888, - 212 - ], - [ - 17120, - 31 - ], - [ - 17188, - 212 - ], - [ - 17419, - 32 - ], - [ - 17488, - 212 - ], - [ - 17719, - 32 - ], - [ - 17788, - 212 - ], - [ - 18019, - 32 - ], - [ - 18088, - 212 - ], - [ - 18318, - 33 - ], - [ - 18388, - 212 - ], - [ - 18618, - 32 - ], - [ - 18687, - 213 - ], - [ - 18918, - 32 - ], - [ - 18987, - 213 - ], - [ - 19217, - 33 - ], - [ - 19287, - 213 - ], - [ - 19517, - 32 - ], - [ - 19587, - 55 - ], - [ - 19643, - 157 - ], - [ - 19817, - 32 - ], - [ - 19887, - 54 - ], - [ - 19943, - 157 - ], - [ - 20116, - 33 - ], - [ - 20186, - 55 - ], - [ - 20243, - 157 - ], - [ - 20416, - 33 - ], - [ - 20486, - 54 - ], - [ - 20542, - 158 - ], - [ - 20715, - 33 - ], - [ - 20788, - 52 - ], - [ - 20842, - 158 - ], - [ - 21015, - 33 - ], - [ - 21088, - 52 - ], - [ - 21141, - 159 - ], - [ - 21315, - 33 - ], - [ - 21388, - 39 - ], - [ - 21429, - 10 - ], - [ - 21441, - 159 - ], - [ - 21614, - 34 - ], - [ - 21688, - 37 - ], - [ - 21731, - 8 - ], - [ - 21741, - 159 - ], - [ - 21914, - 34 - ], - [ - 21988, - 36 - ], - [ - 22032, - 4 - ], - [ - 22041, - 159 - ], - [ - 22214, - 34 - ], - [ - 22287, - 38 - ], - [ - 22333, - 2 - ], - [ - 22342, - 158 - ], - [ - 22513, - 36 - ], - [ - 22587, - 39 - ], - [ - 22634, - 1 - ], - [ - 22643, - 157 - ], - [ - 22813, - 37 - ], - [ - 22887, - 31 - ], - [ - 22920, - 7 - ], - [ - 22942, - 158 - ], - [ - 23113, - 38 - ], - [ - 23187, - 31 - ], - [ - 23222, - 6 - ], - [ - 23235, - 3 - ], - [ - 23241, - 159 - ], - [ - 23412, - 40 - ], - [ - 23487, - 32 - ], - [ - 23525, - 4 - ], - [ - 23533, - 167 - ], - [ - 23712, - 41 - ], - [ - 23787, - 34 - ], - [ - 23830, - 2 - ], - [ - 23833, - 167 - ], - [ - 24011, - 43 - ], - [ - 24086, - 37 - ], - [ - 24130, - 2 - ], - [ - 24137, - 2 - ], - [ - 24140, - 160 - ], - [ - 24311, - 44 - ], - [ - 24386, - 38 - ], - [ - 24433, - 3 - ], - [ - 24439, - 161 - ], - [ - 24611, - 44 - ], - [ - 24686, - 39 - ], - [ - 24733, - 4 - ], - [ - 24738, - 162 - ], - [ - 24910, - 46 - ], - [ - 24986, - 41 - ], - [ - 25029, - 2 - ], - [ - 25032, - 5 - ], - [ - 25038, - 162 - ], - [ - 25210, - 47 - ], - [ - 25286, - 46 - ], - [ - 25337, - 163 - ], - [ - 25510, - 48 - ], - [ - 25586, - 47 - ], - [ - 25637, - 163 - ], - [ - 25809, - 50 - ], - [ - 25885, - 49 - ], - [ - 25937, - 163 - ], - [ - 26109, - 51 - ], - [ - 26185, - 49 - ], - [ - 26237, - 163 - ], - [ - 26409, - 51 - ], - [ - 26485, - 48 - ], - [ - 26539, - 161 - ], - [ - 26708, - 52 - ], - [ - 26785, - 47 - ], - [ - 26841, - 159 - ], - [ - 27008, - 52 - ], - [ - 27085, - 46 - ], - [ - 27142, - 158 - ], - [ - 27307, - 53 - ], - [ - 27385, - 45 - ], - [ - 27443, - 157 - ], - [ - 27607, - 52 - ], - [ - 27684, - 45 - ], - [ - 27742, - 158 - ], - [ - 27907, - 52 - ], - [ - 27984, - 46 - ], - [ - 28041, - 159 - ], - [ - 28206, - 53 - ], - [ - 28284, - 48 - ], - [ - 28340, - 160 - ], - [ - 28506, - 53 - ], - [ - 28584, - 49 - ], - [ - 28639, - 161 - ], - [ - 28806, - 53 - ], - [ - 28884, - 51 - ], - [ - 28938, - 162 - ], - [ - 29105, - 54 - ], - [ - 29184, - 216 - ], - [ - 29405, - 54 - ], - [ - 29483, - 217 - ], - [ - 29705, - 56 - ], - [ - 29783, - 217 - ], - [ - 30004, - 63 - ], - [ - 30083, - 217 - ], - [ - 30304, - 69 - ], - [ - 30383, - 217 - ], - [ - 30603, - 71 - ], - [ - 30683, - 217 - ], - [ - 30903, - 72 - ], - [ - 30980, - 220 - ], - [ - 31203, - 73 - ], - [ - 31278, - 222 - ], - [ - 31502, - 298 - ], - [ - 31802, - 298 - ], - [ - 32102, - 298 - ], - [ - 32401, - 299 - ], - [ - 32701, - 299 - ], - [ - 33001, - 11699 - ] - ], - "point": [ - 149, - 82 - ] - } - }, - "high_idx": 3 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan330", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -1.25, - "y": 0.9009992, - "z": -2.5 - }, - "object_poses": [ - { - "objectName": "Statue_15407ea7", - "position": { - "x": -1.69950008, - "y": 1.15641856, - "z": -2.07341766 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": 1.73104513, - "y": 0.6806067, - "z": 2.217842 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 2.690263, - "y": 0.4373797, - "z": 1.92194879 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": 2.31554031, - "y": 0.434587, - "z": 1.67277777 - }, - "rotation": { - "x": 0.0, - "y": 270.812866, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.6681695, - "y": 1.63940215, - "z": -1.959407 - }, - "rotation": { - "x": 0.0, - "y": 90.0005, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": -1.55089557, - "y": 0.7993237, - "z": -0.723487258 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Book_88b330d0", - "position": { - "x": 2.410725, - "y": 0.451339275, - "z": 1.84108567 - }, - "rotation": { - "x": 0.0, - "y": 90.81287, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_ac032140", - "position": { - "x": -1.58354533, - "y": 0.973890662, - "z": -0.540981531 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_3a2d6b92", - "position": { - "x": -1.58354485, - "y": 0.972123265, - "z": -0.7420343 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Pillow_64d86fa7", - "position": { - "x": 1.413, - "y": 0.794, - "z": -1.505 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_f78b5f5c", - "position": { - "x": 1.74347711, - "y": 0.836844742, - "z": 0.188206315 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_305dccf0", - "position": { - "x": 2.283265, - "y": 0.6816989, - "z": -1.58172047 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "Laptop_a777a0ae", - "position": { - "x": 0.296522975, - "y": 0.773138165, - "z": -1.57947421 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Vase_3dd4c039", - "position": { - "x": -1.65057909, - "y": 1.626018, - "z": -2.31655216 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_c0c69a42", - "position": { - "x": 2.515368, - "y": 0.6864845, - "z": -1.626831 - }, - "rotation": { - "x": 0.0, - "y": 0.0006744811, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_a6306ccf", - "position": { - "x": 1.633322, - "y": 0.3743477, - "z": 2.20151877 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - }, - { - "objectName": "Boots_6438362f", - "position": { - "x": -1.84297776, - "y": 0.000668019056, - "z": -1.077008 - }, - "rotation": { - "x": 0.0903331637, - "y": 135.194382, - "z": 0.00278281514 - } - }, - { - "objectName": "Pen_cfe375f5", - "position": { - "x": -1.663945, - "y": 0.8056051, - "z": 0.349674 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_7035669b", - "position": { - "x": 0.537682, - "y": 0.7753482, - "z": -0.9902473 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_e8ffdc91", - "position": { - "x": -1.49437273, - "y": 0.800209165, - "z": -0.5364194 - }, - "rotation": { - "x": 0.0, - "y": -0.000140018863, - "z": 0.0 - } - }, - { - "objectName": "Bowl_d59970df", - "position": { - "x": -1.68482971, - "y": 1.13501811, - "z": -2.30082417 - }, - "rotation": { - "x": 0.0, - "y": 346.9008, - "z": 0.0 - } - }, - { - "objectName": "Statue_15407ea7", - "position": { - "x": 1.57630944, - "y": 0.691063941, - "z": 2.217844 - }, - "rotation": { - "x": 0.0, - "y": 0.000683018938, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 2156983069, - "scene_num": 330 - }, - "task_id": "trial_T20190909_071128_012892", - "task_type": "pick_and_place_simple", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1CPNA5L0J834N_34Z02EIMIV4YK1B1IFJE4OJW598T0T", - "high_descs": [ - "look at the wall then turn left walk forward towards the door. Then turn right and walk towards the wall turn right towards the night stand ", - "pick up the pencil from the night stand ", - "turn right towards the bed and turn back towards the chair turn left at the end of the bed walk towards the recycling bin and turn left then turn right towards the dresser", - "place the pencil on a stand on the dresser " - ], - "task_desc": "to grab a pencil from the night stand and place it on the dresser", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2KAGFQU28JY43_3RGU30DZTDZ19CM3VQS80F30AATJM0", - "high_descs": [ - "Turn to your left and go across the room, the turn right at the end of the bed and go past the bed again, then go to the night stand to the left of the bed. ", - "Pick up the pencil to the right of the lamp, on the night stand. ", - "Turn around and go past the bed, turn left and go across the room to the dresser against the wall. ", - "Place the pencil on the keys, on the dresser. " - ], - "task_desc": "Put a pencil on the dresser. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A20FCMWP43CVIU_3WEV0KO0OPJR4LZG5R2J9Q7TXFBDSP", - "high_descs": [ - "walk to face night table on left side of bed", - "pick up pencil from table", - "walk to face left side of bureau", - "put pencil on bureau top" - ], - "task_desc": "put pencil on bureau top", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/valid_seen/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190909_154212_097094/traj_data.json b/data/json_2.1.0/valid_seen/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190909_154212_097094/traj_data.json deleted file mode 100644 index 1782b54d4..000000000 --- a/data/json_2.1.0/valid_seen/pick_and_place_with_movable_recep-Pen-Mug-Dresser-311/trial_T20190909_154212_097094/traj_data.json +++ /dev/null @@ -1,3902 +0,0 @@ -{ - "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": 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": 13 - }, - { - "high_idx": 0, - "image_name": "000000045.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000046.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000047.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000048.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000049.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 13 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 13 - }, - { - "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": 16 - }, - { - "high_idx": 0, - "image_name": "000000060.png", - "low_idx": 16 - }, - { - "high_idx": 0, - "image_name": "000000061.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000062.png", - "low_idx": 17 - }, - { - "high_idx": 0, - "image_name": "000000063.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000064.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000065.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000066.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000067.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000068.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000069.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000070.png", - "low_idx": 18 - }, - { - "high_idx": 0, - "image_name": "000000071.png", - "low_idx": 18 - }, - { - "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": 1, - "image_name": "000000091.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000097.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000098.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000099.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000100.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000101.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000102.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000103.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "image_name": "000000104.png", - "low_idx": 23 - }, - { - "high_idx": 1, - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 24 - }, - { - "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": 24 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 24 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 24 - }, - { - "high_idx": 3, - "image_name": "000000121.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000122.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000123.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000124.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000125.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000126.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000127.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000128.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000129.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000130.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000131.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000132.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000133.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000134.png", - "low_idx": 25 - }, - { - "high_idx": 3, - "image_name": "000000135.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000192.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000193.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000194.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000195.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000196.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000197.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000198.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000199.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000200.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 36 - } - ], - "pddl_params": { - "mrecep_target": "Mug", - "object_sliced": false, - "object_target": "Pen", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|11|6|0|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pen" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pen", - [ - 11.13918112, - 11.13918112, - 9.5708866, - 9.5708866, - 3.2521732, - 3.2521732 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.78|+00.81|+02.39" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pen", - "mug" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pen", - [ - 11.13918112, - 11.13918112, - 9.5708866, - 9.5708866, - 3.2521732, - 3.2521732 - ] - ], - "coordinateReceptacleObjectId": [ - "Mug", - [ - 11.55662728, - 11.55662728, - 10.45246504, - 10.45246504, - 3.221562, - 3.221562 - ] - ], - "forceVisible": true, - "objectId": "Pen|+02.78|+00.81|+02.39", - "receptacleObjectId": "Mug|+02.89|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "mug" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Mug", - [ - 11.55662728, - 11.55662728, - 10.45246504, - 10.45246504, - 3.221562, - 3.221562 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - 10.304288, - 10.304288, - 12.21562, - 12.21562, - 0.009562092, - 0.009562092 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.89|+00.81|+02.61" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "mug", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Mug", - [ - 11.55662728, - 11.55662728, - 10.45246504, - 10.45246504, - 3.221562, - 3.221562 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Mug|+02.89|+00.81|+02.61", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "PickupObject", - "objectId": "Pen|+02.78|+00.81|+02.39" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 138, - 132, - 179, - 133 - ], - "mask": [ - [ - 39441, - 36 - ], - [ - 39738, - 42 - ] - ], - "point": [ - 158, - 131 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pen|+02.78|+00.81|+02.39", - "placeStationary": true, - "receptacleObjectId": "Mug|+02.89|+00.81|+02.61" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 163, - 83, - 188, - 110 - ], - "mask": [ - [ - 24774, - 8 - ], - [ - 25071, - 14 - ], - [ - 25370, - 17 - ], - [ - 25669, - 19 - ], - [ - 25968, - 20 - ], - [ - 26266, - 23 - ], - [ - 26564, - 25 - ], - [ - 26863, - 26 - ], - [ - 27163, - 3 - ], - [ - 27168, - 20 - ], - [ - 27463, - 2 - ], - [ - 27468, - 20 - ], - [ - 27763, - 2 - ], - [ - 27768, - 20 - ], - [ - 28063, - 2 - ], - [ - 28068, - 20 - ], - [ - 28363, - 2 - ], - [ - 28368, - 20 - ], - [ - 28663, - 2 - ], - [ - 28668, - 20 - ], - [ - 28963, - 2 - ], - [ - 28968, - 20 - ], - [ - 29264, - 2 - ], - [ - 29268, - 20 - ], - [ - 29564, - 3 - ], - [ - 29568, - 20 - ], - [ - 29865, - 22 - ], - [ - 30166, - 21 - ], - [ - 30467, - 20 - ], - [ - 30767, - 20 - ], - [ - 31067, - 20 - ], - [ - 31367, - 20 - ], - [ - 31668, - 19 - ], - [ - 31968, - 18 - ], - [ - 32269, - 17 - ], - [ - 32570, - 15 - ], - [ - 32872, - 11 - ] - ], - "point": [ - 175, - 95 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Mug|+02.89|+00.81|+02.61" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 163, - 83, - 188, - 110 - ], - "mask": [ - [ - 24774, - 5 - ], - [ - 24781, - 1 - ], - [ - 25071, - 8 - ], - [ - 25081, - 4 - ], - [ - 25370, - 9 - ], - [ - 25381, - 6 - ], - [ - 25669, - 10 - ], - [ - 25681, - 7 - ], - [ - 25968, - 11 - ], - [ - 25981, - 7 - ], - [ - 26266, - 13 - ], - [ - 26281, - 8 - ], - [ - 26564, - 15 - ], - [ - 26581, - 8 - ], - [ - 26863, - 16 - ], - [ - 26881, - 8 - ], - [ - 27163, - 3 - ], - [ - 27168, - 11 - ], - [ - 27180, - 8 - ], - [ - 27463, - 2 - ], - [ - 27468, - 11 - ], - [ - 27480, - 8 - ], - [ - 27763, - 2 - ], - [ - 27768, - 11 - ], - [ - 27780, - 8 - ], - [ - 28063, - 2 - ], - [ - 28068, - 20 - ], - [ - 28363, - 2 - ], - [ - 28368, - 20 - ], - [ - 28663, - 2 - ], - [ - 28668, - 20 - ], - [ - 28963, - 2 - ], - [ - 28968, - 20 - ], - [ - 29264, - 2 - ], - [ - 29268, - 20 - ], - [ - 29564, - 3 - ], - [ - 29568, - 20 - ], - [ - 29865, - 22 - ], - [ - 30166, - 21 - ], - [ - 30467, - 20 - ], - [ - 30767, - 20 - ], - [ - 31067, - 20 - ], - [ - 31367, - 20 - ], - [ - 31668, - 19 - ], - [ - 31968, - 18 - ], - [ - 32269, - 17 - ], - [ - 32570, - 15 - ], - [ - 32872, - 11 - ] - ], - "point": [ - 175, - 95 - ] - } - }, - "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_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": "Mug|+02.89|+00.81|+02.61", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 28 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 24 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 22 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 21 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 20 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 18 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 17 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 18 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 17 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 17 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 18 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 17 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 18 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 18 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 18 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 19 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 19 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 20 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 21 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 22 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 22 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 23 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 24 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 26 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 27 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 28 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 30 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 31 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 33 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 35 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 37 - ], - [ - 31242, - 90 - ], - [ - 31436, - 39 - ], - [ - 31542, - 92 - ], - [ - 31734, - 42 - ], - [ - 31841, - 95 - ], - [ - 32032, - 44 - ], - [ - 32141, - 96 - ], - [ - 32331, - 46 - ], - [ - 32441, - 98 - ], - [ - 32628, - 50 - ], - [ - 32741, - 101 - ], - [ - 32926, - 52 - ], - [ - 33040, - 104 - ], - [ - 33224, - 55 - ], - [ - 33340, - 107 - ], - [ - 33522, - 58 - ], - [ - 33640, - 109 - ], - [ - 33819, - 62 - ], - [ - 33940, - 113 - ], - [ - 34116, - 67 - ], - [ - 34239, - 117 - ], - [ - 34412, - 72 - ], - [ - 34539, - 121 - ], - [ - 34708, - 78 - ], - [ - 34839, - 127 - ], - [ - 35002, - 86 - ], - [ - 35139, - 135 - ], - [ - 35294, - 96 - ], - [ - 35438, - 255 - ], - [ - 35738, - 260 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 127 - ], - [ - 41861, - 139 - ], - [ - 42032, - 127 - ], - [ - 42162, - 138 - ], - [ - 42332, - 127 - ], - [ - 42462, - 138 - ], - [ - 42632, - 127 - ], - [ - 42762, - 138 - ], - [ - 42932, - 126 - ], - [ - 43063, - 137 - ], - [ - 43231, - 127 - ], - [ - 43363, - 137 - ], - [ - 43531, - 127 - ], - [ - 43663, - 137 - ], - [ - 43831, - 126 - ], - [ - 43963, - 137 - ], - [ - 44131, - 126 - ], - [ - 44264, - 136 - ], - [ - 44430, - 127 - ], - [ - 44564, - 136 - ], - [ - 44730, - 126 - ], - [ - 44864, - 136 - ], - [ - 45030, - 126 - ], - [ - 45164, - 136 - ], - [ - 45329, - 127 - ], - [ - 45465, - 135 - ], - [ - 45629, - 127 - ], - [ - 45765, - 135 - ], - [ - 45929, - 127 - ], - [ - 46064, - 136 - ], - [ - 46229, - 127 - ], - [ - 46364, - 136 - ], - [ - 46528, - 128 - ], - [ - 46664, - 136 - ], - [ - 46828, - 128 - ], - [ - 46964, - 136 - ], - [ - 47128, - 128 - ], - [ - 47264, - 136 - ], - [ - 47428, - 128 - ], - [ - 47564, - 136 - ], - [ - 47727, - 129 - ], - [ - 47864, - 136 - ], - [ - 48027, - 129 - ], - [ - 48164, - 136 - ], - [ - 48327, - 129 - ], - [ - 48464, - 136 - ], - [ - 48627, - 128 - ], - [ - 48764, - 136 - ], - [ - 48926, - 129 - ], - [ - 49064, - 136 - ], - [ - 49226, - 129 - ], - [ - 49364, - 136 - ], - [ - 49526, - 129 - ], - [ - 49664, - 136 - ], - [ - 49826, - 129 - ], - [ - 49964, - 136 - ], - [ - 50127, - 128 - ], - [ - 50264, - 136 - ], - [ - 50427, - 128 - ], - [ - 50564, - 136 - ], - [ - 50728, - 127 - ], - [ - 50864, - 136 - ], - [ - 51029, - 126 - ], - [ - 51164, - 136 - ], - [ - 51330, - 125 - ], - [ - 51463, - 137 - ], - [ - 51631, - 124 - ], - [ - 51763, - 137 - ], - [ - 51932, - 123 - ], - [ - 52063, - 137 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 142 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": -0.75, - "y": 0.9101201, - "z": 0.5 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.88915682, - "y": 0.8053905, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.47171044, - "y": 0.809822559, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.47171044, - "y": 0.809822559, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.18511271, - "y": 0.3994214, - "z": -0.8558464 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.49651241, - "y": 0.7454787, - "z": -1.44422 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -1.07814765, - "y": 0.913408458, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.618261, - "y": 0.09460491, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.576072, - "y": 0.8130433, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -0.8811438, - "y": 0.9191518, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.618261, - "y": 0.464960515, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.57583427, - "y": 0.100667894, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -1.0381124, - "y": 0.400650442, - "z": -1.05339289 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.749808, - "y": 0.9143347, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 180.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.749808, - "y": 0.9127645, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.68043351, - "y": 0.8095615, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": -0.946811736, - "y": 0.9215688, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.88915682, - "y": 0.8163972, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.833904862, - "y": 0.7123361, - "z": 2.53943944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": 2.364924, - "y": 0.3978147, - "z": -0.5944867 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.618261, - "y": 0.09396094, - "z": 0.721920133 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.576072, - "y": 0.8163972, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.47171044, - "y": 0.8073, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.60967064, - "y": 0.8454321, - "z": 0.230579376 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.68043351, - "y": 0.807386458, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.47171044, - "y": 0.8091631, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.39799213, - "y": 0.745671749, - "z": -1.51612043 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -0.8811438, - "y": 0.911498964, - "z": 4.71732759 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.26298714, - "y": 0.8116682, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.9595227, - "y": 0.752, - "z": 2.97759867 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -1.312467, - "y": 0.785215139, - "z": 1.6909622 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.66068769, - "y": 0.09430212, - "z": 0.917760432 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.78479528, - "y": 0.8130433, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.68678069, - "y": 0.7438719, - "z": -1.61999273 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 379836759, - "scene_num": 311 - }, - "task_id": "trial_T20190909_154212_097094", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2A028LRDJB7ZB_3HPZF4IVNPA6AQJD8TAG6KTAZK7CYL", - "high_descs": [ - "Turn left then walk straight, stand in between the tv stand and side table", - "Pick up the pen on the table", - "Put the pen in the mug", - "Pick up the mug with pen on the table", - "Turn left, then turn left face the tv stand", - "Put the mug with pen on the left side of the tv stand" - ], - "task_desc": "Put the mug with pen on the tv stand", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AM2KK02JXXW48_3OJSZ2ATDVD2WLEX6AX8F13334P57I", - "high_descs": [ - "Turn left, head to TV, turn left, head to the side of the long brown table on the right.", - "Pick up the black pen on the table. ", - "Put the pen in the mug on the table.", - "Pick up the mug with pen on the table. ", - "Turn around, bring the mug with pen to the TV on the left. ", - "Put the mug with pen on the TV stand. " - ], - "task_desc": "Put a mug with pen in it on the TV stand. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3I7DHKZYGQHFBET3OTVK3TGK1SDF51", - "high_descs": [ - "move to the table to the left of the TC", - "pick up a pen from the table", - "put the pen in a cup on the table", - "pick up the cup from the table", - "move to the TV stand behind you", - "put the cup on the stand" - ], - "task_desc": "Put a cup with a pen on the TV stand.", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/traj_data.json b/data/json_2.1.0/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/traj_data.json deleted file mode 100644 index 1172253ff..000000000 --- a/data/json_2.1.0/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/traj_data.json +++ /dev/null @@ -1,3862 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000068.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000074.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000075.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000076.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000077.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000078.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000079.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000080.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "image_name": "000000081.png", - "low_idx": 16 - }, - { - "high_idx": 1, - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000096.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000097.png", - "low_idx": 17 - }, - { - "high_idx": 3, - "image_name": "000000098.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000099.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000100.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000101.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000102.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000103.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000104.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000105.png", - "low_idx": 18 - }, - { - "high_idx": 3, - "image_name": "000000106.png", - "low_idx": 18 - }, - { - "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": 4, - "image_name": "000000113.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000114.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000115.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000116.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000117.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000118.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000119.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000120.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000121.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000122.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000123.png", - "low_idx": 19 - }, - { - "high_idx": 4, - "image_name": "000000124.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000125.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000126.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000127.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000128.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000129.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000130.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000131.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000132.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000133.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000134.png", - "low_idx": 20 - }, - { - "high_idx": 4, - "image_name": "000000135.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000136.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000137.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000138.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000139.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000140.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000141.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000142.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000143.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000144.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000145.png", - "low_idx": 21 - }, - { - "high_idx": 4, - "image_name": "000000146.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000147.png", - "low_idx": 22 - }, - { - "high_idx": 4, - "image_name": "000000148.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000149.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000150.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000151.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000152.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000153.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000154.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000155.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000156.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000157.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000158.png", - "low_idx": 23 - }, - { - "high_idx": 4, - "image_name": "000000159.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000160.png", - "low_idx": 24 - }, - { - "high_idx": 4, - "image_name": "000000161.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000162.png", - "low_idx": 25 - }, - { - "high_idx": 4, - "image_name": "000000163.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000164.png", - "low_idx": 26 - }, - { - "high_idx": 4, - "image_name": "000000165.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000166.png", - "low_idx": 27 - }, - { - "high_idx": 4, - "image_name": "000000167.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000168.png", - "low_idx": 28 - }, - { - "high_idx": 4, - "image_name": "000000169.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000170.png", - "low_idx": 29 - }, - { - "high_idx": 4, - "image_name": "000000171.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000172.png", - "low_idx": 30 - }, - { - "high_idx": 4, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000174.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000175.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000176.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000177.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000178.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000179.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000186.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000187.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000188.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 35 - }, - { - "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": 35 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 35 - }, - { - "high_idx": 5, - "image_name": "000000201.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000202.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000203.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000204.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000205.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000206.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000207.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000208.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000209.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000210.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000211.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000212.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000213.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000214.png", - "low_idx": 36 - }, - { - "high_idx": 5, - "image_name": "000000215.png", - "low_idx": 36 - } - ], - "pddl_params": { - "mrecep_target": "Bowl", - "object_sliced": false, - "object_target": "Pencil", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-6|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "pencil" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.45952, - 10.45952, - -6.47997092, - -6.47997092, - 2.991114, - 2.991114 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.61|+00.75|-01.62" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "pencil", - "bowl" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Pencil", - [ - 10.45952, - 10.45952, - -6.47997092, - -6.47997092, - 2.991114, - 2.991114 - ] - ], - "coordinateReceptacleObjectId": [ - "Bowl", - [ - 9.596714, - 9.596714, - -5.8888488, - -5.8888488, - 2.993216, - 2.993216 - ] - ], - "forceVisible": true, - "objectId": "Pencil|+02.61|+00.75|-01.62", - "receptacleObjectId": "Bowl|+02.40|+00.75|-01.47" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "bowl" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.596714, - 9.596714, - -5.8888488, - -5.8888488, - 2.993216, - 2.993216 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.40|+00.75|-01.47" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "bowl", - "dresser" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Bowl", - [ - 9.596714, - 9.596714, - -5.8888488, - -5.8888488, - 2.993216, - 2.993216 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "Bowl|+02.40|+00.75|-01.47", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "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": "Pencil|+02.61|+00.75|-01.62" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 160, - 119, - 201, - 123 - ], - "mask": [ - [ - 35595, - 7 - ], - [ - 35883, - 19 - ], - [ - 36170, - 25 - ], - [ - 36460, - 23 - ], - [ - 36760, - 10 - ] - ], - "point": [ - 180, - 120 - ] - } - }, - "high_idx": 1 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Pencil|+02.61|+00.75|-01.62", - "placeStationary": true, - "receptacleObjectId": "Bowl|+02.40|+00.75|-01.47" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 112, - 138, - 170, - 191 - ], - "mask": [ - [ - 41235, - 14 - ], - [ - 41531, - 22 - ], - [ - 41829, - 26 - ], - [ - 42127, - 30 - ], - [ - 42425, - 34 - ], - [ - 42724, - 36 - ], - [ - 43022, - 40 - ], - [ - 43321, - 42 - ], - [ - 43620, - 44 - ], - [ - 43919, - 46 - ], - [ - 44218, - 48 - ], - [ - 44517, - 49 - ], - [ - 44817, - 50 - ], - [ - 45116, - 52 - ], - [ - 45415, - 53 - ], - [ - 45715, - 54 - ], - [ - 46014, - 55 - ], - [ - 46314, - 56 - ], - [ - 46614, - 56 - ], - [ - 46913, - 57 - ], - [ - 47213, - 57 - ], - [ - 47513, - 58 - ], - [ - 47813, - 58 - ], - [ - 48112, - 59 - ], - [ - 48412, - 59 - ], - [ - 48712, - 59 - ], - [ - 49012, - 59 - ], - [ - 49312, - 59 - ], - [ - 49612, - 59 - ], - [ - 49912, - 59 - ], - [ - 50213, - 57 - ], - [ - 50513, - 57 - ], - [ - 50813, - 57 - ], - [ - 51113, - 57 - ], - [ - 51414, - 55 - ], - [ - 51714, - 55 - ], - [ - 52015, - 54 - ], - [ - 52315, - 53 - ], - [ - 52616, - 51 - ], - [ - 52916, - 51 - ], - [ - 53217, - 49 - ], - [ - 53517, - 49 - ], - [ - 53818, - 47 - ], - [ - 54119, - 45 - ], - [ - 54420, - 43 - ], - [ - 54721, - 41 - ], - [ - 55022, - 39 - ], - [ - 55323, - 36 - ], - [ - 55625, - 33 - ], - [ - 55926, - 31 - ], - [ - 56228, - 27 - ], - [ - 56530, - 23 - ], - [ - 56834, - 15 - ], - [ - 57140, - 3 - ] - ], - "point": [ - 141, - 163 - ] - } - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Bowl|+02.40|+00.75|-01.47" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 112, - 138, - 170, - 191 - ], - "mask": [ - [ - 41235, - 14 - ], - [ - 41531, - 18 - ], - [ - 41552, - 1 - ], - [ - 41829, - 20 - ], - [ - 41852, - 3 - ], - [ - 42127, - 22 - ], - [ - 42152, - 5 - ], - [ - 42425, - 24 - ], - [ - 42452, - 7 - ], - [ - 42724, - 25 - ], - [ - 42752, - 8 - ], - [ - 43022, - 27 - ], - [ - 43052, - 10 - ], - [ - 43321, - 28 - ], - [ - 43352, - 11 - ], - [ - 43620, - 29 - ], - [ - 43652, - 12 - ], - [ - 43919, - 30 - ], - [ - 43952, - 13 - ], - [ - 44218, - 31 - ], - [ - 44252, - 14 - ], - [ - 44517, - 32 - ], - [ - 44552, - 14 - ], - [ - 44817, - 32 - ], - [ - 44852, - 15 - ], - [ - 45116, - 33 - ], - [ - 45152, - 16 - ], - [ - 45415, - 34 - ], - [ - 45452, - 16 - ], - [ - 45715, - 34 - ], - [ - 45751, - 18 - ], - [ - 46014, - 35 - ], - [ - 46051, - 18 - ], - [ - 46314, - 35 - ], - [ - 46351, - 19 - ], - [ - 46614, - 35 - ], - [ - 46651, - 19 - ], - [ - 46913, - 36 - ], - [ - 46951, - 19 - ], - [ - 47213, - 36 - ], - [ - 47251, - 19 - ], - [ - 47513, - 36 - ], - [ - 47551, - 20 - ], - [ - 47813, - 36 - ], - [ - 47851, - 20 - ], - [ - 48112, - 37 - ], - [ - 48151, - 20 - ], - [ - 48412, - 38 - ], - [ - 48451, - 20 - ], - [ - 48712, - 59 - ], - [ - 49012, - 59 - ], - [ - 49312, - 59 - ], - [ - 49612, - 59 - ], - [ - 49912, - 59 - ], - [ - 50213, - 57 - ], - [ - 50513, - 57 - ], - [ - 50813, - 57 - ], - [ - 51113, - 57 - ], - [ - 51414, - 55 - ], - [ - 51714, - 55 - ], - [ - 52015, - 54 - ], - [ - 52315, - 53 - ], - [ - 52616, - 51 - ], - [ - 52916, - 51 - ], - [ - 53217, - 49 - ], - [ - 53517, - 49 - ], - [ - 53818, - 47 - ], - [ - 54119, - 45 - ], - [ - 54420, - 43 - ], - [ - 54721, - 41 - ], - [ - 55022, - 39 - ], - [ - 55323, - 36 - ], - [ - 55625, - 33 - ], - [ - 55926, - 31 - ], - [ - 56228, - 27 - ], - [ - 56530, - 23 - ], - [ - 56834, - 15 - ], - [ - 57140, - 3 - ] - ], - "point": [ - 141, - 163 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Bowl|+02.40|+00.75|-01.47", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 69 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 126 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 126 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 125 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 124 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 123 - ], - [ - 21561, - 39 - ], - [ - 21651, - 52 - ], - [ - 21719, - 123 - ], - [ - 21860, - 40 - ], - [ - 21950, - 54 - ], - [ - 22020, - 122 - ], - [ - 22160, - 40 - ], - [ - 22250, - 54 - ], - [ - 22320, - 121 - ], - [ - 22460, - 40 - ], - [ - 22550, - 55 - ], - [ - 22620, - 121 - ], - [ - 22760, - 40 - ], - [ - 22849, - 56 - ], - [ - 22921, - 120 - ], - [ - 23059, - 41 - ], - [ - 23149, - 57 - ], - [ - 23222, - 118 - ], - [ - 23359, - 41 - ], - [ - 23449, - 57 - ], - [ - 23522, - 118 - ], - [ - 23659, - 41 - ], - [ - 23749, - 57 - ], - [ - 23823, - 116 - ], - [ - 23959, - 41 - ], - [ - 24048, - 59 - ], - [ - 24124, - 114 - ], - [ - 24258, - 42 - ], - [ - 24348, - 59 - ], - [ - 24425, - 113 - ], - [ - 24558, - 42 - ], - [ - 24648, - 60 - ], - [ - 24726, - 111 - ], - [ - 24857, - 43 - ], - [ - 24948, - 61 - ], - [ - 25027, - 109 - ], - [ - 25156, - 44 - ], - [ - 25247, - 62 - ], - [ - 25328, - 107 - ], - [ - 25456, - 44 - ], - [ - 25547, - 63 - ], - [ - 25629, - 105 - ], - [ - 25755, - 45 - ], - [ - 25847, - 64 - ], - [ - 25930, - 103 - ], - [ - 26055, - 45 - ], - [ - 26147, - 64 - ], - [ - 26231, - 101 - ], - [ - 26354, - 46 - ], - [ - 26446, - 66 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 67 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 68 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 70 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 71 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 72 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 73 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 75 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 76 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 78 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 79 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 81 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 83 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 84 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 86 - ], - [ - 30764, - 39 - ], - [ - 30839, - 61 - ], - [ - 30942, - 88 - ], - [ - 31069, - 29 - ], - [ - 31137, - 63 - ], - [ - 31242, - 90 - ], - [ - 31436, - 64 - ], - [ - 31542, - 92 - ], - [ - 31734, - 66 - ], - [ - 31841, - 95 - ], - [ - 32032, - 68 - ], - [ - 32141, - 96 - ], - [ - 32331, - 69 - ], - [ - 32441, - 98 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 262 - ], - [ - 35738, - 262 - ], - [ - 36038, - 262 - ], - [ - 36337, - 263 - ], - [ - 36637, - 263 - ], - [ - 36937, - 263 - ], - [ - 37237, - 263 - ], - [ - 37536, - 264 - ], - [ - 37836, - 264 - ], - [ - 38136, - 264 - ], - [ - 38436, - 264 - ], - [ - 38735, - 265 - ], - [ - 39035, - 265 - ], - [ - 39335, - 265 - ], - [ - 39635, - 265 - ], - [ - 39934, - 266 - ], - [ - 40234, - 266 - ], - [ - 40534, - 266 - ], - [ - 40833, - 267 - ], - [ - 41133, - 267 - ], - [ - 41433, - 267 - ], - [ - 41733, - 267 - ], - [ - 42032, - 268 - ], - [ - 42332, - 268 - ], - [ - 42632, - 268 - ], - [ - 42932, - 268 - ], - [ - 43231, - 269 - ], - [ - 43531, - 269 - ], - [ - 43831, - 269 - ], - [ - 44131, - 269 - ], - [ - 44430, - 270 - ], - [ - 44730, - 270 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 6 - ], - [ - 65670, - 1 - ], - [ - 65777, - 5 - ], - [ - 65968, - 2 - ], - [ - 66078, - 3 - ], - [ - 66267, - 1 - ], - [ - 66379, - 1 - ], - [ - 66565, - 2 - ], - [ - 66864, - 1 - ], - [ - 67162, - 2 - ], - [ - 67461, - 1 - ], - [ - 67759, - 2 - ], - [ - 68058, - 1 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 5 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -0.5, - "y": 0.9101201, - "z": -1.0 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.78479528, - "y": 0.806327343, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": -0.749808, - "y": 0.915931046, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.49651241, - "y": 0.7477785, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.88915682, - "y": 0.8116682, - "z": 2.61311626 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.185112, - "y": 0.399810672, - "z": -0.5944872 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.57583427, - "y": 0.461615622, - "z": 0.4281597 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.26298714, - "y": 0.806656, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.68043351, - "y": 0.806656, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.26298714, - "y": 0.8095615, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.64429259, - "y": 0.752507448, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -0.749808, - "y": 0.9127645, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.47171044, - "y": 0.8163972, - "z": 3.27429938 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": 2.618261, - "y": 0.458897531, - "z": 0.5260799 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.3991785, - "y": 0.748304, - "z": -1.4722122 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -1.01247966, - "y": 0.913494945, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": -0.8811438, - "y": 0.9143347, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.88915682, - "y": 0.8095615, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.07318592, - "y": 0.7123361, - "z": 2.82226515 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.61488, - "y": 0.7477785, - "z": -1.61999273 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": 0.123219371, - "y": 0.785215139, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.833904862, - "y": 0.785215139, - "z": 2.25661373 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": -0.749808, - "y": 0.913105667, - "z": 4.90099144 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.78479528, - "y": 0.813980162, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": 2.47171044, - "y": 0.8053905, - "z": 3.49469376 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 1602589711, - "scene_num": 311 - }, - "task_id": "trial_T20190909_002301_857761", - "task_type": "pick_and_place_with_movable_recep", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A2TUUIV61CR0C7_31N2WW6R9UHKIOSX6IW8PI22H8B3F9", - "high_descs": [ - "Turn right, walk to the wall, turn left and walk to the small round end table. ", - "Pick up the pencil lying horizontally between the lamp and the alarm clock. ", - "Put the pencil inside the glass bowl sitting in front of the lamp. ", - "Pick up the glass bowl with the pencil inside it. ", - "Turn completely around, take a step, turn right and walk until you are in front of the small white TV stand. Turn right and face the TV stand. ", - "Put the glass bowl with the pencil inside on the front left corner of the TV stand. " - ], - "task_desc": "Move the bowl and a pencil to the TV stand. ", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A2A028LRDJB7ZB_3AMYWKA6YEDDLKS8ONDWJFN0J1K6OM", - "high_descs": [ - "Turn right then walk straight going to the side table in front of you", - "Pick up the pencil on the table close to the lamp", - "Put the pencil in the bowl ", - "Pick up the bowl with pencil on the side table ", - "Turn left walk straight on the front of the tv stand", - "Put the bowl with pencil on left side edge of the tv stand" - ], - "task_desc": "Put the bowl with pencil on the tv stand", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "ACSS93E03ZUGX_3L4PIM1GQW7I1HUUMYPSW1CYTXIYR6", - "high_descs": [ - "Go straight and to the right to face the black end table.", - "Pick the green pencil up from off of the black end table.", - "Place the pencil inside of the glass bowl.", - "Pick the glass bowl up off of the black end table.", - "Turn around and move to the left to face the white TV stand.", - "Place glass bowl on the white tv stand." - ], - "task_desc": "Place the glass bowl with the pencil inside of it on the white tv stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/valid_seen/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165826_194855/traj_data.json b/data/json_2.1.0/valid_seen/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165826_194855/traj_data.json deleted file mode 100644 index af68fd5d7..000000000 --- a/data/json_2.1.0/valid_seen/pick_two_obj_and_place-AlarmClock-None-Dresser-305/trial_T20190907_165826_194855/traj_data.json +++ /dev/null @@ -1,5861 +0,0 @@ -{ - "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": 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": 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": 1, - "image_name": "000000083.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000084.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000085.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000086.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000087.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000088.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000089.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000090.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000091.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000092.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000093.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000094.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000095.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "image_name": "000000096.png", - "low_idx": 19 - }, - { - "high_idx": 1, - "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": 20 - }, - { - "high_idx": 2, - "image_name": "000000101.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000102.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000103.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000104.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000105.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000106.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000107.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000108.png", - "low_idx": 20 - }, - { - "high_idx": 2, - "image_name": "000000109.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000110.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000119.png", - "low_idx": 21 - }, - { - "high_idx": 2, - "image_name": "000000120.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000121.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000122.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000123.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000124.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000125.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000126.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000127.png", - "low_idx": 22 - }, - { - "high_idx": 2, - "image_name": "000000128.png", - "low_idx": 22 - }, - { - "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": 25 - }, - { - "high_idx": 2, - "image_name": "000000138.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000139.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000140.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000141.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000142.png", - "low_idx": 25 - }, - { - "high_idx": 2, - "image_name": "000000143.png", - "low_idx": 25 - }, - { - "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": 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": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 3, - "image_name": "000000177.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000180.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000181.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000182.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000183.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000184.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000185.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000186.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000187.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000188.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000189.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000190.png", - "low_idx": 37 - }, - { - "high_idx": 3, - "image_name": "000000191.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 38 - }, - { - "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": 39 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 50 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 51 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 52 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 52 - }, - { - "high_idx": 5, - "image_name": "000000267.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000268.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000269.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 53 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000282.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000283.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000284.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000357.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000358.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000359.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000360.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000361.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000362.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000363.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000364.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000365.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000366.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000367.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000368.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000369.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000370.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000371.png", - "low_idx": 69 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "AlarmClock", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|6|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 4.33898448, - 4.33898448, - 5.58764456, - 5.58764456, - 2.9179696, - 2.9179696 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.08|+00.73|+01.40" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 4.33898448, - 4.33898448, - 5.58764456, - 5.58764456, - 2.9179696, - 2.9179696 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.08|+00.73|+01.40", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "desk" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|2|4|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "alarmclock" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 4.33898448, - 4.33898448, - 4.265648, - 4.265648, - 2.9179696, - 2.9179696 - ] - ], - "coordinateReceptacleObjectId": [ - "Desk", - [ - 4.76, - 4.76, - 5.196, - 5.196, - 0.0, - 0.0 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.08|+00.73|+01.07" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|0|-4|2|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "alarmclock", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "AlarmClock", - [ - 4.33898448, - 4.33898448, - 4.265648, - 4.265648, - 2.9179696, - 2.9179696 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -0.376, - -0.376, - -6.8652, - -6.8652, - 0.088, - 0.088 - ] - ], - "forceVisible": true, - "objectId": "AlarmClock|+01.08|+00.73|+01.07", - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - } - }, - { - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|+01.08|+00.73|+01.40" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 166, - 89, - 192, - 146 - ], - "mask": [ - [ - 26568, - 21 - ], - [ - 26868, - 22 - ], - [ - 27168, - 22 - ], - [ - 27467, - 24 - ], - [ - 27767, - 24 - ], - [ - 28067, - 24 - ], - [ - 28367, - 24 - ], - [ - 28667, - 24 - ], - [ - 28967, - 25 - ], - [ - 29267, - 25 - ], - [ - 29567, - 25 - ], - [ - 29867, - 25 - ], - [ - 30167, - 25 - ], - [ - 30467, - 25 - ], - [ - 30766, - 26 - ], - [ - 31066, - 26 - ], - [ - 31366, - 26 - ], - [ - 31666, - 26 - ], - [ - 31966, - 26 - ], - [ - 32266, - 26 - ], - [ - 32566, - 26 - ], - [ - 32866, - 26 - ], - [ - 33166, - 26 - ], - [ - 33466, - 26 - ], - [ - 33766, - 27 - ], - [ - 34066, - 27 - ], - [ - 34366, - 27 - ], - [ - 34666, - 26 - ], - [ - 34966, - 26 - ], - [ - 35266, - 26 - ], - [ - 35566, - 26 - ], - [ - 35866, - 26 - ], - [ - 36166, - 26 - ], - [ - 36466, - 26 - ], - [ - 36766, - 26 - ], - [ - 37066, - 26 - ], - [ - 37366, - 26 - ], - [ - 37666, - 26 - ], - [ - 37966, - 26 - ], - [ - 38266, - 26 - ], - [ - 38566, - 26 - ], - [ - 38867, - 25 - ], - [ - 39167, - 25 - ], - [ - 39467, - 25 - ], - [ - 39767, - 25 - ], - [ - 40067, - 24 - ], - [ - 40367, - 24 - ], - [ - 40667, - 24 - ], - [ - 40967, - 24 - ], - [ - 41267, - 24 - ], - [ - 41567, - 24 - ], - [ - 41867, - 23 - ], - [ - 42167, - 23 - ], - [ - 42467, - 23 - ], - [ - 42767, - 23 - ], - [ - 43067, - 22 - ], - [ - 43367, - 22 - ], - [ - 43668, - 20 - ] - ], - "point": [ - 179, - 116 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|+01.08|+00.73|+01.40", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 162 - ], - [ - 26169, - 95 - ], - [ - 26279, - 54 - ], - [ - 26469, - 94 - ], - [ - 26580, - 54 - ], - [ - 26769, - 94 - ], - [ - 26880, - 55 - ], - [ - 27068, - 95 - ], - [ - 27180, - 56 - ], - [ - 27368, - 95 - ], - [ - 27480, - 56 - ], - [ - 27668, - 95 - ], - [ - 27780, - 54 - ], - [ - 27968, - 95 - ], - [ - 28080, - 53 - ], - [ - 28268, - 95 - ], - [ - 28380, - 53 - ], - [ - 28567, - 96 - ], - [ - 28681, - 51 - ], - [ - 28867, - 96 - ], - [ - 28981, - 50 - ], - [ - 29167, - 96 - ], - [ - 29281, - 49 - ], - [ - 29467, - 96 - ], - [ - 29581, - 48 - ], - [ - 29767, - 96 - ], - [ - 29881, - 48 - ], - [ - 30066, - 97 - ], - [ - 30181, - 47 - ], - [ - 30366, - 97 - ], - [ - 30481, - 46 - ], - [ - 30666, - 97 - ], - [ - 30781, - 45 - ], - [ - 30966, - 97 - ], - [ - 31081, - 45 - ], - [ - 31266, - 97 - ], - [ - 31381, - 44 - ], - [ - 31565, - 98 - ], - [ - 31681, - 43 - ], - [ - 31775, - 2 - ], - [ - 31865, - 98 - ], - [ - 31981, - 43 - ], - [ - 32072, - 6 - ], - [ - 32165, - 98 - ], - [ - 32281, - 42 - ], - [ - 32372, - 6 - ], - [ - 32465, - 98 - ], - [ - 32582, - 41 - ], - [ - 32672, - 6 - ], - [ - 32765, - 98 - ], - [ - 32882, - 41 - ], - [ - 32972, - 7 - ], - [ - 33064, - 99 - ], - [ - 33182, - 41 - ], - [ - 33272, - 7 - ], - [ - 33364, - 99 - ], - [ - 33482, - 41 - ], - [ - 33572, - 7 - ], - [ - 33664, - 99 - ], - [ - 33782, - 41 - ], - [ - 33871, - 8 - ], - [ - 33964, - 99 - ], - [ - 34082, - 40 - ], - [ - 34171, - 9 - ], - [ - 34263, - 100 - ], - [ - 34382, - 40 - ], - [ - 34471, - 9 - ], - [ - 34563, - 100 - ], - [ - 34682, - 40 - ], - [ - 34771, - 9 - ], - [ - 34863, - 101 - ], - [ - 34981, - 42 - ], - [ - 35070, - 11 - ], - [ - 35163, - 109 - ], - [ - 35273, - 50 - ], - [ - 35370, - 11 - ], - [ - 35463, - 104 - ], - [ - 35578, - 45 - ], - [ - 35670, - 11 - ], - [ - 35762, - 103 - ], - [ - 35880, - 44 - ], - [ - 35969, - 13 - ], - [ - 36062, - 101 - ], - [ - 36182, - 42 - ], - [ - 36269, - 13 - ], - [ - 36362, - 101 - ], - [ - 36483, - 42 - ], - [ - 36569, - 13 - ], - [ - 36662, - 100 - ], - [ - 36784, - 41 - ], - [ - 36868, - 15 - ], - [ - 36962, - 99 - ], - [ - 37085, - 41 - ], - [ - 37168, - 15 - ], - [ - 37261, - 100 - ], - [ - 37385, - 42 - ], - [ - 37467, - 16 - ], - [ - 37561, - 99 - ], - [ - 37686, - 42 - ], - [ - 37767, - 17 - ], - [ - 37861, - 99 - ], - [ - 37986, - 43 - ], - [ - 38066, - 18 - ], - [ - 38161, - 99 - ], - [ - 38271, - 4 - ], - [ - 38286, - 44 - ], - [ - 38366, - 18 - ], - [ - 38461, - 99 - ], - [ - 38571, - 4 - ], - [ - 38587, - 44 - ], - [ - 38664, - 21 - ], - [ - 38760, - 100 - ], - [ - 38872, - 3 - ], - [ - 38887, - 45 - ], - [ - 38964, - 21 - ], - [ - 39060, - 100 - ], - [ - 39186, - 48 - ], - [ - 39262, - 23 - ], - [ - 39360, - 100 - ], - [ - 39486, - 50 - ], - [ - 39560, - 25 - ], - [ - 39660, - 101 - ], - [ - 39786, - 52 - ], - [ - 39859, - 27 - ], - [ - 39960, - 101 - ], - [ - 40085, - 56 - ], - [ - 40157, - 29 - ], - [ - 40259, - 103 - ], - [ - 40385, - 62 - ], - [ - 40451, - 35 - ], - [ - 40559, - 104 - ], - [ - 40684, - 103 - ], - [ - 40859, - 105 - ], - [ - 40983, - 104 - ], - [ - 41159, - 107 - ], - [ - 41281, - 106 - ], - [ - 41458, - 110 - ], - [ - 41580, - 108 - ], - [ - 41758, - 114 - ], - [ - 41875, - 113 - ], - [ - 42058, - 230 - ], - [ - 42358, - 231 - ], - [ - 42658, - 231 - ], - [ - 42957, - 232 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 7 - ], - [ - 58138, - 8 - ], - [ - 58287, - 3 - ], - [ - 58437, - 8 - ], - [ - 58736, - 8 - ], - [ - 59035, - 9 - ], - [ - 59335, - 8 - ], - [ - 59634, - 8 - ], - [ - 59933, - 8 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "AlarmClock|+01.08|+00.73|+01.07" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 119, - 89, - 142, - 146 - ], - "mask": [ - [ - 26521, - 21 - ], - [ - 26821, - 21 - ], - [ - 27120, - 22 - ], - [ - 27420, - 22 - ], - [ - 27720, - 23 - ], - [ - 28020, - 23 - ], - [ - 28320, - 23 - ], - [ - 28620, - 23 - ], - [ - 28919, - 24 - ], - [ - 29219, - 24 - ], - [ - 29519, - 24 - ], - [ - 29819, - 24 - ], - [ - 30119, - 24 - ], - [ - 30419, - 24 - ], - [ - 30719, - 24 - ], - [ - 31019, - 24 - ], - [ - 31319, - 24 - ], - [ - 31619, - 24 - ], - [ - 31919, - 24 - ], - [ - 32219, - 24 - ], - [ - 32519, - 24 - ], - [ - 32819, - 24 - ], - [ - 33119, - 24 - ], - [ - 33419, - 24 - ], - [ - 33719, - 24 - ], - [ - 34019, - 24 - ], - [ - 34319, - 24 - ], - [ - 34619, - 24 - ], - [ - 34919, - 24 - ], - [ - 35219, - 24 - ], - [ - 35519, - 24 - ], - [ - 35819, - 24 - ], - [ - 36119, - 24 - ], - [ - 36419, - 24 - ], - [ - 36719, - 24 - ], - [ - 37019, - 24 - ], - [ - 37319, - 24 - ], - [ - 37619, - 24 - ], - [ - 37919, - 24 - ], - [ - 38219, - 24 - ], - [ - 38519, - 24 - ], - [ - 38819, - 24 - ], - [ - 39119, - 24 - ], - [ - 39419, - 24 - ], - [ - 39719, - 24 - ], - [ - 40019, - 24 - ], - [ - 40320, - 23 - ], - [ - 40620, - 23 - ], - [ - 40920, - 23 - ], - [ - 41220, - 23 - ], - [ - 41520, - 23 - ], - [ - 41820, - 23 - ], - [ - 42120, - 23 - ], - [ - 42420, - 23 - ], - [ - 42721, - 22 - ], - [ - 43021, - 22 - ], - [ - 43321, - 21 - ], - [ - 43622, - 20 - ] - ], - "point": [ - 130, - 116 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "AlarmClock|+01.08|+00.73|+01.07", - "placeStationary": true, - "receptacleObjectId": "Dresser|-00.09|+00.02|-01.72" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 57, - 83, - 289, - 201 - ], - "mask": [ - [ - 24671, - 156 - ], - [ - 24970, - 158 - ], - [ - 25270, - 159 - ], - [ - 25570, - 160 - ], - [ - 25869, - 162 - ], - [ - 26169, - 95 - ], - [ - 26279, - 54 - ], - [ - 26469, - 94 - ], - [ - 26580, - 54 - ], - [ - 26769, - 94 - ], - [ - 26880, - 55 - ], - [ - 27068, - 95 - ], - [ - 27180, - 56 - ], - [ - 27368, - 95 - ], - [ - 27480, - 56 - ], - [ - 27668, - 95 - ], - [ - 27780, - 54 - ], - [ - 27968, - 95 - ], - [ - 28080, - 53 - ], - [ - 28268, - 95 - ], - [ - 28380, - 53 - ], - [ - 28567, - 96 - ], - [ - 28681, - 51 - ], - [ - 28867, - 96 - ], - [ - 28981, - 50 - ], - [ - 29167, - 96 - ], - [ - 29281, - 49 - ], - [ - 29467, - 74 - ], - [ - 29546, - 17 - ], - [ - 29581, - 48 - ], - [ - 29767, - 67 - ], - [ - 29854, - 9 - ], - [ - 29881, - 48 - ], - [ - 30066, - 65 - ], - [ - 30157, - 6 - ], - [ - 30181, - 47 - ], - [ - 30366, - 62 - ], - [ - 30460, - 3 - ], - [ - 30481, - 46 - ], - [ - 30666, - 60 - ], - [ - 30762, - 1 - ], - [ - 30781, - 45 - ], - [ - 30966, - 58 - ], - [ - 31081, - 45 - ], - [ - 31266, - 57 - ], - [ - 31381, - 44 - ], - [ - 31565, - 57 - ], - [ - 31681, - 43 - ], - [ - 31775, - 2 - ], - [ - 31865, - 56 - ], - [ - 31981, - 43 - ], - [ - 32072, - 6 - ], - [ - 32165, - 55 - ], - [ - 32281, - 42 - ], - [ - 32372, - 6 - ], - [ - 32465, - 54 - ], - [ - 32582, - 41 - ], - [ - 32672, - 6 - ], - [ - 32765, - 53 - ], - [ - 32882, - 41 - ], - [ - 32972, - 7 - ], - [ - 33064, - 54 - ], - [ - 33182, - 41 - ], - [ - 33272, - 7 - ], - [ - 33364, - 53 - ], - [ - 33482, - 41 - ], - [ - 33572, - 7 - ], - [ - 33664, - 53 - ], - [ - 33782, - 41 - ], - [ - 33871, - 8 - ], - [ - 33964, - 53 - ], - [ - 34082, - 40 - ], - [ - 34171, - 9 - ], - [ - 34263, - 54 - ], - [ - 34382, - 40 - ], - [ - 34471, - 9 - ], - [ - 34563, - 54 - ], - [ - 34682, - 40 - ], - [ - 34771, - 9 - ], - [ - 34863, - 54 - ], - [ - 34981, - 42 - ], - [ - 35070, - 11 - ], - [ - 35163, - 53 - ], - [ - 35273, - 50 - ], - [ - 35370, - 11 - ], - [ - 35463, - 53 - ], - [ - 35578, - 45 - ], - [ - 35670, - 11 - ], - [ - 35762, - 54 - ], - [ - 35880, - 44 - ], - [ - 35969, - 13 - ], - [ - 36062, - 54 - ], - [ - 36182, - 42 - ], - [ - 36269, - 13 - ], - [ - 36362, - 54 - ], - [ - 36483, - 42 - ], - [ - 36569, - 13 - ], - [ - 36662, - 54 - ], - [ - 36784, - 41 - ], - [ - 36868, - 15 - ], - [ - 36962, - 54 - ], - [ - 37085, - 41 - ], - [ - 37168, - 15 - ], - [ - 37261, - 55 - ], - [ - 37385, - 42 - ], - [ - 37467, - 16 - ], - [ - 37561, - 55 - ], - [ - 37686, - 42 - ], - [ - 37767, - 17 - ], - [ - 37861, - 55 - ], - [ - 37986, - 43 - ], - [ - 38066, - 18 - ], - [ - 38161, - 55 - ], - [ - 38273, - 2 - ], - [ - 38286, - 44 - ], - [ - 38366, - 18 - ], - [ - 38461, - 55 - ], - [ - 38573, - 2 - ], - [ - 38587, - 44 - ], - [ - 38664, - 21 - ], - [ - 38760, - 56 - ], - [ - 38873, - 2 - ], - [ - 38887, - 45 - ], - [ - 38964, - 21 - ], - [ - 39060, - 55 - ], - [ - 39186, - 48 - ], - [ - 39262, - 23 - ], - [ - 39360, - 55 - ], - [ - 39486, - 50 - ], - [ - 39560, - 25 - ], - [ - 39660, - 55 - ], - [ - 39786, - 52 - ], - [ - 39859, - 27 - ], - [ - 39960, - 56 - ], - [ - 40085, - 56 - ], - [ - 40157, - 29 - ], - [ - 40259, - 57 - ], - [ - 40385, - 62 - ], - [ - 40451, - 35 - ], - [ - 40559, - 58 - ], - [ - 40684, - 103 - ], - [ - 40859, - 58 - ], - [ - 40983, - 104 - ], - [ - 41159, - 59 - ], - [ - 41281, - 106 - ], - [ - 41458, - 61 - ], - [ - 41580, - 108 - ], - [ - 41758, - 62 - ], - [ - 41869, - 3 - ], - [ - 41875, - 113 - ], - [ - 42058, - 63 - ], - [ - 42168, - 120 - ], - [ - 42358, - 65 - ], - [ - 42466, - 123 - ], - [ - 42658, - 66 - ], - [ - 42765, - 124 - ], - [ - 42957, - 69 - ], - [ - 43063, - 126 - ], - [ - 43257, - 233 - ], - [ - 43557, - 233 - ], - [ - 43857, - 233 - ], - [ - 44157, - 233 - ], - [ - 44458, - 231 - ], - [ - 44758, - 230 - ], - [ - 45059, - 228 - ], - [ - 45360, - 226 - ], - [ - 45662, - 221 - ], - [ - 45962, - 17 - ], - [ - 46167, - 15 - ], - [ - 46263, - 15 - ], - [ - 46468, - 13 - ], - [ - 46564, - 13 - ], - [ - 46768, - 13 - ], - [ - 46864, - 13 - ], - [ - 47068, - 12 - ], - [ - 47165, - 13 - ], - [ - 47368, - 11 - ], - [ - 47465, - 13 - ], - [ - 47667, - 11 - ], - [ - 47766, - 13 - ], - [ - 47966, - 11 - ], - [ - 48067, - 12 - ], - [ - 48265, - 11 - ], - [ - 48367, - 13 - ], - [ - 48564, - 11 - ], - [ - 48668, - 12 - ], - [ - 48864, - 10 - ], - [ - 48968, - 13 - ], - [ - 49163, - 10 - ], - [ - 49269, - 12 - ], - [ - 49462, - 10 - ], - [ - 49570, - 12 - ], - [ - 49761, - 11 - ], - [ - 49870, - 12 - ], - [ - 50060, - 11 - ], - [ - 50171, - 12 - ], - [ - 50359, - 11 - ], - [ - 50471, - 12 - ], - [ - 50659, - 10 - ], - [ - 50772, - 12 - ], - [ - 50958, - 10 - ], - [ - 51073, - 11 - ], - [ - 51257, - 10 - ], - [ - 51373, - 12 - ], - [ - 51556, - 10 - ], - [ - 51674, - 11 - ], - [ - 51855, - 10 - ], - [ - 51974, - 12 - ], - [ - 52154, - 10 - ], - [ - 52275, - 11 - ], - [ - 52454, - 9 - ], - [ - 52576, - 11 - ], - [ - 52753, - 9 - ], - [ - 52876, - 11 - ], - [ - 53052, - 10 - ], - [ - 53177, - 11 - ], - [ - 53351, - 10 - ], - [ - 53478, - 10 - ], - [ - 53650, - 10 - ], - [ - 53779, - 10 - ], - [ - 53949, - 10 - ], - [ - 54080, - 9 - ], - [ - 54249, - 9 - ], - [ - 54381, - 9 - ], - [ - 54548, - 9 - ], - [ - 54682, - 8 - ], - [ - 54847, - 9 - ], - [ - 54982, - 9 - ], - [ - 55146, - 9 - ], - [ - 55281, - 10 - ], - [ - 55445, - 9 - ], - [ - 55582, - 10 - ], - [ - 55745, - 8 - ], - [ - 55882, - 10 - ], - [ - 56044, - 9 - ], - [ - 56183, - 10 - ], - [ - 56343, - 9 - ], - [ - 56483, - 10 - ], - [ - 56642, - 9 - ], - [ - 56784, - 10 - ], - [ - 56941, - 9 - ], - [ - 57085, - 9 - ], - [ - 57240, - 9 - ], - [ - 57385, - 10 - ], - [ - 57540, - 8 - ], - [ - 57686, - 9 - ], - [ - 57839, - 8 - ], - [ - 57986, - 7 - ], - [ - 58138, - 8 - ], - [ - 58287, - 3 - ], - [ - 58437, - 8 - ], - [ - 58736, - 8 - ], - [ - 59035, - 9 - ], - [ - 59335, - 8 - ], - [ - 59634, - 8 - ], - [ - 59933, - 8 - ], - [ - 60232, - 8 - ] - ], - "point": [ - 173, - 141 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan305", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 180, - "x": 0.25, - "y": 0.9009992, - "z": -1.25 - }, - "object_poses": [ - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.08474612, - "y": 0.729115367, - "z": 1.23166156 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": -0.09598863, - "y": 0.6898067, - "z": -1.61652458 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.08474612, - "y": 0.7286067, - "z": 1.56216073 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.22037852, - "y": 0.7346528, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.278754, - "y": 1.14447808, - "z": 0.9336369 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": 1.42382717, - "y": 0.728996, - "z": 1.72741032 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.34199977, - "y": 1.139661, - "z": 1.55879521 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.08474612, - "y": 0.7294924, - "z": 1.066412 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.35601091, - "y": 0.7294924, - "z": 1.23166156 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 1.08003473, - "y": 0.7768329, - "z": -0.714678645 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.704930544, - "y": 0.7768329, - "z": -0.988803744 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_c9952d21", - "position": { - "x": 1.145, - "y": 0.721387863, - "z": 1.806 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_47df7aa6", - "position": { - "x": -1.233, - "y": 0.263, - "z": -1.435 - }, - "rotation": { - "x": 0.0, - "y": 312.675659, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_20edeeec", - "position": { - "x": -0.09598863, - "y": 0.696620166, - "z": -1.74973834 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BaseballBat_ceb35658", - "position": { - "x": -1.717, - "y": 0.708, - "z": -0.6771616 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 12.0453711 - } - }, - { - "objectName": "Bowl_400f92ab", - "position": { - "x": 1.28819478, - "y": 0.729115367, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "BasketBall_93ff39a6", - "position": { - "x": -1.64, - "y": 0.1274, - "z": -1.652 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_ad1506cf", - "position": { - "x": 0.8299653, - "y": 0.7768329, - "z": 0.107696474 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_d7eb5187", - "position": { - "x": -0.09400001, - "y": 0.388337255, - "z": -1.64055753 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_d0be3ae7", - "position": { - "x": 1.40524662, - "y": 1.139661, - "z": 1.2462163 - }, - "rotation": { - "x": 0.0, - "y": 269.999939, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_e9abe4e3", - "position": { - "x": 1.08474612, - "y": 0.7294924, - "z": 1.39691114 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_a35ce977", - "position": { - "x": 1.098079, - "y": 0.07892104, - "z": 1.59514642 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1574a200", - "position": { - "x": 0.8728, - "y": 0.816, - "z": -1.513 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_15fd1764", - "position": { - "x": 1.134, - "y": 0.07714022, - "z": 0.564614058 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_93147e8a", - "position": { - "x": 1.13579464, - "y": 0.3216827, - "z": 1.66630054 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_fa34f539", - "position": { - "x": 1.40524685, - "y": 1.1368252, - "z": 0.933637142 - }, - "rotation": { - "x": 0.0, - "y": -4.43962235e-05, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 653695182, - "scene_num": 305 - }, - "task_id": "trial_T20190907_165826_194855", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A3PPLDHC3CG0YN_3KRVW3HTZQ2MNQJVMCC5RUALCYXMSN", - "high_descs": [ - "Turn around and walk to the desk to the right of the door. ", - "Pick up the alarm clock to the right of the compact disc on the desk.", - "Turn left and walk to the night stand to the right of the bed. ", - "Place the alarm clock on the front edge of the night stand and to the left of the compact disc on the desk. ", - "Turn around and walk back to the desk to the right of the door. ", - "Pick up the alarm clock on the right side from the desk. ", - "Turn and walk back to the night stand to the right of the bed. ", - "Put the alarm clock down on the night stand and to the right of the first alarm clock. " - ], - "task_desc": "Move two alarm clocks from the desk to the night stand. ", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3UOUJI6MTGVDWFA3PO9EHC874WLUX8", - "high_descs": [ - "Move to the desk at the foot of the bed", - "Pick up a clock from the desk", - "Move to the end table to the right of the bed", - "Place the clock on the end table", - "Move to the desk at the foot of the bed", - "Pick up a clock from the desk", - "Move to the end table to the right of the bed", - "Place the clock on the end table" - ], - "task_desc": "Move two clocks from the desk to the end table.", - "votes": [ - 1, - 1, - 1 - ] - }, - { - "assignment_id": "AKW57KYG90X61_3PEIJLRY6WAQOJZ8KOOFZ0T4PDJWXY", - "high_descs": [ - "turn around and locate the table", - "pick up the clock from the table", - "turn right and head towards the bed table", - "drop the clock on the table", - "turn around and head for the table", - "pick another clock from the table", - "turn right and head towards the bed table", - "drop the clock on the bed table" - ], - "task_desc": "drop two clocks by the bed", - "votes": [ - 1, - 0, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/valid_seen/pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201917_045715/traj_data.json b/data/json_2.1.0/valid_seen/pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201917_045715/traj_data.json deleted file mode 100644 index 50f58f3c9..000000000 --- a/data/json_2.1.0/valid_seen/pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201917_045715/traj_data.json +++ /dev/null @@ -1,7271 +0,0 @@ -{ - "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": 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": 11 - }, - { - "high_idx": 0, - "image_name": "000000050.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000051.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000052.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000053.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 11 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 11 - }, - { - "high_idx": 1, - "image_name": "000000060.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000061.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000062.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000063.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000064.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000065.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000066.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000067.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000068.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000069.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000070.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000071.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000072.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "image_name": "000000073.png", - "low_idx": 12 - }, - { - "high_idx": 1, - "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": 13 - }, - { - "high_idx": 2, - "image_name": "000000078.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000079.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000080.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000081.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000082.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000083.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000084.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000085.png", - "low_idx": 13 - }, - { - "high_idx": 2, - "image_name": "000000086.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000087.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000088.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000089.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000090.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000091.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000092.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000093.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000094.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "image_name": "000000095.png", - "low_idx": 14 - }, - { - "high_idx": 2, - "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": 17 - }, - { - "high_idx": 2, - "image_name": "000000111.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000112.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000113.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000114.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000115.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000116.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000117.png", - "low_idx": 17 - }, - { - "high_idx": 2, - "image_name": "000000118.png", - "low_idx": 17 - }, - { - "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": 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": 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": 28 - }, - { - "high_idx": 2, - "image_name": "000000144.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000145.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000146.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000147.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000148.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000149.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 28 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 29 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 29 - }, - { - "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": 30 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000159.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000160.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000161.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 30 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 30 - }, - { - "high_idx": 3, - "image_name": "000000165.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000166.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000167.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000168.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000169.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000170.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000171.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000172.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000173.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000174.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000175.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000176.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000177.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000178.png", - "low_idx": 31 - }, - { - "high_idx": 3, - "image_name": "000000179.png", - "low_idx": 31 - }, - { - "high_idx": 4, - "image_name": "000000180.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000181.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000182.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000183.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000184.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000185.png", - "low_idx": 32 - }, - { - "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": 32 - }, - { - "high_idx": 4, - "image_name": "000000189.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000190.png", - "low_idx": 32 - }, - { - "high_idx": 4, - "image_name": "000000191.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000192.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000193.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000194.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000195.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000196.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000197.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000198.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000199.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000200.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000201.png", - "low_idx": 33 - }, - { - "high_idx": 4, - "image_name": "000000202.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000203.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000204.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000205.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000206.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000207.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000208.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000209.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000210.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000211.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000212.png", - "low_idx": 34 - }, - { - "high_idx": 4, - "image_name": "000000213.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000214.png", - "low_idx": 35 - }, - { - "high_idx": 4, - "image_name": "000000215.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000216.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000217.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000218.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000219.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000220.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000221.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000222.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000223.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000224.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000225.png", - "low_idx": 36 - }, - { - "high_idx": 4, - "image_name": "000000226.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000227.png", - "low_idx": 37 - }, - { - "high_idx": 4, - "image_name": "000000228.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000229.png", - "low_idx": 38 - }, - { - "high_idx": 4, - "image_name": "000000230.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000231.png", - "low_idx": 39 - }, - { - "high_idx": 4, - "image_name": "000000232.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000233.png", - "low_idx": 40 - }, - { - "high_idx": 4, - "image_name": "000000234.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000235.png", - "low_idx": 41 - }, - { - "high_idx": 4, - "image_name": "000000236.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000237.png", - "low_idx": 42 - }, - { - "high_idx": 4, - "image_name": "000000238.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000239.png", - "low_idx": 43 - }, - { - "high_idx": 4, - "image_name": "000000240.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000241.png", - "low_idx": 44 - }, - { - "high_idx": 4, - "image_name": "000000242.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000243.png", - "low_idx": 45 - }, - { - "high_idx": 4, - "image_name": "000000244.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000245.png", - "low_idx": 46 - }, - { - "high_idx": 4, - "image_name": "000000246.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000247.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000248.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000249.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000250.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000251.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000252.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000253.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000254.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000255.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000256.png", - "low_idx": 47 - }, - { - "high_idx": 4, - "image_name": "000000257.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000258.png", - "low_idx": 48 - }, - { - "high_idx": 4, - "image_name": "000000259.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000260.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000261.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000262.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000263.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000264.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000265.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000266.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000267.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000268.png", - "low_idx": 49 - }, - { - "high_idx": 4, - "image_name": "000000269.png", - "low_idx": 49 - }, - { - "high_idx": 5, - "image_name": "000000270.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000271.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000272.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000273.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000274.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000275.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000276.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000277.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000278.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000279.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000280.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000281.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000282.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000283.png", - "low_idx": 50 - }, - { - "high_idx": 5, - "image_name": "000000284.png", - "low_idx": 50 - }, - { - "high_idx": 6, - "image_name": "000000285.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000286.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000287.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000288.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000289.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000290.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000291.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000292.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000293.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000294.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000295.png", - "low_idx": 51 - }, - { - "high_idx": 6, - "image_name": "000000296.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000297.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000298.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000299.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000300.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000301.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000302.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000303.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000304.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000305.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000306.png", - "low_idx": 52 - }, - { - "high_idx": 6, - "image_name": "000000307.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000308.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000309.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000310.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000311.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000312.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000313.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000314.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000315.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000316.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000317.png", - "low_idx": 53 - }, - { - "high_idx": 6, - "image_name": "000000318.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000319.png", - "low_idx": 54 - }, - { - "high_idx": 6, - "image_name": "000000320.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000321.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000322.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000323.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000324.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000325.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000326.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000327.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000328.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000329.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000330.png", - "low_idx": 55 - }, - { - "high_idx": 6, - "image_name": "000000331.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000332.png", - "low_idx": 56 - }, - { - "high_idx": 6, - "image_name": "000000333.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000334.png", - "low_idx": 57 - }, - { - "high_idx": 6, - "image_name": "000000335.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000336.png", - "low_idx": 58 - }, - { - "high_idx": 6, - "image_name": "000000337.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000338.png", - "low_idx": 59 - }, - { - "high_idx": 6, - "image_name": "000000339.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000340.png", - "low_idx": 60 - }, - { - "high_idx": 6, - "image_name": "000000341.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000342.png", - "low_idx": 61 - }, - { - "high_idx": 6, - "image_name": "000000343.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000344.png", - "low_idx": 62 - }, - { - "high_idx": 6, - "image_name": "000000345.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000346.png", - "low_idx": 63 - }, - { - "high_idx": 6, - "image_name": "000000347.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000348.png", - "low_idx": 64 - }, - { - "high_idx": 6, - "image_name": "000000349.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000350.png", - "low_idx": 65 - }, - { - "high_idx": 6, - "image_name": "000000351.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000352.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000353.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000354.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000355.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000356.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000357.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000358.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000359.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000360.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000361.png", - "low_idx": 66 - }, - { - "high_idx": 6, - "image_name": "000000362.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000363.png", - "low_idx": 67 - }, - { - "high_idx": 6, - "image_name": "000000364.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000365.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000366.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000367.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000368.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000369.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000370.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000371.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000372.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000373.png", - "low_idx": 68 - }, - { - "high_idx": 6, - "image_name": "000000374.png", - "low_idx": 68 - }, - { - "high_idx": 7, - "image_name": "000000375.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000376.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000377.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000378.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000379.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000380.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000381.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000382.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000383.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000384.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000385.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000386.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000387.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000388.png", - "low_idx": 69 - }, - { - "high_idx": 7, - "image_name": "000000389.png", - "low_idx": 69 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "CreditCard", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 9.98604964, - 9.98604964, - -6.63968564, - -6.63968564, - 2.9777344, - 2.9777344 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.50|+00.74|-01.66" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 9.98604964, - 9.98604964, - -6.63968564, - -6.63968564, - 2.9777344, - 2.9777344 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.50|+00.74|-01.66", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "sidetable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|-7|1|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "creditcard" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "CreditCard", - [ - 10.3801298, - 10.3801298, - -6.92728712, - -6.92728712, - 2.9834716, - 2.9834716 - ] - ], - "coordinateReceptacleObjectId": [ - "SideTable", - [ - 10.264, - 10.264, - -6.14, - -6.14, - 0.036, - 0.036 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.60|+00.75|-01.73" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|8|3|1|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "creditcard", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "CreditCard", - [ - 10.3801298, - 10.3801298, - -6.92728712, - -6.92728712, - 2.9834716, - 2.9834716 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - 10.212, - 10.212, - 2.496, - 2.496, - 2.288, - 2.288 - ] - ], - "forceVisible": true, - "objectId": "CreditCard|+02.60|+00.75|-01.73", - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - } - }, - { - "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+02.50|+00.74|-01.66" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 118, - 139, - 132, - 157 - ], - "mask": [ - [ - 41519, - 14 - ], - [ - 41819, - 14 - ], - [ - 42119, - 14 - ], - [ - 42419, - 14 - ], - [ - 42719, - 14 - ], - [ - 43019, - 14 - ], - [ - 43319, - 14 - ], - [ - 43619, - 14 - ], - [ - 43919, - 14 - ], - [ - 44219, - 14 - ], - [ - 44519, - 14 - ], - [ - 44819, - 14 - ], - [ - 45119, - 14 - ], - [ - 45419, - 14 - ], - [ - 45718, - 15 - ], - [ - 46018, - 15 - ], - [ - 46318, - 15 - ], - [ - 46618, - 15 - ], - [ - 46918, - 15 - ] - ], - "point": [ - 125, - 147 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+02.50|+00.74|-01.66", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 31 - ], - [ - 19950, - 36 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 31 - ], - [ - 20250, - 93 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 31 - ], - [ - 20550, - 93 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 30 - ], - [ - 20850, - 93 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 30 - ], - [ - 21150, - 92 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 29 - ], - [ - 21450, - 92 - ], - [ - 21561, - 39 - ], - [ - 21651, - 32 - ], - [ - 21684, - 19 - ], - [ - 21719, - 29 - ], - [ - 21750, - 92 - ], - [ - 21860, - 40 - ], - [ - 21950, - 32 - ], - [ - 21984, - 20 - ], - [ - 22020, - 28 - ], - [ - 22050, - 92 - ], - [ - 22160, - 40 - ], - [ - 22250, - 32 - ], - [ - 22284, - 20 - ], - [ - 22320, - 28 - ], - [ - 22350, - 91 - ], - [ - 22460, - 40 - ], - [ - 22550, - 31 - ], - [ - 22584, - 21 - ], - [ - 22620, - 28 - ], - [ - 22650, - 91 - ], - [ - 22760, - 40 - ], - [ - 22849, - 32 - ], - [ - 22884, - 21 - ], - [ - 22921, - 27 - ], - [ - 22950, - 91 - ], - [ - 23059, - 41 - ], - [ - 23149, - 32 - ], - [ - 23183, - 23 - ], - [ - 23222, - 26 - ], - [ - 23250, - 90 - ], - [ - 23359, - 41 - ], - [ - 23449, - 32 - ], - [ - 23483, - 23 - ], - [ - 23522, - 26 - ], - [ - 23550, - 90 - ], - [ - 23659, - 41 - ], - [ - 23749, - 32 - ], - [ - 23783, - 23 - ], - [ - 23823, - 25 - ], - [ - 23850, - 89 - ], - [ - 23959, - 41 - ], - [ - 24048, - 33 - ], - [ - 24083, - 24 - ], - [ - 24124, - 24 - ], - [ - 24150, - 88 - ], - [ - 24258, - 42 - ], - [ - 24348, - 32 - ], - [ - 24383, - 24 - ], - [ - 24425, - 23 - ], - [ - 24450, - 88 - ], - [ - 24558, - 42 - ], - [ - 24648, - 32 - ], - [ - 24683, - 25 - ], - [ - 24726, - 22 - ], - [ - 24750, - 87 - ], - [ - 24857, - 43 - ], - [ - 24948, - 32 - ], - [ - 24982, - 27 - ], - [ - 25027, - 21 - ], - [ - 25050, - 86 - ], - [ - 25156, - 44 - ], - [ - 25247, - 33 - ], - [ - 25282, - 27 - ], - [ - 25328, - 20 - ], - [ - 25350, - 85 - ], - [ - 25456, - 44 - ], - [ - 25547, - 33 - ], - [ - 25582, - 28 - ], - [ - 25629, - 19 - ], - [ - 25650, - 84 - ], - [ - 25755, - 45 - ], - [ - 25847, - 32 - ], - [ - 25882, - 29 - ], - [ - 25930, - 18 - ], - [ - 25950, - 83 - ], - [ - 26055, - 45 - ], - [ - 26147, - 32 - ], - [ - 26182, - 29 - ], - [ - 26231, - 17 - ], - [ - 26250, - 82 - ], - [ - 26354, - 46 - ], - [ - 26446, - 33 - ], - [ - 26482, - 30 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 33 - ], - [ - 26781, - 32 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 33 - ], - [ - 27081, - 33 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 34 - ], - [ - 27381, - 34 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 33 - ], - [ - 27681, - 35 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 33 - ], - [ - 27981, - 36 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 33 - ], - [ - 28280, - 38 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 34 - ], - [ - 28580, - 39 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 34 - ], - [ - 28880, - 40 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 33 - ], - [ - 29180, - 42 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 33 - ], - [ - 29480, - 43 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 33 - ], - [ - 29780, - 44 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 33 - ], - [ - 30079, - 47 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 33 - ], - [ - 30379, - 48 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 33 - ], - [ - 30679, - 50 - ], - [ - 30764, - 23 - ], - [ - 30788, - 15 - ], - [ - 30839, - 61 - ], - [ - 30942, - 34 - ], - [ - 30979, - 51 - ], - [ - 31069, - 17 - ], - [ - 31088, - 10 - ], - [ - 31137, - 63 - ], - [ - 31242, - 34 - ], - [ - 31279, - 53 - ], - [ - 31436, - 64 - ], - [ - 31542, - 33 - ], - [ - 31579, - 55 - ], - [ - 31734, - 66 - ], - [ - 31841, - 35 - ], - [ - 31878, - 58 - ], - [ - 32032, - 68 - ], - [ - 32141, - 35 - ], - [ - 32177, - 60 - ], - [ - 32331, - 69 - ], - [ - 32441, - 35 - ], - [ - 32477, - 62 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 149 - ], - [ - 35589, - 69 - ], - [ - 35662, - 38 - ], - [ - 35738, - 149 - ], - [ - 35889, - 66 - ], - [ - 35957, - 5 - ], - [ - 35964, - 36 - ], - [ - 36038, - 149 - ], - [ - 36189, - 66 - ], - [ - 36256, - 7 - ], - [ - 36265, - 35 - ], - [ - 36337, - 150 - ], - [ - 36489, - 67 - ], - [ - 36557, - 7 - ], - [ - 36565, - 35 - ], - [ - 36637, - 150 - ], - [ - 36789, - 67 - ], - [ - 36857, - 7 - ], - [ - 36865, - 35 - ], - [ - 36937, - 150 - ], - [ - 37089, - 60 - ], - [ - 37154, - 10 - ], - [ - 37165, - 35 - ], - [ - 37237, - 150 - ], - [ - 37389, - 59 - ], - [ - 37456, - 1 - ], - [ - 37458, - 6 - ], - [ - 37465, - 35 - ], - [ - 37536, - 151 - ], - [ - 37689, - 59 - ], - [ - 37757, - 7 - ], - [ - 37765, - 35 - ], - [ - 37836, - 151 - ], - [ - 37989, - 59 - ], - [ - 38059, - 3 - ], - [ - 38065, - 35 - ], - [ - 38136, - 151 - ], - [ - 38289, - 59 - ], - [ - 38362, - 2 - ], - [ - 38366, - 34 - ], - [ - 38436, - 151 - ], - [ - 38589, - 60 - ], - [ - 38657, - 2 - ], - [ - 38666, - 34 - ], - [ - 38735, - 152 - ], - [ - 38889, - 61 - ], - [ - 38956, - 4 - ], - [ - 38963, - 3 - ], - [ - 38967, - 33 - ], - [ - 39035, - 152 - ], - [ - 39189, - 63 - ], - [ - 39255, - 5 - ], - [ - 39262, - 2 - ], - [ - 39266, - 34 - ], - [ - 39335, - 152 - ], - [ - 39490, - 70 - ], - [ - 39567, - 33 - ], - [ - 39635, - 152 - ], - [ - 39790, - 74 - ], - [ - 39869, - 31 - ], - [ - 39934, - 153 - ], - [ - 40090, - 71 - ], - [ - 40170, - 30 - ], - [ - 40234, - 153 - ], - [ - 40390, - 74 - ], - [ - 40470, - 30 - ], - [ - 40534, - 153 - ], - [ - 40690, - 74 - ], - [ - 40769, - 31 - ], - [ - 40833, - 154 - ], - [ - 40990, - 74 - ], - [ - 41065, - 1 - ], - [ - 41070, - 30 - ], - [ - 41133, - 154 - ], - [ - 41290, - 73 - ], - [ - 41364, - 3 - ], - [ - 41370, - 30 - ], - [ - 41433, - 154 - ], - [ - 41590, - 72 - ], - [ - 41664, - 4 - ], - [ - 41671, - 29 - ], - [ - 41733, - 154 - ], - [ - 41890, - 67 - ], - [ - 41963, - 6 - ], - [ - 41971, - 29 - ], - [ - 42032, - 156 - ], - [ - 42190, - 66 - ], - [ - 42262, - 7 - ], - [ - 42272, - 28 - ], - [ - 42332, - 156 - ], - [ - 42490, - 66 - ], - [ - 42562, - 8 - ], - [ - 42573, - 27 - ], - [ - 42632, - 156 - ], - [ - 42790, - 67 - ], - [ - 42862, - 8 - ], - [ - 42872, - 28 - ], - [ - 42932, - 156 - ], - [ - 43090, - 66 - ], - [ - 43162, - 38 - ], - [ - 43231, - 157 - ], - [ - 43390, - 66 - ], - [ - 43459, - 41 - ], - [ - 43531, - 157 - ], - [ - 43689, - 66 - ], - [ - 43758, - 42 - ], - [ - 43831, - 224 - ], - [ - 44058, - 42 - ], - [ - 44131, - 223 - ], - [ - 44357, - 43 - ], - [ - 44430, - 224 - ], - [ - 44657, - 43 - ], - [ - 44730, - 225 - ], - [ - 44956, - 44 - ], - [ - 45030, - 270 - ], - [ - 45329, - 271 - ], - [ - 45629, - 271 - ], - [ - 45929, - 271 - ], - [ - 46229, - 271 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 4 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "CreditCard|+02.60|+00.75|-01.73" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 138, - 118, - 151, - 134 - ], - "mask": [ - [ - 35239, - 13 - ], - [ - 35539, - 13 - ], - [ - 35839, - 13 - ], - [ - 36139, - 13 - ], - [ - 36439, - 13 - ], - [ - 36739, - 13 - ], - [ - 37039, - 13 - ], - [ - 37339, - 13 - ], - [ - 37639, - 13 - ], - [ - 37939, - 13 - ], - [ - 38239, - 13 - ], - [ - 38539, - 13 - ], - [ - 38838, - 14 - ], - [ - 39138, - 14 - ], - [ - 39438, - 14 - ], - [ - 39738, - 14 - ], - [ - 40038, - 14 - ] - ], - "point": [ - 144, - 125 - ] - } - }, - "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "CreditCard|+02.60|+00.75|-01.73", - "placeStationary": true, - "receptacleObjectId": "Dresser|+02.55|+00.57|+00.62" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 26, - 61, - 299, - 228 - ], - "mask": [ - [ - 18054, - 6 - ], - [ - 18353, - 18 - ], - [ - 18653, - 28 - ], - [ - 18894, - 6 - ], - [ - 18953, - 45 - ], - [ - 19176, - 24 - ], - [ - 19253, - 49 - ], - [ - 19316, - 4 - ], - [ - 19461, - 39 - ], - [ - 19552, - 50 - ], - [ - 19617, - 30 - ], - [ - 19727, - 16 - ], - [ - 19761, - 39 - ], - [ - 19852, - 50 - ], - [ - 19917, - 31 - ], - [ - 19950, - 36 - ], - [ - 19988, - 55 - ], - [ - 20061, - 39 - ], - [ - 20152, - 51 - ], - [ - 20217, - 31 - ], - [ - 20250, - 93 - ], - [ - 20361, - 39 - ], - [ - 20452, - 51 - ], - [ - 20517, - 31 - ], - [ - 20550, - 93 - ], - [ - 20661, - 39 - ], - [ - 20751, - 52 - ], - [ - 20818, - 30 - ], - [ - 20850, - 93 - ], - [ - 20961, - 39 - ], - [ - 21051, - 52 - ], - [ - 21118, - 30 - ], - [ - 21150, - 92 - ], - [ - 21261, - 39 - ], - [ - 21351, - 52 - ], - [ - 21419, - 29 - ], - [ - 21450, - 92 - ], - [ - 21561, - 39 - ], - [ - 21651, - 32 - ], - [ - 21684, - 19 - ], - [ - 21719, - 29 - ], - [ - 21750, - 92 - ], - [ - 21860, - 40 - ], - [ - 21950, - 32 - ], - [ - 21984, - 20 - ], - [ - 22020, - 28 - ], - [ - 22050, - 92 - ], - [ - 22160, - 40 - ], - [ - 22250, - 32 - ], - [ - 22284, - 20 - ], - [ - 22320, - 28 - ], - [ - 22350, - 91 - ], - [ - 22460, - 40 - ], - [ - 22550, - 31 - ], - [ - 22584, - 21 - ], - [ - 22620, - 28 - ], - [ - 22650, - 91 - ], - [ - 22760, - 40 - ], - [ - 22849, - 32 - ], - [ - 22884, - 21 - ], - [ - 22921, - 27 - ], - [ - 22950, - 91 - ], - [ - 23059, - 41 - ], - [ - 23149, - 32 - ], - [ - 23183, - 23 - ], - [ - 23222, - 26 - ], - [ - 23250, - 90 - ], - [ - 23359, - 41 - ], - [ - 23449, - 32 - ], - [ - 23483, - 23 - ], - [ - 23522, - 26 - ], - [ - 23550, - 90 - ], - [ - 23659, - 41 - ], - [ - 23749, - 32 - ], - [ - 23783, - 23 - ], - [ - 23823, - 25 - ], - [ - 23850, - 89 - ], - [ - 23959, - 41 - ], - [ - 24048, - 33 - ], - [ - 24083, - 24 - ], - [ - 24124, - 24 - ], - [ - 24150, - 88 - ], - [ - 24258, - 42 - ], - [ - 24348, - 32 - ], - [ - 24383, - 24 - ], - [ - 24425, - 23 - ], - [ - 24450, - 88 - ], - [ - 24558, - 42 - ], - [ - 24648, - 32 - ], - [ - 24683, - 25 - ], - [ - 24726, - 22 - ], - [ - 24750, - 87 - ], - [ - 24857, - 43 - ], - [ - 24948, - 32 - ], - [ - 24982, - 27 - ], - [ - 25027, - 21 - ], - [ - 25050, - 86 - ], - [ - 25156, - 44 - ], - [ - 25247, - 33 - ], - [ - 25282, - 27 - ], - [ - 25328, - 20 - ], - [ - 25350, - 85 - ], - [ - 25456, - 44 - ], - [ - 25547, - 33 - ], - [ - 25582, - 28 - ], - [ - 25629, - 19 - ], - [ - 25650, - 84 - ], - [ - 25755, - 45 - ], - [ - 25847, - 32 - ], - [ - 25882, - 29 - ], - [ - 25930, - 18 - ], - [ - 25950, - 83 - ], - [ - 26055, - 45 - ], - [ - 26147, - 32 - ], - [ - 26182, - 29 - ], - [ - 26231, - 17 - ], - [ - 26250, - 82 - ], - [ - 26354, - 46 - ], - [ - 26446, - 33 - ], - [ - 26482, - 30 - ], - [ - 26532, - 99 - ], - [ - 26653, - 47 - ], - [ - 26746, - 33 - ], - [ - 26781, - 32 - ], - [ - 26834, - 96 - ], - [ - 26953, - 47 - ], - [ - 27046, - 33 - ], - [ - 27081, - 33 - ], - [ - 27135, - 94 - ], - [ - 27252, - 48 - ], - [ - 27345, - 34 - ], - [ - 27381, - 34 - ], - [ - 27437, - 91 - ], - [ - 27551, - 49 - ], - [ - 27645, - 33 - ], - [ - 27681, - 35 - ], - [ - 27738, - 88 - ], - [ - 27850, - 50 - ], - [ - 27945, - 33 - ], - [ - 27981, - 36 - ], - [ - 28040, - 84 - ], - [ - 28149, - 51 - ], - [ - 28245, - 33 - ], - [ - 28280, - 38 - ], - [ - 28342, - 81 - ], - [ - 28448, - 52 - ], - [ - 28544, - 34 - ], - [ - 28580, - 39 - ], - [ - 28644, - 77 - ], - [ - 28748, - 52 - ], - [ - 28844, - 34 - ], - [ - 28880, - 40 - ], - [ - 28946, - 73 - ], - [ - 29046, - 54 - ], - [ - 29144, - 33 - ], - [ - 29180, - 42 - ], - [ - 29248, - 70 - ], - [ - 29345, - 55 - ], - [ - 29444, - 33 - ], - [ - 29480, - 43 - ], - [ - 29550, - 65 - ], - [ - 29644, - 56 - ], - [ - 29743, - 33 - ], - [ - 29780, - 44 - ], - [ - 29853, - 60 - ], - [ - 29943, - 57 - ], - [ - 30043, - 33 - ], - [ - 30079, - 47 - ], - [ - 30156, - 54 - ], - [ - 30242, - 58 - ], - [ - 30343, - 33 - ], - [ - 30379, - 48 - ], - [ - 30460, - 46 - ], - [ - 30540, - 60 - ], - [ - 30643, - 33 - ], - [ - 30679, - 50 - ], - [ - 30764, - 23 - ], - [ - 30788, - 15 - ], - [ - 30839, - 61 - ], - [ - 30942, - 34 - ], - [ - 30979, - 51 - ], - [ - 31069, - 17 - ], - [ - 31088, - 10 - ], - [ - 31137, - 63 - ], - [ - 31242, - 34 - ], - [ - 31279, - 53 - ], - [ - 31436, - 64 - ], - [ - 31542, - 33 - ], - [ - 31579, - 55 - ], - [ - 31734, - 66 - ], - [ - 31841, - 35 - ], - [ - 31878, - 58 - ], - [ - 32032, - 68 - ], - [ - 32141, - 35 - ], - [ - 32177, - 60 - ], - [ - 32331, - 69 - ], - [ - 32441, - 35 - ], - [ - 32477, - 62 - ], - [ - 32628, - 72 - ], - [ - 32741, - 101 - ], - [ - 32926, - 74 - ], - [ - 33040, - 104 - ], - [ - 33224, - 76 - ], - [ - 33340, - 107 - ], - [ - 33522, - 78 - ], - [ - 33640, - 109 - ], - [ - 33819, - 81 - ], - [ - 33940, - 113 - ], - [ - 34116, - 84 - ], - [ - 34239, - 117 - ], - [ - 34412, - 88 - ], - [ - 34539, - 121 - ], - [ - 34708, - 92 - ], - [ - 34839, - 127 - ], - [ - 35002, - 98 - ], - [ - 35139, - 135 - ], - [ - 35294, - 106 - ], - [ - 35438, - 149 - ], - [ - 35589, - 69 - ], - [ - 35662, - 38 - ], - [ - 35738, - 149 - ], - [ - 35889, - 66 - ], - [ - 35957, - 5 - ], - [ - 35964, - 36 - ], - [ - 36038, - 149 - ], - [ - 36189, - 66 - ], - [ - 36256, - 7 - ], - [ - 36265, - 35 - ], - [ - 36337, - 150 - ], - [ - 36489, - 67 - ], - [ - 36557, - 7 - ], - [ - 36565, - 35 - ], - [ - 36637, - 150 - ], - [ - 36789, - 67 - ], - [ - 36857, - 7 - ], - [ - 36865, - 35 - ], - [ - 36937, - 150 - ], - [ - 37089, - 60 - ], - [ - 37154, - 10 - ], - [ - 37165, - 35 - ], - [ - 37237, - 150 - ], - [ - 37389, - 59 - ], - [ - 37456, - 1 - ], - [ - 37458, - 6 - ], - [ - 37465, - 35 - ], - [ - 37536, - 151 - ], - [ - 37689, - 59 - ], - [ - 37757, - 7 - ], - [ - 37765, - 35 - ], - [ - 37836, - 151 - ], - [ - 37989, - 59 - ], - [ - 38059, - 3 - ], - [ - 38065, - 35 - ], - [ - 38136, - 151 - ], - [ - 38289, - 59 - ], - [ - 38362, - 2 - ], - [ - 38366, - 34 - ], - [ - 38436, - 151 - ], - [ - 38589, - 60 - ], - [ - 38657, - 2 - ], - [ - 38666, - 34 - ], - [ - 38735, - 152 - ], - [ - 38889, - 61 - ], - [ - 38956, - 4 - ], - [ - 38963, - 3 - ], - [ - 38967, - 33 - ], - [ - 39035, - 152 - ], - [ - 39189, - 63 - ], - [ - 39255, - 5 - ], - [ - 39262, - 2 - ], - [ - 39266, - 34 - ], - [ - 39335, - 152 - ], - [ - 39490, - 70 - ], - [ - 39567, - 33 - ], - [ - 39635, - 152 - ], - [ - 39790, - 74 - ], - [ - 39869, - 31 - ], - [ - 39934, - 153 - ], - [ - 40090, - 71 - ], - [ - 40170, - 30 - ], - [ - 40234, - 107 - ], - [ - 40356, - 31 - ], - [ - 40390, - 74 - ], - [ - 40470, - 30 - ], - [ - 40534, - 107 - ], - [ - 40656, - 31 - ], - [ - 40690, - 74 - ], - [ - 40769, - 31 - ], - [ - 40833, - 108 - ], - [ - 40956, - 31 - ], - [ - 40990, - 74 - ], - [ - 41065, - 1 - ], - [ - 41070, - 30 - ], - [ - 41133, - 108 - ], - [ - 41256, - 31 - ], - [ - 41290, - 73 - ], - [ - 41364, - 3 - ], - [ - 41370, - 30 - ], - [ - 41433, - 108 - ], - [ - 41556, - 31 - ], - [ - 41590, - 72 - ], - [ - 41664, - 4 - ], - [ - 41671, - 29 - ], - [ - 41733, - 108 - ], - [ - 41856, - 31 - ], - [ - 41890, - 67 - ], - [ - 41963, - 6 - ], - [ - 41971, - 29 - ], - [ - 42032, - 109 - ], - [ - 42156, - 32 - ], - [ - 42190, - 66 - ], - [ - 42262, - 7 - ], - [ - 42272, - 28 - ], - [ - 42332, - 109 - ], - [ - 42456, - 32 - ], - [ - 42490, - 66 - ], - [ - 42562, - 8 - ], - [ - 42573, - 27 - ], - [ - 42632, - 108 - ], - [ - 42756, - 32 - ], - [ - 42790, - 67 - ], - [ - 42862, - 8 - ], - [ - 42872, - 28 - ], - [ - 42932, - 108 - ], - [ - 43056, - 32 - ], - [ - 43090, - 66 - ], - [ - 43162, - 38 - ], - [ - 43231, - 109 - ], - [ - 43356, - 32 - ], - [ - 43390, - 66 - ], - [ - 43459, - 41 - ], - [ - 43531, - 109 - ], - [ - 43656, - 32 - ], - [ - 43689, - 66 - ], - [ - 43758, - 42 - ], - [ - 43831, - 109 - ], - [ - 43956, - 99 - ], - [ - 44058, - 42 - ], - [ - 44131, - 109 - ], - [ - 44256, - 98 - ], - [ - 44357, - 43 - ], - [ - 44430, - 110 - ], - [ - 44557, - 97 - ], - [ - 44657, - 43 - ], - [ - 44730, - 110 - ], - [ - 44857, - 98 - ], - [ - 44956, - 44 - ], - [ - 45030, - 110 - ], - [ - 45157, - 143 - ], - [ - 45329, - 111 - ], - [ - 45457, - 143 - ], - [ - 45629, - 111 - ], - [ - 45757, - 143 - ], - [ - 45929, - 111 - ], - [ - 46057, - 143 - ], - [ - 46229, - 111 - ], - [ - 46357, - 143 - ], - [ - 46528, - 272 - ], - [ - 46828, - 272 - ], - [ - 47128, - 272 - ], - [ - 47428, - 272 - ], - [ - 47727, - 273 - ], - [ - 48027, - 273 - ], - [ - 48327, - 273 - ], - [ - 48627, - 273 - ], - [ - 48926, - 274 - ], - [ - 49226, - 274 - ], - [ - 49526, - 274 - ], - [ - 49826, - 274 - ], - [ - 50127, - 273 - ], - [ - 50427, - 273 - ], - [ - 50728, - 272 - ], - [ - 51029, - 271 - ], - [ - 51330, - 270 - ], - [ - 51631, - 269 - ], - [ - 51932, - 268 - ], - [ - 52236, - 23 - ], - [ - 52537, - 21 - ], - [ - 52838, - 18 - ], - [ - 53139, - 17 - ], - [ - 53440, - 16 - ], - [ - 53741, - 15 - ], - [ - 54042, - 13 - ], - [ - 54343, - 12 - ], - [ - 54644, - 11 - ], - [ - 54945, - 11 - ], - [ - 55245, - 11 - ], - [ - 55546, - 11 - ], - [ - 55847, - 11 - ], - [ - 56148, - 11 - ], - [ - 56449, - 11 - ], - [ - 56750, - 10 - ], - [ - 57051, - 10 - ], - [ - 57352, - 10 - ], - [ - 57653, - 10 - ], - [ - 57954, - 10 - ], - [ - 58254, - 10 - ], - [ - 58555, - 10 - ], - [ - 58856, - 10 - ], - [ - 59157, - 10 - ], - [ - 59458, - 10 - ], - [ - 59699, - 1 - ], - [ - 59759, - 9 - ], - [ - 59997, - 3 - ], - [ - 60060, - 9 - ], - [ - 60296, - 2 - ], - [ - 60361, - 9 - ], - [ - 60595, - 2 - ], - [ - 60662, - 9 - ], - [ - 60893, - 2 - ], - [ - 60963, - 9 - ], - [ - 61192, - 2 - ], - [ - 61264, - 9 - ], - [ - 61490, - 2 - ], - [ - 61564, - 9 - ], - [ - 61789, - 2 - ], - [ - 61865, - 9 - ], - [ - 62087, - 2 - ], - [ - 62166, - 9 - ], - [ - 62386, - 2 - ], - [ - 62467, - 9 - ], - [ - 62684, - 2 - ], - [ - 62768, - 9 - ], - [ - 62983, - 2 - ], - [ - 63069, - 8 - ], - [ - 63281, - 2 - ], - [ - 63370, - 8 - ], - [ - 63580, - 2 - ], - [ - 63671, - 8 - ], - [ - 63878, - 2 - ], - [ - 63972, - 8 - ], - [ - 64177, - 2 - ], - [ - 64273, - 8 - ], - [ - 64475, - 2 - ], - [ - 64573, - 8 - ], - [ - 64774, - 2 - ], - [ - 64874, - 8 - ], - [ - 65073, - 1 - ], - [ - 65175, - 8 - ], - [ - 65371, - 2 - ], - [ - 65476, - 8 - ], - [ - 65670, - 1 - ], - [ - 65777, - 8 - ], - [ - 65968, - 2 - ], - [ - 66078, - 8 - ], - [ - 66267, - 1 - ], - [ - 66379, - 7 - ], - [ - 66565, - 2 - ], - [ - 66680, - 7 - ], - [ - 66864, - 1 - ], - [ - 66981, - 7 - ], - [ - 67162, - 2 - ], - [ - 67282, - 7 - ], - [ - 67461, - 1 - ], - [ - 67583, - 7 - ], - [ - 67759, - 2 - ], - [ - 67883, - 7 - ], - [ - 68058, - 1 - ], - [ - 68184, - 7 - ], - [ - 68356, - 2 - ] - ], - "point": [ - 162, - 143 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan311", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": 1.0, - "y": 0.9101201, - "z": -0.75 - }, - "object_poses": [ - { - "objectName": "Mug_34663f02", - "position": { - "x": -0.815475941, - "y": 0.911498964, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.47171044, - "y": 0.8107594, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.618261, - "y": 0.461226344, - "z": 0.917760432 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.69, - "y": 0.84865284, - "z": 1.01742077 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": -1.01247966, - "y": 0.9191518, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.52934146, - "y": 0.8463409, - "z": 0.6240001 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": 2.77032924, - "y": 0.8463409, - "z": 0.7551403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": -0.749808, - "y": 0.913494945, - "z": 3.98267221 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.59503245, - "y": 0.7458679, - "z": -1.73182178 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.36492443, - "y": 0.400650442, - "z": -0.7687262 - }, - "rotation": { - "x": 0.0, - "y": 269.999817, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.52934146, - "y": 0.8438358, - "z": 0.3617196 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": -1.312467, - "y": 0.713601649, - "z": 2.82226515 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -1.30782986, - "y": 0.401048839, - "z": -1.22763324 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": 2.78479528, - "y": 0.8095615, - "z": 2.83351064 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.68043351, - "y": 0.8154603, - "z": 3.71508837 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.44725227, - "y": 0.752507448, - "z": -1.30041909 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.312467, - "y": 0.7123361, - "z": 2.53943944 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Book_4c88af94", - "position": { - "x": 2.53340769, - "y": 0.09396094, - "z": 0.624 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "AlarmClock_64d4017f", - "position": { - "x": 2.44725227, - "y": 0.753941834, - "z": -1.51612043 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CellPhone_73ef3690", - "position": { - "x": -1.07814765, - "y": 0.913408458, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Bowl_65828e43", - "position": { - "x": 2.47171044, - "y": 0.8107594, - "z": 3.053905 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_e4e177ec", - "position": { - "x": 2.49651241, - "y": 0.7444336, - "z": -1.65992141 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_81ebd795", - "position": { - "x": 2.54577255, - "y": 0.745273352, - "z": -1.37231946 - }, - "rotation": { - "x": 0.0, - "y": 90.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_787808a4", - "position": { - "x": -0.8811438, - "y": 0.9147331, - "z": 4.166336 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_098867ef", - "position": { - "x": -1.12801814, - "y": 0.3978147, - "z": -1.14051306 - }, - "rotation": { - "x": 0.0, - "y": 89.99983, - "z": 0.0 - } - }, - { - "objectName": "Pencil_172c7898", - "position": { - "x": -0.749808, - "y": 0.916839838, - "z": 4.35 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_1f84c627", - "position": { - "x": -0.833904862, - "y": 0.785215139, - "z": 1.973788 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_e745bb37", - "position": { - "x": -0.833904862, - "y": 0.785215139, - "z": 1.40813637 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CD_fbb244a0", - "position": { - "x": 2.57583427, - "y": 0.09693372, - "z": 0.8198403 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pen_2d1adb92", - "position": { - "x": 2.47171044, - "y": 0.813980162, - "z": 2.39272165 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Mug_34663f02", - "position": { - "x": -1.01247966, - "y": 0.911498964, - "z": 4.53366375 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 3530274974, - "scene_num": 311 - }, - "task_id": "trial_T20190907_201917_045715", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "AJQGWGESKQT4Y_3C6FJU71TTA2WK0DUKVG0QFG65SUYX", - "high_descs": [ - "Go to the right and turn to face the small, black table.", - "Pick up the credit card on the left from the table.", - "Go left to the white cabinet with the television on it.", - "Put the credit card down on the cabinet.", - "Go right and turn to face the black table.", - "Pick up the other credit card from the table.", - "Go to the left and turn to face the cabinet with the television.", - "Put the credit card on the cabinet." - ], - "task_desc": "Put two credit cards on a cabinet.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1RLO9LNUJIW5S_3HL8HNGX48IYC1VFRJ81F9LMN45F9X", - "high_descs": [ - "Turn right and walk to the wall then turn left and walk to the small circular table.", - "Pick up the credit card to the left of another credit card.", - "Turn around and take a step then turn right and walk until you're even with the tv on your right and then turn right to face it and take a step.", - "Put the credit card to the left of the pencil vertically.", - "Go back to where you got the first credit card.", - "Pick up the other credit card.", - "Go back over to the tv.", - "Put this credit card to the left of the other credit card with about one credit card width between them." - ], - "task_desc": "Put two credit cars on the tv stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A1OWHPMKE7YAGL_3YWRV122CVGNHE9VHGXM1DREDQOU8I", - "high_descs": [ - "Turn to the right, go to the wall, turn to the left, go to the round table. ", - "Pick up the leftmost credit card off of the table. ", - "Turn around, go to the right, go to the table on the right with the TV on it. ", - "Put the credit card down on the table, just to the left of the pencil that is in front of the TV.", - "Turn around, go to the left to the wall, hang a left, go to the round table. ", - "Pick up the credit card that is on the table. ", - "Turn around, go to the right, go to the table on the right with the TV on it. ", - "Put the credit card down on the table, just to the left of the other credit card. " - ], - "task_desc": "Put two credit cards on a table. ", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/data/json_2.1.0/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/traj_data.json b/data/json_2.1.0/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/traj_data.json deleted file mode 100644 index a260aaff5..000000000 --- a/data/json_2.1.0/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/traj_data.json +++ /dev/null @@ -1,6764 +0,0 @@ -{ - "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": 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": 12 - }, - { - "high_idx": 0, - "image_name": "000000054.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000055.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000056.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000057.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000058.png", - "low_idx": 12 - }, - { - "high_idx": 0, - "image_name": "000000059.png", - "low_idx": 12 - }, - { - "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": 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": 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": 28 - }, - { - "high_idx": 0, - "image_name": "000000104.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000105.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000106.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000107.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000108.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000109.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000110.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000111.png", - "low_idx": 28 - }, - { - "high_idx": 0, - "image_name": "000000112.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000113.png", - "low_idx": 29 - }, - { - "high_idx": 0, - "image_name": "000000114.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000115.png", - "low_idx": 30 - }, - { - "high_idx": 0, - "image_name": "000000116.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000117.png", - "low_idx": 31 - }, - { - "high_idx": 0, - "image_name": "000000118.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000119.png", - "low_idx": 32 - }, - { - "high_idx": 0, - "image_name": "000000120.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000121.png", - "low_idx": 33 - }, - { - "high_idx": 0, - "image_name": "000000122.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000123.png", - "low_idx": 34 - }, - { - "high_idx": 0, - "image_name": "000000124.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000125.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000126.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000127.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000128.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000129.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000130.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000131.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000132.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000133.png", - "low_idx": 35 - }, - { - "high_idx": 0, - "image_name": "000000134.png", - "low_idx": 35 - }, - { - "high_idx": 1, - "image_name": "000000135.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000136.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000137.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000138.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000139.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000140.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000141.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000142.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000143.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000144.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000145.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000146.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000147.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000148.png", - "low_idx": 36 - }, - { - "high_idx": 1, - "image_name": "000000149.png", - "low_idx": 36 - }, - { - "high_idx": 2, - "image_name": "000000150.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000151.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000152.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000153.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000154.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000155.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000156.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000157.png", - "low_idx": 37 - }, - { - "high_idx": 2, - "image_name": "000000158.png", - "low_idx": 37 - }, - { - "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": 38 - }, - { - "high_idx": 2, - "image_name": "000000162.png", - "low_idx": 38 - }, - { - "high_idx": 2, - "image_name": "000000163.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000164.png", - "low_idx": 39 - }, - { - "high_idx": 2, - "image_name": "000000165.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000166.png", - "low_idx": 40 - }, - { - "high_idx": 2, - "image_name": "000000167.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000168.png", - "low_idx": 41 - }, - { - "high_idx": 2, - "image_name": "000000169.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000170.png", - "low_idx": 42 - }, - { - "high_idx": 2, - "image_name": "000000171.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000172.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000173.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000174.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000175.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000176.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000177.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000178.png", - "low_idx": 43 - }, - { - "high_idx": 2, - "image_name": "000000179.png", - "low_idx": 43 - }, - { - "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": 47 - }, - { - "high_idx": 2, - "image_name": "000000189.png", - "low_idx": 47 - }, - { - "high_idx": 2, - "image_name": "000000190.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000191.png", - "low_idx": 48 - }, - { - "high_idx": 2, - "image_name": "000000192.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000193.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000194.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000195.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000196.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000197.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000198.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000199.png", - "low_idx": 49 - }, - { - "high_idx": 2, - "image_name": "000000200.png", - "low_idx": 49 - }, - { - "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": 55 - }, - { - "high_idx": 2, - "image_name": "000000214.png", - "low_idx": 55 - }, - { - "high_idx": 2, - "image_name": "000000215.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000216.png", - "low_idx": 56 - }, - { - "high_idx": 2, - "image_name": "000000217.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000218.png", - "low_idx": 57 - }, - { - "high_idx": 2, - "image_name": "000000219.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000220.png", - "low_idx": 58 - }, - { - "high_idx": 2, - "image_name": "000000221.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000222.png", - "low_idx": 59 - }, - { - "high_idx": 2, - "image_name": "000000223.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000224.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000225.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000226.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000227.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000228.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000229.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000230.png", - "low_idx": 60 - }, - { - "high_idx": 2, - "image_name": "000000231.png", - "low_idx": 60 - }, - { - "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": 2, - "image_name": "000000246.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000247.png", - "low_idx": 67 - }, - { - "high_idx": 2, - "image_name": "000000248.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000249.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000250.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000251.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000252.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000253.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000254.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000255.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000256.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000257.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000258.png", - "low_idx": 68 - }, - { - "high_idx": 2, - "image_name": "000000259.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000260.png", - "low_idx": 69 - }, - { - "high_idx": 2, - "image_name": "000000261.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000262.png", - "low_idx": 70 - }, - { - "high_idx": 2, - "image_name": "000000263.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000264.png", - "low_idx": 71 - }, - { - "high_idx": 2, - "image_name": "000000265.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000266.png", - "low_idx": 72 - }, - { - "high_idx": 2, - "image_name": "000000267.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000268.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000269.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000270.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000271.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000272.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000273.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000274.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000275.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000276.png", - "low_idx": 73 - }, - { - "high_idx": 2, - "image_name": "000000277.png", - "low_idx": 73 - }, - { - "high_idx": 3, - "image_name": "000000278.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000279.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000280.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000281.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000282.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000283.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000284.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000285.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000286.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000287.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000288.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000289.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000290.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000291.png", - "low_idx": 74 - }, - { - "high_idx": 3, - "image_name": "000000292.png", - "low_idx": 74 - }, - { - "high_idx": 4, - "image_name": "000000293.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000294.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000295.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000296.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000297.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000298.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000299.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000300.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000301.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000302.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000303.png", - "low_idx": 75 - }, - { - "high_idx": 4, - "image_name": "000000304.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000305.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000306.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000307.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000308.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000309.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000310.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000311.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000312.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000313.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000314.png", - "low_idx": 76 - }, - { - "high_idx": 4, - "image_name": "000000315.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000316.png", - "low_idx": 77 - }, - { - "high_idx": 4, - "image_name": "000000317.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000318.png", - "low_idx": 78 - }, - { - "high_idx": 4, - "image_name": "000000319.png", - "low_idx": 79 - }, - { - "high_idx": 4, - "image_name": "000000320.png", - "low_idx": 79 - }, - { - "high_idx": 4, - "image_name": "000000321.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000322.png", - "low_idx": 80 - }, - { - "high_idx": 4, - "image_name": "000000323.png", - "low_idx": 81 - }, - { - "high_idx": 4, - "image_name": "000000324.png", - "low_idx": 81 - }, - { - "high_idx": 4, - "image_name": "000000325.png", - "low_idx": 82 - }, - { - "high_idx": 4, - "image_name": "000000326.png", - "low_idx": 82 - }, - { - "high_idx": 4, - "image_name": "000000327.png", - "low_idx": 83 - }, - { - "high_idx": 4, - "image_name": "000000328.png", - "low_idx": 83 - }, - { - "high_idx": 4, - "image_name": "000000329.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000330.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000331.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000332.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000333.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000334.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000335.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000336.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000337.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000338.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000339.png", - "low_idx": 84 - }, - { - "high_idx": 4, - "image_name": "000000340.png", - "low_idx": 85 - }, - { - "high_idx": 4, - "image_name": "000000341.png", - "low_idx": 85 - }, - { - "high_idx": 4, - "image_name": "000000342.png", - "low_idx": 86 - }, - { - "high_idx": 4, - "image_name": "000000343.png", - "low_idx": 86 - }, - { - "high_idx": 4, - "image_name": "000000344.png", - "low_idx": 87 - }, - { - "high_idx": 4, - "image_name": "000000345.png", - "low_idx": 87 - }, - { - "high_idx": 4, - "image_name": "000000346.png", - "low_idx": 88 - }, - { - "high_idx": 4, - "image_name": "000000347.png", - "low_idx": 88 - }, - { - "high_idx": 4, - "image_name": "000000348.png", - "low_idx": 89 - }, - { - "high_idx": 4, - "image_name": "000000349.png", - "low_idx": 89 - }, - { - "high_idx": 4, - "image_name": "000000350.png", - "low_idx": 90 - }, - { - "high_idx": 4, - "image_name": "000000351.png", - "low_idx": 90 - }, - { - "high_idx": 4, - "image_name": "000000352.png", - "low_idx": 91 - }, - { - "high_idx": 4, - "image_name": "000000353.png", - "low_idx": 91 - }, - { - "high_idx": 4, - "image_name": "000000354.png", - "low_idx": 92 - }, - { - "high_idx": 4, - "image_name": "000000355.png", - "low_idx": 92 - }, - { - "high_idx": 4, - "image_name": "000000356.png", - "low_idx": 93 - }, - { - "high_idx": 4, - "image_name": "000000357.png", - "low_idx": 93 - }, - { - "high_idx": 4, - "image_name": "000000358.png", - "low_idx": 94 - }, - { - "high_idx": 4, - "image_name": "000000359.png", - "low_idx": 94 - }, - { - "high_idx": 4, - "image_name": "000000360.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000361.png", - "low_idx": 95 - }, - { - "high_idx": 4, - "image_name": "000000362.png", - "low_idx": 96 - }, - { - "high_idx": 4, - "image_name": "000000363.png", - "low_idx": 96 - }, - { - "high_idx": 4, - "image_name": "000000364.png", - "low_idx": 97 - }, - { - "high_idx": 4, - "image_name": "000000365.png", - "low_idx": 97 - }, - { - "high_idx": 4, - "image_name": "000000366.png", - "low_idx": 98 - }, - { - "high_idx": 4, - "image_name": "000000367.png", - "low_idx": 98 - }, - { - "high_idx": 4, - "image_name": "000000368.png", - "low_idx": 99 - }, - { - "high_idx": 4, - "image_name": "000000369.png", - "low_idx": 99 - }, - { - "high_idx": 4, - "image_name": "000000370.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000371.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000372.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000373.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000374.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000375.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000376.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000377.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000378.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000379.png", - "low_idx": 100 - }, - { - "high_idx": 4, - "image_name": "000000380.png", - "low_idx": 100 - }, - { - "high_idx": 5, - "image_name": "000000381.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000382.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000383.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000384.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000385.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000386.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000387.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000388.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000389.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000390.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000391.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000392.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000393.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000394.png", - "low_idx": 101 - }, - { - "high_idx": 5, - "image_name": "000000395.png", - "low_idx": 101 - }, - { - "high_idx": 6, - "image_name": "000000396.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000397.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000398.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000399.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000400.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000401.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000402.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000403.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000404.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000405.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000406.png", - "low_idx": 102 - }, - { - "high_idx": 6, - "image_name": "000000407.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000408.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000409.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000410.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000411.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000412.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000413.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000414.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000415.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000416.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000417.png", - "low_idx": 103 - }, - { - "high_idx": 6, - "image_name": "000000418.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000419.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000420.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000421.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000422.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000423.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000424.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000425.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000426.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000427.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000428.png", - "low_idx": 104 - }, - { - "high_idx": 6, - "image_name": "000000429.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000430.png", - "low_idx": 105 - }, - { - "high_idx": 6, - "image_name": "000000431.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000432.png", - "low_idx": 106 - }, - { - "high_idx": 6, - "image_name": "000000433.png", - "low_idx": 107 - }, - { - "high_idx": 6, - "image_name": "000000434.png", - "low_idx": 107 - }, - { - "high_idx": 6, - "image_name": "000000435.png", - "low_idx": 108 - }, - { - "high_idx": 6, - "image_name": "000000436.png", - "low_idx": 108 - }, - { - "high_idx": 6, - "image_name": "000000437.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000438.png", - "low_idx": 109 - }, - { - "high_idx": 6, - "image_name": "000000439.png", - "low_idx": 110 - }, - { - "high_idx": 6, - "image_name": "000000440.png", - "low_idx": 110 - }, - { - "high_idx": 6, - "image_name": "000000441.png", - "low_idx": 111 - }, - { - "high_idx": 6, - "image_name": "000000442.png", - "low_idx": 111 - }, - { - "high_idx": 6, - "image_name": "000000443.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000444.png", - "low_idx": 112 - }, - { - "high_idx": 6, - "image_name": "000000445.png", - "low_idx": 113 - }, - { - "high_idx": 6, - "image_name": "000000446.png", - "low_idx": 113 - }, - { - "high_idx": 6, - "image_name": "000000447.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000448.png", - "low_idx": 114 - }, - { - "high_idx": 6, - "image_name": "000000449.png", - "low_idx": 115 - }, - { - "high_idx": 6, - "image_name": "000000450.png", - "low_idx": 115 - }, - { - "high_idx": 6, - "image_name": "000000451.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000452.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000453.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000454.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000455.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000456.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000457.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000458.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000459.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000460.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000461.png", - "low_idx": 116 - }, - { - "high_idx": 6, - "image_name": "000000462.png", - "low_idx": 117 - }, - { - "high_idx": 6, - "image_name": "000000463.png", - "low_idx": 117 - }, - { - "high_idx": 6, - "image_name": "000000464.png", - "low_idx": 118 - }, - { - "high_idx": 6, - "image_name": "000000465.png", - "low_idx": 118 - }, - { - "high_idx": 6, - "image_name": "000000466.png", - "low_idx": 119 - }, - { - "high_idx": 6, - "image_name": "000000467.png", - "low_idx": 119 - }, - { - "high_idx": 6, - "image_name": "000000468.png", - "low_idx": 120 - }, - { - "high_idx": 6, - "image_name": "000000469.png", - "low_idx": 120 - }, - { - "high_idx": 6, - "image_name": "000000470.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000471.png", - "low_idx": 121 - }, - { - "high_idx": 6, - "image_name": "000000472.png", - "low_idx": 122 - }, - { - "high_idx": 6, - "image_name": "000000473.png", - "low_idx": 122 - }, - { - "high_idx": 6, - "image_name": "000000474.png", - "low_idx": 123 - }, - { - "high_idx": 6, - "image_name": "000000475.png", - "low_idx": 123 - }, - { - "high_idx": 6, - "image_name": "000000476.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000477.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000478.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000479.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000480.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000481.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000482.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000483.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000484.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000485.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000486.png", - "low_idx": 124 - }, - { - "high_idx": 6, - "image_name": "000000487.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000488.png", - "low_idx": 125 - }, - { - "high_idx": 6, - "image_name": "000000489.png", - "low_idx": 126 - }, - { - "high_idx": 6, - "image_name": "000000490.png", - "low_idx": 126 - }, - { - "high_idx": 6, - "image_name": "000000491.png", - "low_idx": 127 - }, - { - "high_idx": 6, - "image_name": "000000492.png", - "low_idx": 127 - }, - { - "high_idx": 6, - "image_name": "000000493.png", - "low_idx": 128 - }, - { - "high_idx": 6, - "image_name": "000000494.png", - "low_idx": 128 - }, - { - "high_idx": 6, - "image_name": "000000495.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000496.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000497.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000498.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000499.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000500.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000501.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000502.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000503.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000504.png", - "low_idx": 129 - }, - { - "high_idx": 6, - "image_name": "000000505.png", - "low_idx": 129 - }, - { - "high_idx": 7, - "image_name": "000000506.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000507.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000508.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000509.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000510.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000511.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000512.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000513.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000514.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000515.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000516.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000517.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000518.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000519.png", - "low_idx": 130 - }, - { - "high_idx": 7, - "image_name": "000000520.png", - "low_idx": 130 - } - ], - "pddl_params": { - "mrecep_target": "", - "object_sliced": false, - "object_target": "Watch", - "parent_target": "Dresser", - "toggle_target": "" - }, - "plan": { - "high_pddl": [ - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 0, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-11|5|1|45" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 1, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - -7.49467088, - -7.49467088, - 5.096312, - 5.096312, - 3.025145052, - 3.025145052 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -6.368032, - -6.368032, - 5.096312, - 5.096312, - 1.2581852, - 1.2581852 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.87|+00.76|+01.27" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 2, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|24|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 3, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - -7.49467088, - -7.49467088, - 5.096312, - 5.096312, - 3.025145052, - 3.025145052 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -12.804, - -12.804, - 27.164, - 27.164, - -0.032, - -0.032 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.87|+00.76|+01.27", - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "diningtable" - ] - }, - "high_idx": 4, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-6|9|2|60" - } - }, - { - "discrete_action": { - "action": "PickupObject", - "args": [ - "watch" - ] - }, - "high_idx": 5, - "planner_action": { - "action": "PickupObject", - "coordinateObjectId": [ - "Watch", - [ - -6.93135168, - -6.93135168, - 6.78114748, - 6.78114748, - 3.025145052, - 3.025145052 - ] - ], - "coordinateReceptacleObjectId": [ - "DiningTable", - [ - -6.368032, - -6.368032, - 5.096312, - 5.096312, - 1.2581852, - 1.2581852 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.73|+00.76|+01.70" - } - }, - { - "discrete_action": { - "action": "GotoLocation", - "args": [ - "dresser" - ] - }, - "high_idx": 6, - "planner_action": { - "action": "GotoLocation", - "location": "loc|-13|24|0|60" - } - }, - { - "discrete_action": { - "action": "PutObject", - "args": [ - "watch", - "dresser" - ] - }, - "high_idx": 7, - "planner_action": { - "action": "PutObject", - "coordinateObjectId": [ - "Watch", - [ - -6.93135168, - -6.93135168, - 6.78114748, - 6.78114748, - 3.025145052, - 3.025145052 - ] - ], - "coordinateReceptacleObjectId": [ - "Dresser", - [ - -12.804, - -12.804, - 27.164, - 27.164, - -0.032, - -0.032 - ] - ], - "forceVisible": true, - "objectId": "Watch|-01.73|+00.76|+01.70", - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - } - }, - { - "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": "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": "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": "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": "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": "RotateLeft", - "forceAction": true - }, - "discrete_action": { - "action": "RotateLeft_90", - "args": {} - }, - "high_idx": 0 - }, - { - "api_action": { - "action": "PickupObject", - "objectId": "Watch|-01.87|+00.76|+01.27" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 140, - 135, - 149, - 148 - ], - "mask": [ - [ - 40343, - 4 - ], - [ - 40642, - 6 - ], - [ - 40941, - 4 - ], - [ - 40946, - 2 - ], - [ - 41240, - 3 - ], - [ - 41247, - 2 - ], - [ - 41540, - 2 - ], - [ - 41547, - 2 - ], - [ - 41840, - 1 - ], - [ - 41847, - 2 - ], - [ - 42140, - 1 - ], - [ - 42147, - 2 - ], - [ - 42440, - 1 - ], - [ - 42447, - 3 - ], - [ - 42740, - 1 - ], - [ - 42747, - 3 - ], - [ - 43040, - 1 - ], - [ - 43047, - 2 - ], - [ - 43346, - 2 - ], - [ - 43641, - 7 - ], - [ - 43942, - 5 - ], - [ - 44243, - 3 - ] - ], - "point": [ - 147, - 140 - ] - } - }, - "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 2 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|-01.87|+00.76|+01.27", - "placeStationary": true, - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 17, - 79, - 299, - 191 - ], - "mask": [ - [ - 23433, - 34 - ], - [ - 23658, - 29 - ], - [ - 23732, - 34 - ], - [ - 23959, - 29 - ], - [ - 24032, - 33 - ], - [ - 24259, - 29 - ], - [ - 24332, - 33 - ], - [ - 24560, - 28 - ], - [ - 24632, - 33 - ], - [ - 24860, - 29 - ], - [ - 24931, - 34 - ], - [ - 25160, - 29 - ], - [ - 25231, - 33 - ], - [ - 25461, - 28 - ], - [ - 25531, - 33 - ], - [ - 25761, - 29 - ], - [ - 25830, - 34 - ], - [ - 26061, - 29 - ], - [ - 26130, - 34 - ], - [ - 26361, - 29 - ], - [ - 26430, - 34 - ], - [ - 26662, - 29 - ], - [ - 26729, - 34 - ], - [ - 26962, - 29 - ], - [ - 27029, - 34 - ], - [ - 27262, - 30 - ], - [ - 27329, - 34 - ], - [ - 27563, - 29 - ], - [ - 27628, - 35 - ], - [ - 27863, - 29 - ], - [ - 27928, - 34 - ], - [ - 28163, - 30 - ], - [ - 28228, - 34 - ], - [ - 28463, - 30 - ], - [ - 28527, - 35 - ], - [ - 28764, - 29 - ], - [ - 28827, - 35 - ], - [ - 29064, - 30 - ], - [ - 29127, - 35 - ], - [ - 29364, - 30 - ], - [ - 29427, - 34 - ], - [ - 29665, - 29 - ], - [ - 29726, - 35 - ], - [ - 29965, - 30 - ], - [ - 30026, - 35 - ], - [ - 30265, - 30 - ], - [ - 30326, - 35 - ], - [ - 30565, - 31 - ], - [ - 30625, - 35 - ], - [ - 30866, - 30 - ], - [ - 30925, - 35 - ], - [ - 31166, - 30 - ], - [ - 31225, - 35 - ], - [ - 31466, - 31 - ], - [ - 31524, - 36 - ], - [ - 31767, - 30 - ], - [ - 31824, - 36 - ], - [ - 32067, - 30 - ], - [ - 32124, - 35 - ], - [ - 32367, - 31 - ], - [ - 32423, - 36 - ], - [ - 32668, - 30 - ], - [ - 32723, - 36 - ], - [ - 32968, - 30 - ], - [ - 33023, - 36 - ], - [ - 33268, - 31 - ], - [ - 33323, - 35 - ], - [ - 33568, - 31 - ], - [ - 33622, - 36 - ], - [ - 33869, - 31 - ], - [ - 33922, - 36 - ], - [ - 34169, - 31 - ], - [ - 34222, - 36 - ], - [ - 34469, - 31 - ], - [ - 34521, - 37 - ], - [ - 34770, - 30 - ], - [ - 34821, - 36 - ], - [ - 35070, - 30 - ], - [ - 35121, - 36 - ], - [ - 35370, - 30 - ], - [ - 35420, - 37 - ], - [ - 35670, - 30 - ], - [ - 35720, - 37 - ], - [ - 35971, - 29 - ], - [ - 36020, - 37 - ], - [ - 36271, - 29 - ], - [ - 36319, - 38 - ], - [ - 36570, - 30 - ], - [ - 36619, - 281 - ], - [ - 36919, - 281 - ], - [ - 37219, - 281 - ], - [ - 37518, - 282 - ], - [ - 37818, - 282 - ], - [ - 38118, - 282 - ], - [ - 38417, - 283 - ], - [ - 38717, - 283 - ], - [ - 39017, - 283 - ], - [ - 39318, - 282 - ], - [ - 39618, - 282 - ], - [ - 39919, - 281 - ], - [ - 40220, - 280 - ], - [ - 40521, - 279 - ], - [ - 40823, - 276 - ], - [ - 41124, - 11 - ], - [ - 41260, - 2 - ], - [ - 41388, - 10 - ], - [ - 41425, - 9 - ], - [ - 41561, - 1 - ], - [ - 41689, - 8 - ], - [ - 41725, - 9 - ], - [ - 41861, - 1 - ], - [ - 41989, - 7 - ], - [ - 42026, - 7 - ], - [ - 42161, - 1 - ], - [ - 42290, - 5 - ], - [ - 42327, - 7 - ], - [ - 42589, - 5 - ], - [ - 42628, - 7 - ], - [ - 42888, - 5 - ], - [ - 42928, - 7 - ], - [ - 43187, - 5 - ], - [ - 43229, - 7 - ], - [ - 43486, - 6 - ], - [ - 43530, - 7 - ], - [ - 43785, - 6 - ], - [ - 43831, - 7 - ], - [ - 44084, - 6 - ], - [ - 44132, - 6 - ], - [ - 44384, - 5 - ], - [ - 44432, - 7 - ], - [ - 44683, - 5 - ], - [ - 44733, - 7 - ], - [ - 44860, - 1 - ], - [ - 44982, - 5 - ], - [ - 45034, - 7 - ], - [ - 45160, - 1 - ], - [ - 45281, - 5 - ], - [ - 45335, - 6 - ], - [ - 45460, - 1 - ], - [ - 45580, - 5 - ], - [ - 45635, - 7 - ], - [ - 45760, - 1 - ], - [ - 45879, - 5 - ], - [ - 45936, - 7 - ], - [ - 46060, - 1 - ], - [ - 46178, - 5 - ], - [ - 46237, - 6 - ], - [ - 46360, - 1 - ], - [ - 46477, - 5 - ], - [ - 46538, - 6 - ], - [ - 46777, - 5 - ], - [ - 46839, - 6 - ], - [ - 47076, - 5 - ], - [ - 47139, - 7 - ], - [ - 47375, - 5 - ], - [ - 47440, - 6 - ], - [ - 47674, - 5 - ], - [ - 47741, - 6 - ], - [ - 47973, - 5 - ], - [ - 48042, - 6 - ], - [ - 48272, - 5 - ], - [ - 48342, - 7 - ], - [ - 48571, - 5 - ], - [ - 48643, - 6 - ], - [ - 48870, - 5 - ], - [ - 48944, - 6 - ], - [ - 49059, - 1 - ], - [ - 49170, - 4 - ], - [ - 49245, - 6 - ], - [ - 49359, - 1 - ], - [ - 49469, - 4 - ], - [ - 49546, - 6 - ], - [ - 49659, - 1 - ], - [ - 49768, - 4 - ], - [ - 49846, - 6 - ], - [ - 49959, - 1 - ], - [ - 50067, - 5 - ], - [ - 50147, - 6 - ], - [ - 50259, - 1 - ], - [ - 50366, - 5 - ], - [ - 50448, - 6 - ], - [ - 50559, - 1 - ], - [ - 50665, - 5 - ], - [ - 50749, - 5 - ], - [ - 50964, - 5 - ], - [ - 51049, - 6 - ], - [ - 51263, - 5 - ], - [ - 51350, - 6 - ], - [ - 51562, - 5 - ], - [ - 51651, - 6 - ], - [ - 51862, - 4 - ], - [ - 51952, - 5 - ], - [ - 52161, - 4 - ], - [ - 52253, - 5 - ], - [ - 52460, - 4 - ], - [ - 52553, - 6 - ], - [ - 52759, - 4 - ], - [ - 52854, - 6 - ], - [ - 53058, - 4 - ], - [ - 53155, - 5 - ], - [ - 53357, - 5 - ], - [ - 53456, - 5 - ], - [ - 53558, - 1 - ], - [ - 53656, - 5 - ], - [ - 53756, - 6 - ], - [ - 53858, - 1 - ], - [ - 53956, - 4 - ], - [ - 54057, - 6 - ], - [ - 54158, - 1 - ], - [ - 54255, - 4 - ], - [ - 54358, - 5 - ], - [ - 54458, - 1 - ], - [ - 54554, - 4 - ], - [ - 54659, - 5 - ], - [ - 54758, - 1 - ], - [ - 54853, - 4 - ], - [ - 54960, - 5 - ], - [ - 55152, - 4 - ], - [ - 55260, - 5 - ], - [ - 55451, - 4 - ], - [ - 55561, - 5 - ], - [ - 55750, - 4 - ], - [ - 55862, - 5 - ], - [ - 56049, - 4 - ], - [ - 56163, - 5 - ], - [ - 56349, - 3 - ], - [ - 56463, - 5 - ], - [ - 56648, - 3 - ], - [ - 56764, - 5 - ], - [ - 56947, - 4 - ], - [ - 57065, - 5 - ], - [ - 57246, - 4 - ] - ], - "point": [ - 158, - 134 - ] - } - }, - "high_idx": 3 - }, - { - "api_action": { - "action": "LookUp", - "forceAction": true - }, - "discrete_action": { - "action": "LookUp_15", - "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": "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": "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": "Watch|-01.73|+00.76|+01.70" - }, - "discrete_action": { - "action": "PickupObject", - "args": { - "bbox": [ - 201, - 126, - 221, - 137 - ], - "mask": [ - [ - 37708, - 7 - ], - [ - 38005, - 14 - ], - [ - 38303, - 18 - ], - [ - 38602, - 2 - ], - [ - 38608, - 5 - ], - [ - 38618, - 4 - ], - [ - 38920, - 2 - ], - [ - 39201, - 1 - ], - [ - 39221, - 1 - ], - [ - 39501, - 1 - ], - [ - 39521, - 1 - ], - [ - 39801, - 2 - ], - [ - 40102, - 2 - ], - [ - 40120, - 1 - ], - [ - 40403, - 3 - ], - [ - 40418, - 2 - ], - [ - 40704, - 15 - ], - [ - 41007, - 9 - ] - ], - "point": [ - 211, - 128 - ] - } - }, - "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": "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": "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": "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": "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": "LookDown", - "forceAction": true - }, - "discrete_action": { - "action": "LookDown_15", - "args": {} - }, - "high_idx": 6 - }, - { - "api_action": { - "action": "PutObject", - "forceAction": true, - "objectId": "Watch|-01.73|+00.76|+01.70", - "placeStationary": true, - "receptacleObjectId": "Dresser|-03.20|-00.01|+06.79" - }, - "discrete_action": { - "action": "PutObject", - "args": { - "bbox": [ - 17, - 79, - 299, - 191 - ], - "mask": [ - [ - 23433, - 34 - ], - [ - 23658, - 29 - ], - [ - 23732, - 34 - ], - [ - 23959, - 29 - ], - [ - 24032, - 33 - ], - [ - 24259, - 29 - ], - [ - 24332, - 33 - ], - [ - 24560, - 28 - ], - [ - 24632, - 33 - ], - [ - 24860, - 29 - ], - [ - 24931, - 34 - ], - [ - 25160, - 29 - ], - [ - 25231, - 33 - ], - [ - 25461, - 28 - ], - [ - 25531, - 33 - ], - [ - 25761, - 29 - ], - [ - 25830, - 34 - ], - [ - 26061, - 29 - ], - [ - 26130, - 34 - ], - [ - 26361, - 29 - ], - [ - 26430, - 34 - ], - [ - 26662, - 29 - ], - [ - 26729, - 34 - ], - [ - 26962, - 29 - ], - [ - 27029, - 34 - ], - [ - 27262, - 30 - ], - [ - 27329, - 34 - ], - [ - 27563, - 29 - ], - [ - 27628, - 35 - ], - [ - 27863, - 29 - ], - [ - 27928, - 34 - ], - [ - 28163, - 30 - ], - [ - 28228, - 34 - ], - [ - 28463, - 30 - ], - [ - 28527, - 35 - ], - [ - 28764, - 29 - ], - [ - 28827, - 35 - ], - [ - 29064, - 30 - ], - [ - 29127, - 35 - ], - [ - 29364, - 30 - ], - [ - 29427, - 34 - ], - [ - 29665, - 29 - ], - [ - 29726, - 35 - ], - [ - 29965, - 30 - ], - [ - 30026, - 35 - ], - [ - 30265, - 30 - ], - [ - 30326, - 35 - ], - [ - 30565, - 31 - ], - [ - 30625, - 35 - ], - [ - 30866, - 30 - ], - [ - 30925, - 35 - ], - [ - 31166, - 30 - ], - [ - 31225, - 35 - ], - [ - 31466, - 31 - ], - [ - 31524, - 36 - ], - [ - 31767, - 30 - ], - [ - 31824, - 36 - ], - [ - 32067, - 30 - ], - [ - 32124, - 35 - ], - [ - 32367, - 31 - ], - [ - 32423, - 36 - ], - [ - 32668, - 30 - ], - [ - 32723, - 36 - ], - [ - 32968, - 30 - ], - [ - 33023, - 36 - ], - [ - 33268, - 31 - ], - [ - 33323, - 35 - ], - [ - 33568, - 31 - ], - [ - 33622, - 36 - ], - [ - 33869, - 31 - ], - [ - 33922, - 36 - ], - [ - 34169, - 31 - ], - [ - 34222, - 36 - ], - [ - 34469, - 31 - ], - [ - 34521, - 37 - ], - [ - 34770, - 30 - ], - [ - 34821, - 36 - ], - [ - 35070, - 30 - ], - [ - 35121, - 36 - ], - [ - 35370, - 30 - ], - [ - 35420, - 37 - ], - [ - 35670, - 30 - ], - [ - 35720, - 37 - ], - [ - 35971, - 29 - ], - [ - 36020, - 37 - ], - [ - 36271, - 29 - ], - [ - 36319, - 38 - ], - [ - 36570, - 30 - ], - [ - 36619, - 281 - ], - [ - 36919, - 281 - ], - [ - 37219, - 281 - ], - [ - 37518, - 282 - ], - [ - 37818, - 282 - ], - [ - 38118, - 282 - ], - [ - 38417, - 283 - ], - [ - 38717, - 283 - ], - [ - 39017, - 283 - ], - [ - 39318, - 282 - ], - [ - 39618, - 282 - ], - [ - 39919, - 281 - ], - [ - 40220, - 280 - ], - [ - 40521, - 279 - ], - [ - 40823, - 276 - ], - [ - 41124, - 11 - ], - [ - 41260, - 2 - ], - [ - 41388, - 10 - ], - [ - 41425, - 9 - ], - [ - 41561, - 1 - ], - [ - 41689, - 8 - ], - [ - 41725, - 9 - ], - [ - 41861, - 1 - ], - [ - 41989, - 7 - ], - [ - 42026, - 7 - ], - [ - 42161, - 1 - ], - [ - 42290, - 5 - ], - [ - 42327, - 7 - ], - [ - 42589, - 5 - ], - [ - 42628, - 7 - ], - [ - 42888, - 5 - ], - [ - 42928, - 7 - ], - [ - 43187, - 5 - ], - [ - 43229, - 7 - ], - [ - 43486, - 6 - ], - [ - 43530, - 7 - ], - [ - 43785, - 6 - ], - [ - 43831, - 7 - ], - [ - 44084, - 6 - ], - [ - 44132, - 6 - ], - [ - 44384, - 5 - ], - [ - 44432, - 7 - ], - [ - 44683, - 5 - ], - [ - 44733, - 7 - ], - [ - 44860, - 1 - ], - [ - 44982, - 5 - ], - [ - 45034, - 7 - ], - [ - 45160, - 1 - ], - [ - 45281, - 5 - ], - [ - 45335, - 6 - ], - [ - 45460, - 1 - ], - [ - 45580, - 5 - ], - [ - 45635, - 7 - ], - [ - 45760, - 1 - ], - [ - 45879, - 5 - ], - [ - 45936, - 7 - ], - [ - 46060, - 1 - ], - [ - 46178, - 5 - ], - [ - 46237, - 6 - ], - [ - 46360, - 1 - ], - [ - 46477, - 5 - ], - [ - 46538, - 6 - ], - [ - 46777, - 5 - ], - [ - 46839, - 6 - ], - [ - 47076, - 5 - ], - [ - 47139, - 7 - ], - [ - 47375, - 5 - ], - [ - 47440, - 6 - ], - [ - 47674, - 5 - ], - [ - 47741, - 6 - ], - [ - 47973, - 5 - ], - [ - 48042, - 6 - ], - [ - 48272, - 5 - ], - [ - 48342, - 7 - ], - [ - 48571, - 5 - ], - [ - 48643, - 6 - ], - [ - 48870, - 5 - ], - [ - 48944, - 6 - ], - [ - 49059, - 1 - ], - [ - 49170, - 4 - ], - [ - 49245, - 6 - ], - [ - 49359, - 1 - ], - [ - 49469, - 4 - ], - [ - 49546, - 6 - ], - [ - 49659, - 1 - ], - [ - 49768, - 4 - ], - [ - 49846, - 6 - ], - [ - 49959, - 1 - ], - [ - 50067, - 5 - ], - [ - 50147, - 6 - ], - [ - 50259, - 1 - ], - [ - 50366, - 5 - ], - [ - 50448, - 6 - ], - [ - 50559, - 1 - ], - [ - 50665, - 5 - ], - [ - 50749, - 5 - ], - [ - 50964, - 5 - ], - [ - 51049, - 6 - ], - [ - 51263, - 5 - ], - [ - 51350, - 6 - ], - [ - 51562, - 5 - ], - [ - 51651, - 6 - ], - [ - 51862, - 4 - ], - [ - 51952, - 5 - ], - [ - 52161, - 4 - ], - [ - 52253, - 5 - ], - [ - 52460, - 4 - ], - [ - 52553, - 6 - ], - [ - 52759, - 4 - ], - [ - 52854, - 6 - ], - [ - 53058, - 4 - ], - [ - 53155, - 5 - ], - [ - 53357, - 5 - ], - [ - 53456, - 5 - ], - [ - 53558, - 1 - ], - [ - 53656, - 5 - ], - [ - 53756, - 6 - ], - [ - 53858, - 1 - ], - [ - 53956, - 4 - ], - [ - 54057, - 6 - ], - [ - 54158, - 1 - ], - [ - 54255, - 4 - ], - [ - 54358, - 5 - ], - [ - 54458, - 1 - ], - [ - 54554, - 4 - ], - [ - 54659, - 5 - ], - [ - 54758, - 1 - ], - [ - 54853, - 4 - ], - [ - 54960, - 5 - ], - [ - 55152, - 4 - ], - [ - 55260, - 5 - ], - [ - 55451, - 4 - ], - [ - 55561, - 5 - ], - [ - 55750, - 4 - ], - [ - 55862, - 5 - ], - [ - 56049, - 4 - ], - [ - 56163, - 5 - ], - [ - 56349, - 3 - ], - [ - 56463, - 5 - ], - [ - 56648, - 3 - ], - [ - 56764, - 5 - ], - [ - 56947, - 4 - ], - [ - 57065, - 5 - ], - [ - 57246, - 4 - ] - ], - "point": [ - 158, - 134 - ] - } - }, - "high_idx": 7 - } - ] - }, - "scene": { - "dirty_and_empty": false, - "floor_plan": "FloorPlan205", - "init_action": { - "action": "TeleportFull", - "horizon": 30, - "rotateOnTeleport": true, - "rotation": 90, - "x": -3.5, - "y": 0.9011251, - "z": 4.75 - }, - "object_poses": [ - { - "objectName": "Watch_6926efef", - "position": { - "x": -1.73283792, - "y": 0.756286263, - "z": 1.69528687 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_aa8e7163", - "position": { - "x": -1.93903673, - "y": 0.8475736, - "z": 6.699 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_aa8e7163", - "position": { - "x": -1.16951835, - "y": 0.7614341, - "z": 1.1336751 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_07fab907", - "position": { - "x": -2.98634958, - "y": 0.3763718, - "z": 6.723596 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9d14e7c7", - "position": { - "x": -3.045517, - "y": 0.06613601, - "z": 6.69908047 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_ce66a10f", - "position": { - "x": -2.48511577, - "y": 0.4034819, - "z": 3.70120835 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_ce66a10f", - "position": { - "x": -4.11551857, - "y": 0.4867072, - "z": 3.62630868 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_0fe92e8d", - "position": { - "x": -2.48511577, - "y": 0.4609443, - "z": 3.6261735 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Laptop_0fe92e8d", - "position": { - "x": -1.87366772, - "y": 0.753546238, - "z": 0.9932721 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Box_d314e78a", - "position": { - "x": -1.607, - "y": 0.151, - "z": 6.854 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Statue_aa8e7163", - "position": { - "x": -1.16951835, - "y": 0.7614341, - "z": 1.69528687 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Watch_6926efef", - "position": { - "x": -1.87366772, - "y": 0.756286263, - "z": 1.274078 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "WateringCan_404c0a66", - "position": { - "x": -0.208212316, - "y": -0.000733211637, - "z": 3.22562766 - }, - "rotation": { - "x": -0.00117355876, - "y": 63.9287148, - "z": 0.00114551524 - } - }, - { - "objectName": "Laptop_0fe92e8d", - "position": { - "x": -1.68310452, - "y": 0.747589, - "z": 1.48901808 - }, - "rotation": { - "x": 0.0, - "y": 338.703461, - "z": 0.0 - } - }, - { - "objectName": "CreditCard_9d14e7c7", - "position": { - "x": -3.664151, - "y": 0.396496, - "z": 3.81112432 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "KeyChain_07fab907", - "position": { - "x": -4.300413, - "y": 0.478610456, - "z": 5.556703 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "Pillow_65434bec", - "position": { - "x": -4.335, - "y": 0.465, - "z": 4.398 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - }, - { - "objectName": "RemoteControl_ce66a10f", - "position": { - "x": -1.31034827, - "y": 0.758253455, - "z": 1.41448092 - }, - "rotation": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - } - } - ], - "object_toggles": [], - "random_seed": 874820597, - "scene_num": 205 - }, - "task_id": "trial_T20190907_182211_592010", - "task_type": "pick_two_obj_and_place", - "turk_annotations": { - "anns": [ - { - "assignment_id": "A1RLO9LNUJIW5S_3L70J4KAZJ3FJ0ROSJRBN4TLHEXADW", - "high_descs": [ - "Take a half step left and walk until you are about two feet from the fireplace then turn right and walk to the chair then turn right and walk to the red couch and turn left and walk to the chair at the table and turn left.", - "Pick up the watch you see on the table.", - "Turn left and walk to the red chair then turn right and walk past the red chair and turn left and walk and stand in front of the tv you can see in front of you.", - "Put the watch in the middle of the tv stand.", - "Turn right and walk to the fireplace and then turn right and walk to the chair.", - "Pick up the watch you see on the table.", - "Walk back to where you put the first watch.", - "Put the watch to the left of the first one." - ], - "task_desc": "Put two watches on the tv stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A32W24TWSWXW_3QFUFYSY91WXFVP3AOCAY1A61CSF42", - "high_descs": [ - "Take one step to the right, turn left for several steps, turn right past the red chair, turn right for one steps, take a left and stop at the table. ", - "Pick up the watch from the table that is next to the lap top, closest to the wall.", - "Turn to the left and walk three steps, turn right at the red chair for three steps, take a left for seven steps, turn left again for five steps, turn right and walk three steps to the TV stand.", - "Set the watch down on the TV stand, in front of the TV at the center of the stand.", - "Turn right for five steps, turn right and walk to the table with the lap tops.", - "Pick up the watch by the lap top on the table in front of the chair.", - "Turn around and walk eight steps, turn left for five steps, turn right for 3 steps, stop in front of the TV stand.", - "Put the watch on the TV stand to the left of the watch on the stand." - ], - "task_desc": "Pick up watches from the table, one-at-a-time, put them on the TV stand.", - "votes": [ - 1, - 1 - ] - }, - { - "assignment_id": "A36DK84J5YJ942_3QJOXOW4XM8LD7EDLHS02D66B65EMT", - "high_descs": [ - "Move to the dining table to the left of the door", - "pick up a watch from the table", - "move to the TV stand to the left of you", - "put the watch on the stand", - "move to the dining table to the left of the door", - "pick up a watch from the table", - "move to the TV stand to the left of you", - "put the watch on the stand" - ], - "task_desc": "Put two watches on the TV stand.", - "votes": [ - 1, - 1 - ] - } - ] - } -} \ No newline at end of file diff --git a/gen/constants.py b/gen/constants.py index 10f5dc818..e646c660d 100644 --- a/gen/constants.py +++ b/gen/constants.py @@ -33,13 +33,13 @@ # Goals GOALS = [ - # "pick_and_place_simple", - # "pick_two_obj_and_place", - # "look_at_obj_in_light", + "pick_and_place_simple", + "pick_two_obj_and_place", + "look_at_obj_in_light", "pick_clean_then_place_in_recep", - # "pick_heat_then_place_in_recep", - # "pick_cool_then_place_in_recep", - # "pick_and_place_with_movable_recep", + "pick_heat_then_place_in_recep", + "pick_cool_then_place_in_recep", + "pick_and_place_with_movable_recep", ] GOALS_VALID = {"pick_and_place_simple": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"}, "pick_two_obj_and_place": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"}, @@ -89,11 +89,11 @@ X_DISPLAY = '0' AGENT_STEP_SIZE = 0.25 -AGENT_HORIZON_ADJ = 15 +AGENT_HORIZON_ADJ = 30 AGENT_ROTATE_ADJ = 90 CAMERA_HEIGHT_OFFSET = 0.75 VISIBILITY_DISTANCE = 1.5 -HORIZON_GRANULARITY = 15 +HORIZON_GRANULARITY = 30 RENDER_IMAGE = True RENDER_DEPTH_IMAGE = True diff --git a/gen/game_states/game_state_base.py b/gen/game_states/game_state_base.py index 8baed33e0..cde13776d 100644 --- a/gen/game_states/game_state_base.py +++ b/gen/game_states/game_state_base.py @@ -268,7 +268,7 @@ def get_ll_discrete_action(self, action): discrete_action['args']['point'] = point discrete_action['args']['mask'] = mask elif 'PutObject' in a_type: - bbox, point, mask = self.get_bbox_point_mask(action['receptacleObjectId']) + bbox, point, mask = self.get_bbox_point_mask(action['objectId']) discrete_action['action'] = "PutObject" discrete_action['args']['bbox'] = bbox discrete_action['args']['point'] = point @@ -567,8 +567,7 @@ def step(self, action_or_ind, process_frame=True): # put the object put_action = dict(action=action['action'], - objectId=action['objectId'], - receptacleObjectId=action['receptacleObjectId'], + objectId=action['receptacleObjectId'], forceAction=True, placeStationary=True) self.store_ll_action(put_action) @@ -590,8 +589,7 @@ def step(self, action_or_ind, process_frame=True): sink_obj_id = self.get_some_visible_obj_of_name('SinkBasin')['objectId'] inv_obj = self.env.last_event.metadata['inventoryObjects'][0] put_action = dict(action='PutObject', - objectId=inv_obj['objectId'], - receptacleObjectId=sink_obj_id, + objectId=sink_obj_id, forceAction=True, placeStationary=True) self.store_ll_action(put_action) @@ -655,8 +653,7 @@ def step(self, action_or_ind, process_frame=True): # put the object in the microwave inv_obj = self.env.last_event.metadata['inventoryObjects'][0] put_action = dict(action='PutObject', - objectId=inv_obj['objectId'], - receptacleObjectId=microwave_obj_id, + objectId=microwave_obj_id, forceAction=True, placeStationary=True) self.store_ll_action(put_action) @@ -716,8 +713,7 @@ def step(self, action_or_ind, process_frame=True): # put the object in the fridge inv_obj = self.env.last_event.metadata['inventoryObjects'][0] put_action = dict(action='PutObject', - objectId=inv_obj['objectId'], - receptacleObjectId=fridge_obj_id, + objectId=fridge_obj_id, forceAction=True, placeStationary=True) self.store_ll_action(put_action) diff --git a/gen/game_states/task_game_state_full_knowledge.py b/gen/game_states/task_game_state_full_knowledge.py index 84ee48314..9f6ffe80c 100644 --- a/gen/game_states/task_game_state_full_knowledge.py +++ b/gen/game_states/task_game_state_full_knowledge.py @@ -328,7 +328,7 @@ def get_action(self, action_or_ind): action['forceVisible'] = forceVisible should_fail = False elif action['action'] in {'HeatObject', 'CoolObject'}: - # action['objectId'] = action['receptacleObjectId'] + action['objectId'] = action['receptacleObjectId'] action['forceVisible'] = forceVisible should_fail = False return action, should_fail diff --git a/gen/graph/graph_obj.py b/gen/graph/graph_obj.py index e9ca74df8..a8ac69480 100644 --- a/gen/graph/graph_obj.py +++ b/gen/graph/graph_obj.py @@ -325,10 +325,10 @@ def navigate_to_goal(self, game_state, start_pose, end_pose): start_angle = start_pose[3] if start_angle > 180: start_angle -= 360 - if start_angle != 45: # pitch angle + if start_angle != 30: # pitch angle # Perform initial tilt to get to 45 degrees. tilt_pose = [pp for pp in start_pose] - tilt_pose[3] = 45 + tilt_pose[3] = 30 tilt_actions, _ = self.get_shortest_path(start_pose, tilt_pose) for action in tilt_actions: game_state.step(action) diff --git a/gen/layouts/FloorPlan1-layout.npy b/gen/layouts/FloorPlan1-layout.npy index ecf032eda90488eb9902359d2087c052811958b0..0156294ff76dfd673229e233c9f15bd3c5c9d530 100644 GIT binary patch delta 28 kcmZ1=us~o#7|Y~7CV|aiEDx9_$1w{`-p9-_Igb4h0FBBCrvLx| delta 24 gcmZ1=us~o#7|Z4~mIq9e|1k+n&SU17?8kly0C6`6(*OVf diff --git a/gen/layouts/FloorPlan1-objects.json b/gen/layouts/FloorPlan1-objects.json index 37ca92da1..5a6408670 100644 --- a/gen/layouts/FloorPlan1-objects.json +++ b/gen/layouts/FloorPlan1-objects.json @@ -1,51 +1,51 @@ [ - "Floor", - "Cabinet", - "Apple", - "Stool", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "ShelvingUnit", - "GarbageCan", - "Window", - "HousePlant", - "WineBottle", - "Spoon", - "LightSwitch", - "Shelf", - "Pan", - "Bottle", + "Statue", "StoveKnob", - "StoveBurner", - "Pot", - "PaperTowelRoll", - "Tomato", - "Spatula", + "Book", + "Faucet", "Fridge", - "Vase", - "Kettle", - "Cup", + "Stool", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", - "Statue", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "CreditCard", + "Window", "SinkBasin", + "Lettuce", + "Bowl", + "DishSponge", + "LightSwitch", + "ShelvingUnit", + "HousePlant", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Vase", + "Drawer", + "GarbageCan", + "Bottle", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "CreditCard", - "Bread", "Knife", - "Fork", + "WineBottle", + "Spatula", + "Shelf", + "Apple", + "PaperTowelRoll", "ButterKnife", - "Potato", - "Book", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan1-openable.json b/gen/layouts/FloorPlan1-openable.json index efb006f51..3147af34d 100644 --- a/gen/layouts/FloorPlan1-openable.json +++ b/gen/layouts/FloorPlan1-openable.json @@ -1,8 +1,8 @@ { "Cabinet|+00.68|+00.50|-02.20": [ - 1.0, + 0.0, -1.5, - 270, + 90, 30 ], "Cabinet|+00.68|+02.02|-02.46": [ @@ -31,18 +31,18 @@ ], "Cabinet|-01.55|+00.50|+00.38": [ -1.0, - -0.25, - 0, + 0.75, + 180, 30 ], "Cabinet|-01.55|+00.50|-01.97": [ -1.0, - -1.75, + -1.25, 270, 30 ], "Cabinet|-01.69|+02.02|-02.46": [ - -1.0, + -1.25, -1.75, 180, 0 @@ -54,26 +54,26 @@ 0 ], "CounterTop|-00.08|+01.15|00.00": [ - 0.0, - -1.25, - 0, - 30 + -1.0, + 0.25, + 90, + 0 ], "CounterTop|-01.87|+00.95|-01.21": [ -1.25, - -1.75, - 180, + 0.0, + 270, 30 ], "Drawer|+00.95|+00.22|-02.20": [ - 1.5, + 0.25, -1.25, - 270, + 90, 30 ], "Drawer|+00.95|+00.39|-02.20": [ 1.5, - -1.5, + -1.25, 270, 30 ], @@ -91,14 +91,20 @@ ], "Drawer|+00.95|+00.83|-02.20": [ 0.5, - -1.75, - 90, - 30 + -1.25, + 180, + 0 ], "Drawer|-01.56|+00.33|-00.20": [ -1.0, - -0.75, - 0, + 0.5, + 270, + 30 + ], + "Drawer|-01.56|+00.66|-00.20": [ + -1.0, + 0.25, + 180, 30 ], "Drawer|-01.56|+00.84|+00.20": [ @@ -119,6 +125,12 @@ 270, 30 ], + "GarbageCan|-01.94|00.00|+02.03": [ + -1.0, + 1.5, + 0, + 30 + ], "Microwave|-00.24|+01.69|-02.53": [ -0.5, -1.75, @@ -126,9 +138,9 @@ 0 ], "Shelf|+01.75|+00.55|-02.56": [ - 1.75, - -2.0, - 180, + 1.0, + -1.75, + 90, 30 ], "Shelf|+01.75|+00.88|-02.56": [ diff --git a/gen/layouts/FloorPlan10-layout.npy b/gen/layouts/FloorPlan10-layout.npy index 02e58cdcea4b915c12cbb4c8bcd0d0085bfa5579..abd94e1376ef3974b83497a93b8bf1ed96437147 100644 GIT binary patch delta 345 zcmca0bwPH59g~seLS8pi*D#{aT^at2Qv+z^(@`+35dUhJRD!RrA44xdaL delta 95 zcmca0dqHY~9g~6SLF@bY}9i!<)`|pfDCaW|42a@7UAd;Q=KhqEUi3j8+pJU{hEXQI50E6lgA^-pY diff --git a/gen/layouts/FloorPlan11-objects.json b/gen/layouts/FloorPlan11-objects.json index 038aac6a9..4a38f5d5a 100644 --- a/gen/layouts/FloorPlan11-objects.json +++ b/gen/layouts/FloorPlan11-objects.json @@ -1,43 +1,43 @@ [ - "Floor", - "Cabinet", - "Apple", - "Stool", - "Toaster", - "Bowl", - "CoffeeMachine", - "PepperShaker", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", "StoveKnob", - "Potato", - "Pot", - "PaperTowelRoll", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "Kettle", - "DiningTable", - "Cup", + "Stool", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Bowl", + "LightSwitch", + "DishSponge", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", "Knife", - "Fork", + "Spatula", + "Apple", + "PaperTowelRoll", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan11-openable.json b/gen/layouts/FloorPlan11-openable.json index 739db4dd6..0f21af5a4 100644 --- a/gen/layouts/FloorPlan11-openable.json +++ b/gen/layouts/FloorPlan11-openable.json @@ -6,35 +6,29 @@ 30 ], "Cabinet|+00.10|+00.40|-01.35": [ - -0.25, + 1.0, -0.5, - 90, + 270, 30 ], "Cabinet|+00.73|+00.40|+00.15": [ - 1.0, + 0.0, -0.5, - 270, + 90, 30 ], "Cabinet|+01.67|+00.40|+00.15": [ - 1.5, - -0.5, - 0, + 1.25, + -0.75, + 90, 30 ], "Cabinet|+01.97|+01.69|-01.65": [ - 1.5, + 1.25, -1.0, 180, 0 ], - "Cabinet|-00.18|+00.40|+00.15": [ - 0.5, - -0.5, - 270, - 30 - ], "Cabinet|-00.19|+01.69|-01.65": [ -0.75, -1.0, @@ -54,13 +48,13 @@ 30 ], "CounterTop|+01.78|+00.95|+00.46": [ - 1.5, + 1.25, -0.25, 0, 30 ], "CounterTop|-00.68|+00.95|-01.65": [ - -0.75, + 1.25, -1.0, 180, 30 @@ -78,7 +72,13 @@ 0 ], "Drawer|+00.50|+00.79|+00.30": [ - 0.75, + 0.25, + -0.75, + 0, + 0 + ], + "Drawer|+01.83|+00.79|+00.30": [ + 1.25, -0.75, 0, 0 diff --git a/gen/layouts/FloorPlan12-layout.npy b/gen/layouts/FloorPlan12-layout.npy index 4bf976abca05e91725d7f14a2c76eadd78305411..c21bff8a75e01e70d76e3690b894bbb116d89eec 100644 GIT binary patch delta 33 rcmV++0N(%b3g8NmJ^?tfKbHcN{sIV-Mgka~0By delta 22 ecmX>gzCe6}9h14mMu%e@o5eT{m?npDX8{0KRtE0? diff --git a/gen/layouts/FloorPlan13-objects.json b/gen/layouts/FloorPlan13-objects.json index 9fb753a8b..5a82c036d 100644 --- a/gen/layouts/FloorPlan13-objects.json +++ b/gen/layouts/FloorPlan13-objects.json @@ -1,43 +1,43 @@ [ - "Floor", - "Cabinet", - "Apple", - "Bowl", - "CoffeeMachine", - "Toaster", - "PepperShaker", - "GarbageCan", - "Window", - "WineBottle", - "Spoon", - "LightSwitch", - "Pan", - "Curtains", + "Faucet", "StoveKnob", - "StoveBurner", - "Pot", - "PaperTowelRoll", - "Tomato", - "Pencil", - "Spatula", "Fridge", - "Cup", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Bowl", + "LightSwitch", + "DishSponge", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Pencil", + "Microwave", + "Curtains", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", + "Apple", "Knife", - "Fork", + "WineBottle", + "Spatula", + "PaperTowelRoll", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan13-openable.json b/gen/layouts/FloorPlan13-openable.json index 8ecd51fc4..de9592ad8 100644 --- a/gen/layouts/FloorPlan13-openable.json +++ b/gen/layouts/FloorPlan13-openable.json @@ -1,14 +1,50 @@ { - "Cabinet|-01.54|+00.39|+02.09": [ + "Cabinet|-00.33|+02.25|+03.01": [ + -1.5, + 2.5, + 90, + 0 + ], + "Cabinet|-00.33|+02.25|+04.21": [ + -1.5, + 4.5, + 90, + 0 + ], + "Cabinet|-00.33|+02.25|+05.51": [ + -1.5, + 4.5, + 90, + 0 + ], + "Cabinet|-00.33|+02.25|+05.61": [ + -1.5, + 5.25, + 90, + 0 + ], + "Cabinet|-00.33|+02.25|+06.81": [ -1.25, - 2.75, - 270, + 6.0, + 90, + 0 + ], + "Cabinet|-01.54|+00.39|+02.09": [ + -1.5, + 2.5, + 180, 30 ], + "Cabinet|-01.58|+01.93|+01.78": [ + -2.0, + 2.5, + 180, + -30 + ], "Cabinet|-03.04|+00.39|+05.03": [ - -2.75, - 4.25, - 270, + -3.75, + 4.5, + 0, 30 ], "Cabinet|-03.04|+01.94|+05.32": [ @@ -18,11 +54,17 @@ -30 ], "Cabinet|-03.19|+00.39|+02.09": [ - -3.0, - 2.75, - 270, + -3.5, + 2.5, + 180, 30 ], + "Cabinet|-03.20|+01.93|+01.78": [ + -3.5, + 2.5, + 180, + -30 + ], "Cabinet|-03.64|+00.39|+05.03": [ -3.0, 4.25, @@ -30,21 +72,21 @@ 30 ], "Cabinet|-03.67|+00.39|+05.03": [ - -3.5, + -3.75, 4.5, 0, 30 ], "Cabinet|-03.96|+00.39|+02.12": [ - -3.25, - 2.75, + -3.0, + 3.0, 180, 30 ], "Cabinet|-03.96|+00.39|+02.88": [ - -3.25, - 3.25, - 180, + -3.5, + 2.5, + 270, 30 ], "Cabinet|-03.96|+00.39|+04.34": [ @@ -54,8 +96,8 @@ 30 ], "Cabinet|-03.97|+00.39|+02.89": [ - -3.25, - 3.5, + -3.0, + 3.75, 180, 30 ], @@ -71,9 +113,15 @@ 0, -30 ], + "Cabinet|-04.28|+01.93|+02.23": [ + -3.25, + 2.5, + 270, + 0 + ], "CounterTop|-00.35|+00.96|+05.60": [ -1.0, - 5.0, + 5.5, 90, 30 ], @@ -85,7 +133,7 @@ ], "CounterTop|-04.26|+00.96|+04.94": [ -3.75, - 4.75, + 3.5, 270, 30 ], @@ -121,20 +169,38 @@ ], "Drawer|-03.19|+00.78|+05.16": [ -2.75, - 4.75, + 4.5, 270, 30 ], - "Drawer|-04.09|+00.78|+04.66": [ + "Drawer|-03.42|+00.78|+01.96": [ -3.75, - 3.5, - 0, + 3.0, + 180, + 0 + ], + "Drawer|-03.51|+00.78|+05.16": [ + -3.25, + 4.5, + 270, + 30 + ], + "Drawer|-03.80|+00.78|+01.96": [ + -3.75, + 3.0, + 180, 0 ], + "Drawer|-03.80|+00.78|+05.16": [ + -3.5, + 4.5, + 270, + 30 + ], "Drawer|-04.13|+00.80|+02.50": [ -3.5, 3.25, - 270, + 180, 30 ], "Fridge|-00.32|00.00|+03.60": [ diff --git a/gen/layouts/FloorPlan14-objects.json b/gen/layouts/FloorPlan14-objects.json index 034425b05..4aca7fe52 100644 --- a/gen/layouts/FloorPlan14-objects.json +++ b/gen/layouts/FloorPlan14-objects.json @@ -1,40 +1,40 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "Chair", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", - "Ladle", "StoveKnob", - "Potato", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "Cup", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Chair", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Ladle", + "Floor", "SoapBottle", - "DishSponge", - "Bread", - "Fork", + "Apple", + "Spatula", "Knife", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan14-openable.json b/gen/layouts/FloorPlan14-openable.json index 2c2a1bed2..1d053c8cc 100644 --- a/gen/layouts/FloorPlan14-openable.json +++ b/gen/layouts/FloorPlan14-openable.json @@ -11,12 +11,6 @@ 90, 0 ], - "Cabinet|+01.66|+02.05|-01.89": [ - 1.0, - -0.75, - 180, - -30 - ], "Cabinet|+01.66|+02.06|+00.19": [ 1.0, 0.0, @@ -24,28 +18,28 @@ 0 ], "Cabinet|+01.66|+02.06|-00.59": [ + 1.0, + -0.25, + 90, + 0 + ], + "Cabinet|+01.66|+02.30|+00.69": [ 0.75, - 0.0, + 0.25, 90, - -30 + 0 ], "CounterTop|+00.99|+00.95|+01.02": [ 1.0, - 0.25, + 0.0, 0, 30 ], - "CounterTop|+00.99|+00.95|-01.52": [ - 1.0, - -0.75, - 180, - 30 - ], "Fridge|-00.53|+00.00|-01.55": [ -0.5, -0.5, 180, - 0 + 30 ], "Microwave|+01.75|+00.90|-00.84": [ 1.0, diff --git a/gen/layouts/FloorPlan15-layout.npy b/gen/layouts/FloorPlan15-layout.npy index 26fbbda8644577c2b6b848ae190b3c6ea99fcddd..ac58978d59bd2167d2b58b221ac1af113987990e 100644 GIT binary patch delta 52 ycmdnMbAe}q9i#C^`|He%7bdf_%;&tYp8*V5Ca-4+XZ$kxJBvMBjBT<#>qh{*+7HwK delta 48 ucmcb>vw>%V9i!n!`|He;)mSEQvK?Rm1GdTgS;8l)u^PZdI3~xlegptRHVfYX diff --git a/gen/layouts/FloorPlan15-objects.json b/gen/layouts/FloorPlan15-objects.json index 4ffd92bd1..4aac3a362 100644 --- a/gen/layouts/FloorPlan15-objects.json +++ b/gen/layouts/FloorPlan15-objects.json @@ -1,45 +1,45 @@ [ - "Floor", - "Cabinet", - "Apple", - "Stool", - "Toaster", - "Bowl", - "CoffeeMachine", - "PepperShaker", - "GarbageCan", - "Window", - "WineBottle", - "Spoon", - "LightSwitch", - "Pan", "StoveKnob", - "Blinds", - "StoveBurner", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "Kettle", - "DiningTable", - "Cup", + "Stool", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Blinds", + "LightSwitch", + "Bowl", + "DishSponge", + "DiningTable", + "GarbageBag", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", "Knife", - "Fork", + "WineBottle", + "Spatula", + "Apple", "ButterKnife", - "GarbageBag", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan15-openable.json b/gen/layouts/FloorPlan15-openable.json index 5a62bd07f..9fb6566a1 100644 --- a/gen/layouts/FloorPlan15-openable.json +++ b/gen/layouts/FloorPlan15-openable.json @@ -1,20 +1,14 @@ { - "Cabinet|-01.42|+00.39|+03.46": [ - -1.0, - 2.5, - 270, - 30 - ], "Cabinet|-02.21|+00.39|+03.46": [ - -2.0, - 2.75, - 270, + -2.5, + 3.0, + 0, 30 ], "Cabinet|-02.96|+00.39|+03.46": [ - -2.25, - 2.75, - 270, + -2.5, + 2.5, + 0, 30 ], "Cabinet|-02.99|+00.39|+01.04": [ @@ -24,22 +18,10 @@ 30 ], "Cabinet|-02.99|+00.39|+02.68": [ - -2.25, - 2.5, - 0, - 30 - ], - "Cabinet|-03.35|+02.21|+01.72": [ -2.5, - 2.5, + 2.25, 270, - 0 - ], - "Cabinet|-03.35|+02.21|+02.65": [ - -2.5, - 2.0, - 270, - 0 + 30 ], "Cabinet|-03.37|+01.93|+01.06": [ -2.75, @@ -48,16 +30,16 @@ -30 ], "Cabinet|-03.37|+01.93|+02.68": [ - -2.75, - 3.0, + -2.5, + 2.5, 270, - -30 + 0 ], "Cabinet|-03.37|+01.93|+03.96": [ - -2.75, + -2.5, 3.0, 270, - -30 + 0 ], "CounterTop|-03.38|+00.95|+01.36": [ -2.75, @@ -66,9 +48,9 @@ 30 ], "CounterTop|-03.38|+00.95|+03.34": [ - -2.25, + -2.0, 3.25, - 0, + 270, 30 ], "DiningTable|-01.40|+00.01|+00.24": [ @@ -77,24 +59,12 @@ 90, 30 ], - "Drawer|-03.12|+00.78|+01.36": [ - -2.5, - 1.75, - 180, - 30 - ], "Drawer|-03.12|+00.78|+02.92": [ -2.5, 2.5, 0, 30 ], - "Drawer|-03.12|+00.78|+03.30": [ - -2.5, - 3.0, - 0, - 30 - ], "Fridge|-00.44|+00.01|+04.00": [ -0.5, 3.0, @@ -114,9 +84,9 @@ 30 ], "Sink|-01.80|+00.92|+03.66|SinkBasin": [ - -2.25, + -2.0, 3.25, - 90, + 0, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan16-layout.npy b/gen/layouts/FloorPlan16-layout.npy index 8bebb56b2d78b7edb5e9c6d8cfb33dbdf3f0c76a..3f8557126e70ab55e3e0d82a9e80bf8488745041 100644 GIT binary patch delta 29 lcmew$`9X3+8q?-7rUItP_t-fmA7hr7T*tz(`5((Cb^x=U3x@yz delta 27 jcmew$`9X3+8WSVa=5VHZrpf!51t#aQaBTj^@`)V)j5G<_ diff --git a/gen/layouts/FloorPlan16-objects.json b/gen/layouts/FloorPlan16-objects.json index c26df4947..654007116 100644 --- a/gen/layouts/FloorPlan16-objects.json +++ b/gen/layouts/FloorPlan16-objects.json @@ -1,46 +1,46 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "Chair", - "GarbageCan", - "HousePlant", - "Window", - "WineBottle", - "Spoon", - "LightSwitch", - "Pan", - "Ladle", - "Bottle", "StoveKnob", - "StoveBurner", - "Pot", - "PaperTowelRoll", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "DiningTable", - "Cup", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Chair", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", + "HousePlant", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", + "Bottle", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Ladle", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", "Knife", - "Fork", + "WineBottle", + "Spatula", + "Apple", + "PaperTowelRoll", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan16-openable.json b/gen/layouts/FloorPlan16-openable.json index b5dc3d90e..9c8082ccb 100644 --- a/gen/layouts/FloorPlan16-openable.json +++ b/gen/layouts/FloorPlan16-openable.json @@ -6,45 +6,33 @@ 30 ], "Cabinet|+01.14|+02.23|-01.71": [ - 0.75, - -1.25, - 90, - -30 - ], - "Cabinet|+01.50|+02.48|-01.71": [ - 1.25, - -1.0, - 90, - -30 - ], - "Cabinet|+02.39|+02.48|-01.71": [ 1.75, -1.0, - 90, - -30 + 180, + 0 ], "Cabinet|+02.47|+00.38|-00.48": [ 1.75, - 0.25, - 180, + -0.75, + 90, 30 ], "Cabinet|+02.47|+00.38|-00.49": [ 1.75, - -0.25, - 180, + -1.0, + 90, 30 ], "Cabinet|+02.47|+00.38|-01.34": [ - 1.5, - -0.5, - 180, + 1.75, + -1.0, + 90, 30 ], "Cabinet|+02.47|+00.47|+00.37": [ 1.75, -0.25, - 0, + 90, 30 ], "Cabinet|+02.73|+02.23|-01.71": [ @@ -55,31 +43,31 @@ ], "Cabinet|-00.36|+00.38|+00.27": [ 0.5, - 1.25, - 180, + 0.0, + 0, 30 ], "Cabinet|-00.36|+00.38|+01.71": [ 0.5, - 2.5, - 180, + 1.25, + 0, 30 ], "Cabinet|-00.36|+00.38|+02.63": [ 0.5, - 3.0, - 180, + 1.75, + 0, 30 ], "Cabinet|-00.66|+02.23|+00.59": [ 0.0, - 0.75, + 0.0, 270, 0 ], "Cabinet|-00.82|+02.22|+00.62": [ 0.0, - 1.25, + 0.75, 270, 0 ], @@ -103,7 +91,7 @@ ], "CounterTop|+02.81|+00.99|+00.68": [ 2.25, - 0.0, + 0.25, 90, 30 ], @@ -120,10 +108,10 @@ 30 ], "Drawer|+01.35|+00.84|-01.54": [ - 0.75, - -0.5, - 180, - 0 + 1.0, + -0.75, + 90, + 30 ], "Drawer|+01.65|+00.83|+01.67": [ 0.75, @@ -195,7 +183,7 @@ 0.0, -0.5, 270, - 0 + 30 ], "Microwave|+01.94|+01.75|-01.83": [ 2.25, diff --git a/gen/layouts/FloorPlan17-layout.npy b/gen/layouts/FloorPlan17-layout.npy index 00ad2ac43b6f44e75718eb1d70917edf07112a10..db84580e2eb257b395d04936cb9695ca78e02e8a 100644 GIT binary patch delta 36 ncmbQhIe~LR8`p#V3{bGKfsK*z#pH5E|H;=F9X6{mWibH&!D|X$ delta 26 icmbQhIe~LR+rnv#lb10%Fus_4ozb81#b$A)N+tk{GYQTB diff --git a/gen/layouts/FloorPlan17-objects.json b/gen/layouts/FloorPlan17-objects.json index 80cdb537b..6f5ddf588 100644 --- a/gen/layouts/FloorPlan17-objects.json +++ b/gen/layouts/FloorPlan17-objects.json @@ -1,47 +1,47 @@ [ - "Floor", - "Cabinet", - "Apple", - "SprayBottle", - "Stool", - "Toaster", - "CoffeeMachine", - "CellPhone", - "Bowl", - "PepperShaker", - "GarbageCan", - "Window", - "WineBottle", - "Spoon", - "LightSwitch", - "Pan", - "Shelf", - "Bottle", "StoveKnob", - "Potato", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "DiningTable", - "Kettle", - "Cup", + "Stool", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Bowl", + "LightSwitch", + "DishSponge", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "SprayBottle", + "Kettle", + "Drawer", + "GarbageCan", + "Bottle", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Floor", + "CellPhone", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "WineBottle", + "Spatula", + "Apple", "Knife", + "Shelf", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan17-openable.json b/gen/layouts/FloorPlan17-openable.json index 3bd443ae0..5a562f628 100644 --- a/gen/layouts/FloorPlan17-openable.json +++ b/gen/layouts/FloorPlan17-openable.json @@ -13,78 +13,78 @@ ], "Cabinet|+00.99|+00.40|+00.58": [ 0.25, - 1.25, - 180, + 0.25, + 0, 30 ], "Cabinet|+00.99|+00.40|+01.23": [ - 0.0, + 0.25, 0.5, 0, 30 ], "Cabinet|+00.99|+00.40|-00.18": [ - 0.0, - 0.75, - 180, + 0.25, + 0.25, + 90, 30 ], "Cabinet|+01.19|+02.06|+00.38": [ 0.5, + 0.5, + 90, + 0 + ], + "Cabinet|+01.19|+02.31|+00.43": [ 0.25, + 0.0, 90, 0 ], - "Cabinet|-00.37|+00.40|-00.35": [ + "Cabinet|+01.19|+02.31|+01.18": [ 0.25, + 0.25, + 90, + 0 + ], + "Cabinet|-00.37|+00.40|-00.35": [ + 0.5, 0.5, 270, 30 ], "Cabinet|-00.57|+02.06|-00.65": [ - -0.25, - 0.5, - 180, + 0.25, + 0.0, + 270, 0 ], "Cabinet|-00.99|+00.40|+00.37": [ - 0.0, + -0.25, 0.75, 180, 30 ], - "Cabinet|-01.10|+02.06|-00.65": [ - -0.25, - 0.25, - 180, - 0 - ], "Cabinet|-01.19|+02.06|+00.38": [ - -0.25, + -0.5, 0.0, 270, 0 ], "Cabinet|-01.19|+02.06|-00.28": [ - -0.25, - 0.5, - 270, - 0 - ], - "Cabinet|-01.19|+02.06|-00.33": [ - 0.0, + -0.5, 0.0, 270, 0 ], "CounterTop|+01.28|+00.95|+00.07": [ 0.75, - 1.0, + 0.75, 90, 30 ], "CounterTop|-01.00|+00.95|-00.67": [ - -0.25, + -0.5, 0.0, 180, 30 @@ -114,8 +114,8 @@ 30 ], "Microwave|-01.34|+00.90|+00.05": [ - -0.25, - 0.5, + -0.5, + 0.0, 270, 0 ], @@ -132,9 +132,9 @@ 0 ], "Sink|-00.01|+00.91|-00.62|SinkBasin": [ - 0.5, + -0.5, 0.0, - 270, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan18-layout.npy b/gen/layouts/FloorPlan18-layout.npy index ee91914fe168448e510d042c24e1f131ba66ffbd..5fb6b02b347c179195faaacda38e0618f2e673bc 100644 GIT binary patch delta 70 zcmew$JwaxIJ)`+X2Qfy*2b0|y<2P?({J^<+8@B)>=a2miU?4GhKTkNECpDR$*Bs81 Jo@~#%5da3a6M_H$ delta 50 zcmbOr^FexoJ)`MH2QkLUX^a7!KlU?#!H>=B8NYKfe%L&nTb^<9F`j_QYP<%M(|A__ E0I7!%>i_@% diff --git a/gen/layouts/FloorPlan18-objects.json b/gen/layouts/FloorPlan18-objects.json index 15cc0d0b9..d6f310549 100644 --- a/gen/layouts/FloorPlan18-objects.json +++ b/gen/layouts/FloorPlan18-objects.json @@ -1,48 +1,48 @@ [ - "Floor", - "Cabinet", - "Apple", - "Bowl", - "CoffeeMachine", - "Toaster", - "PepperShaker", - "Chair", - "GarbageCan", - "HousePlant", - "Window", - "Spoon", - "LightSwitch", - "Pan", "StoveKnob", - "Blinds", - "Potato", - "Pot", - "PaperTowelRoll", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "Vase", "Safe", - "Kettle", - "DiningTable", - "Cup", + "PepperShaker", "SaltShaker", - "Microwave", - "Lettuce", + "Tomato", + "Chair", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Blinds", + "Bowl", + "DishSponge", + "LightSwitch", + "HousePlant", + "DiningTable", + "GarbageBag", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Vase", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", "Knife", - "Fork", + "Apple", + "Spatula", + "PaperTowelRoll", "ButterKnife", - "GarbageBag", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan18-openable.json b/gen/layouts/FloorPlan18-openable.json index ebf301744..dc7d80140 100644 --- a/gen/layouts/FloorPlan18-openable.json +++ b/gen/layouts/FloorPlan18-openable.json @@ -13,26 +13,20 @@ ], "Cabinet|+01.05|+00.42|+01.71": [ 0.25, - 1.5, - 0, + 1.75, + 90, 30 ], "Cabinet|+01.05|+00.42|+02.94": [ 0.25, - 3.25, - 180, + 2.25, + 90, 30 ], "Cabinet|+01.05|+00.42|+02.99": [ 0.25, - 2.75, - 0, - 30 - ], - "Cabinet|+01.05|+00.42|+04.55": [ - 0.25, - 5.25, - 180, + 3.0, + 90, 30 ], "Cabinet|+01.27|+02.13|+00.43": [ @@ -41,18 +35,6 @@ 180, -30 ], - "Cabinet|+01.31|+02.46|+03.61": [ - 0.75, - 4.25, - 180, - -30 - ], - "Cabinet|+01.31|+02.46|+04.36": [ - 0.75, - 3.75, - 0, - -30 - ], "Cabinet|+01.32|+02.13|+01.53": [ 0.75, 1.0, @@ -84,27 +66,27 @@ 30 ], "CounterTop|+01.39|+01.03|+00.90": [ - 0.75, + 0.5, 1.0, - 180, + 90, 30 ], "CounterTop|+01.39|+01.03|+04.72": [ 0.75, 5.0, - 180, + 90, 30 ], "DiningTable|-00.16|+00.00|+06.47": [ - -0.25, - 5.5, - 0, + -1.0, + 6.0, + 90, 30 ], "Drawer|+00.12|+00.80|+00.52": [ - 0.75, + -0.5, 1.25, - 270, + 90, 30 ], "Drawer|+00.74|+00.80|+00.52": [ @@ -115,7 +97,7 @@ ], "Drawer|+01.28|+00.80|+03.29": [ 0.25, - 3.25, + 3.0, 90, 0 ], diff --git a/gen/layouts/FloorPlan19-objects.json b/gen/layouts/FloorPlan19-objects.json index 6f9b714db..671ecf546 100644 --- a/gen/layouts/FloorPlan19-objects.json +++ b/gen/layouts/FloorPlan19-objects.json @@ -1,40 +1,40 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "Chair", - "GarbageCan", - "Spoon", - "LightSwitch", - "Pan", "StoveKnob", - "StoveBurner", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "DiningTable", - "Cup", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Chair", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "Apple", + "Spatula", "Knife", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan19-openable.json b/gen/layouts/FloorPlan19-openable.json index cfaf8546a..9abccce67 100644 --- a/gen/layouts/FloorPlan19-openable.json +++ b/gen/layouts/FloorPlan19-openable.json @@ -30,15 +30,15 @@ 30 ], "Cabinet|-00.58|+00.39|-02.74": [ - -1.25, - -2.5, - 180, + -1.0, + -3.25, + 90, 30 ], "Cabinet|-00.58|+00.39|-03.48": [ - -1.5, - -2.75, - 180, + -1.0, + -3.25, + 90, 30 ], "Cabinet|-00.61|+00.39|-03.51": [ @@ -60,14 +60,14 @@ 30 ], "Cabinet|-01.38|+00.39|-03.51": [ - -1.0, + -2.0, -2.75, - 270, + 90, 30 ], "Cabinet|-02.15|+00.39|-03.51": [ - -1.5, - -2.75, + -1.25, + -2.5, 270, 30 ], @@ -78,13 +78,13 @@ 0 ], "Cabinet|-03.02|+02.10|-01.74": [ - -2.0, - -1.25, + -2.25, + -2.5, 270, 0 ], "Cabinet|-03.02|+02.10|-02.68": [ - -2.0, + -2.25, -2.75, 270, 0 @@ -102,7 +102,7 @@ 0 ], "CounterTop|-01.79|+00.95|-03.80": [ - -1.0, + -2.5, -3.25, 180, 30 @@ -115,7 +115,7 @@ ], "Drawer|-00.45|+00.80|-00.76": [ -1.5, - -1.25, + -0.25, 90, 0 ], diff --git a/gen/layouts/FloorPlan2-objects.json b/gen/layouts/FloorPlan2-objects.json index 5aaf4b50d..c189b6117 100644 --- a/gen/layouts/FloorPlan2-objects.json +++ b/gen/layouts/FloorPlan2-objects.json @@ -1,43 +1,43 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "CellPhone", - "PepperShaker", - "Bowl", - "GarbageCan", - "Chair", - "Window", - "Spoon", - "LightSwitch", - "Pan", - "Ladle", "StoveKnob", - "Potato", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "Kettle", - "Cup", + "PepperShaker", "SaltShaker", - "Microwave", - "Lettuce", + "Tomato", + "Chair", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Ladle", + "Floor", + "CellPhone", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "Apple", + "Spatula", "Knife", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan2-openable.json b/gen/layouts/FloorPlan2-openable.json index 746d96928..1b72a845f 100644 --- a/gen/layouts/FloorPlan2-openable.json +++ b/gen/layouts/FloorPlan2-openable.json @@ -1,8 +1,8 @@ { "Cabinet|+00.50|+00.48|-01.15": [ - 0.75, - -0.5, - 270, + -0.25, + -0.75, + 180, 30 ], "Cabinet|+01.39|+00.48|-01.15": [ @@ -21,7 +21,7 @@ 1.0, -0.75, 90, - -30 + 0 ], "Cabinet|-00.50|+00.48|-01.15": [ -0.75, @@ -37,8 +37,8 @@ ], "Cabinet|-01.39|+00.48|-01.15": [ -0.75, - -0.5, - 270, + -0.75, + 180, 30 ], "Cabinet|-01.70|+02.02|-01.45": [ @@ -48,14 +48,14 @@ 0 ], "CounterTop|+00.00|+00.95|-01.51": [ - 1.25, - 0.75, + 1.0, + -0.75, 90, 30 ], "CounterTop|-00.02|+00.96|+00.51": [ -0.75, - 0.5, + 0.75, 90, 30 ], @@ -141,17 +141,17 @@ -0.75, 0.0, 270, - 30 + 0 ], "GarbageCan|-01.80|+00.01|+01.33": [ -1.25, - 2.0, + 1.75, 270, 30 ], "Microwave|+01.93|+00.90|-00.77": [ 1.0, - -0.25, + -0.5, 90, 0 ], diff --git a/gen/layouts/FloorPlan20-layout.npy b/gen/layouts/FloorPlan20-layout.npy index 26942a1b589283ce0bc97da341bac22354ead260..949208d23f702d61aa4d4443d7eb97145190b193 100644 GIT binary patch delta 26 ecmaFB^?_@G9i!z$dv~q}`x(IC%l?fG4_E+w)CqL} delta 15 Xcmeys^?+-F9izoWd-sjgZm|FWG5Q85 diff --git a/gen/layouts/FloorPlan20-objects.json b/gen/layouts/FloorPlan20-objects.json index da15dedff..450c20fbb 100644 --- a/gen/layouts/FloorPlan20-objects.json +++ b/gen/layouts/FloorPlan20-objects.json @@ -1,46 +1,46 @@ [ - "Floor", - "Cabinet", - "Apple", + "StoveKnob", + "Faucet", + "Fridge", "Stool", - "Bowl", - "Toaster", - "CoffeeMachine", "PepperShaker", - "ShelvingUnit", - "GarbageCan", - "Window", - "WineBottle", - "Spoon", - "LightSwitch", - "Pan", - "Ladle", - "Shelf", - "StoveKnob", - "StoveBurner", - "Pot", + "SaltShaker", "Tomato", - "Spatula", - "Fridge", - "Vase", - "DiningTable", "Cup", - "SaltShaker", - "Microwave", - "Lettuce", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Bowl", + "LightSwitch", + "DishSponge", + "ShelvingUnit", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Vase", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Ladle", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "Apple", + "WineBottle", + "Spatula", "Knife", + "Shelf", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan20-openable.json b/gen/layouts/FloorPlan20-openable.json index a9a7c7ee1..d3a19cf62 100644 --- a/gen/layouts/FloorPlan20-openable.json +++ b/gen/layouts/FloorPlan20-openable.json @@ -12,10 +12,10 @@ 30 ], "Cabinet|+01.39|+00.47|-01.06": [ - 0.75, - -0.75, - 180, - 30 + 0.0, + -1.0, + 90, + 0 ], "Cabinet|+01.72|+02.02|-02.00": [ 1.0, @@ -25,7 +25,7 @@ ], "Cabinet|+01.75|+02.02|-01.03": [ 1.0, - -0.75, + -1.0, 90, 0 ], @@ -36,14 +36,14 @@ 0 ], "Cabinet|-00.46|+02.27|-02.00": [ - 0.25, + -0.5, -1.25, 180, 0 ], "Cabinet|-00.82|+00.47|-01.69": [ - -0.25, - -1.0, + 0.0, + -0.75, 270, 30 ], @@ -54,7 +54,7 @@ 30 ], "Cabinet|-01.15|+02.02|-01.98": [ - -0.25, + -0.5, -1.25, 270, 0 @@ -91,32 +91,20 @@ ], "Microwave|-01.23|+00.90|-01.68": [ -0.5, - -1.0, + -1.25, 270, 0 ], "Shelf|+00.17|+00.16|+00.68": [ - -0.75, - 0.25, - 90, - 30 - ], - "Shelf|+00.17|+00.53|+00.68": [ - 1.5, - 0.5, - 270, - 0 - ], - "Shelf|+01.61|+00.55|+02.48": [ - 1.0, + -0.5, 2.0, - 0, + 180, 30 ], - "Shelf|+01.61|+00.88|+02.48": [ - 1.5, - 2.0, - 0, + "Shelf|+00.17|+00.53|+00.68": [ + -0.75, + 0.25, + 90, 30 ], "Sink|-00.11|+00.89|-02.01|SinkBasin": [ diff --git a/gen/layouts/FloorPlan201-layout.npy b/gen/layouts/FloorPlan201-layout.npy index dd52a66f452b4e54d86eb3ff57581e2dec6dc09d..b69d49523ed66414654aedfbd5c4ad6f93e3cb0a 100644 GIT binary patch delta 19 bcmZ1=xj=HmHpb1z7#A=yKG+=2?8ylLPm~8W delta 19 bcmZ1=xj=HmHb%w|o0l`LXWX2|Y{dxxPvZwQ diff --git a/gen/layouts/FloorPlan201-objects.json b/gen/layouts/FloorPlan201-objects.json index 437632bd1..4a816c79d 100644 --- a/gen/layouts/FloorPlan201-objects.json +++ b/gen/layouts/FloorPlan201-objects.json @@ -1,37 +1,37 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "Bowl", + "Laptop", + "Statue", + "Book", + "Television", "Chair", - "GarbageCan", - "HousePlant", - "RemoteControl", - "Window", "DeskLamp", + "CoffeeTable", + "Plate", + "CreditCard", + "Window", + "Bowl", "LightSwitch", + "HousePlant", + "RemoteControl", + "DiningTable", + "KeyChain", "Painting", - "Shelf", - "TVStand", - "Curtains", - "CoffeeTable", - "Box", - "Pencil", - "Vase", "Watch", - "Pen", - "Newspaper", - "DiningTable", - "Laptop", + "Vase", + "Sofa", "TissueBox", - "Statue", - "Television", - "KeyChain", + "Pillow", "Drawer", + "TVStand", + "GarbageCan", "SideTable", - "Pillow", - "CreditCard", + "FloorLamp", + "Pen", + "Newspaper", + "Pencil", + "Curtains", + "Floor", "ArmChair", - "Book", - "Plate" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan201-openable.json b/gen/layouts/FloorPlan201-openable.json index 41eb0befe..e402b1351 100644 --- a/gen/layouts/FloorPlan201-openable.json +++ b/gen/layouts/FloorPlan201-openable.json @@ -25,14 +25,14 @@ ], "Drawer|-00.31|+00.63|+03.37": [ -1.5, - 2.5, + 4.25, 90, 0 ], "Drawer|-02.11|+00.65|-00.07": [ - -1.25, - 0.75, - 270, + -1.5, + 0.5, + 180, 30 ], "Shelf|-02.33|+00.09|+04.92": [ @@ -42,14 +42,14 @@ 30 ], "Shelf|-02.33|+00.34|+04.92": [ - -3.25, + -3.0, 5.75, - 180, + 90, 30 ], "Shelf|-02.39|+00.24|+06.30": [ - -1.75, - 5.25, + -1.5, + 5.5, 270, 30 ], @@ -60,7 +60,7 @@ 30 ], "SideTable|-02.11|+00.00|-00.14": [ - -1.75, + -2.0, 0.5, 180, 30 @@ -78,8 +78,8 @@ 30 ], "TVStand|-02.39|+00.01|+06.30": [ - -2.5, - 5.75, + -1.5, + 5.5, 0, 30 ] diff --git a/gen/layouts/FloorPlan202-layout.npy b/gen/layouts/FloorPlan202-layout.npy index b720fd47dab3797bd441352eed530a18ef05bac4..38944ae1064decdb2863eb60ea88cb352f153751 100644 GIT binary patch delta 22 ecmaDLd_Z`D9g~U0Mu%x^o1d{wV4B><83h1g%m_UI delta 42 pcmX>g{6Khu9h0fSMu%x^oID2@z<^`(dA8|HoLo>Y-{g4CL;&%q3B&*Z diff --git a/gen/layouts/FloorPlan202-objects.json b/gen/layouts/FloorPlan202-objects.json index e7f606c2e..50854b4ba 100644 --- a/gen/layouts/FloorPlan202-objects.json +++ b/gen/layouts/FloorPlan202-objects.json @@ -1,26 +1,26 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "GarbageCan", - "HousePlant", - "RemoteControl", - "Window", - "LightSwitch", - "Painting", - "Shelf", - "TVStand", - "Curtains", - "CoffeeTable", - "Box", - "Watch", "Laptop", "Statue", + "Book", "Television", + "CoffeeTable", + "CreditCard", + "Window", + "LightSwitch", + "HousePlant", + "RemoteControl", "KeyChain", - "SideTable", + "Painting", + "Watch", + "Sofa", "Pillow", + "TVStand", + "GarbageCan", + "SideTable", + "FloorLamp", + "Curtains", + "Floor", "ArmChair", - "Book", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan202-openable.json b/gen/layouts/FloorPlan202-openable.json index 56d320676..acce049c7 100644 --- a/gen/layouts/FloorPlan202-openable.json +++ b/gen/layouts/FloorPlan202-openable.json @@ -1,12 +1,12 @@ { "ArmChair|-03.06|+00.00|+00.52": [ - -3.0, - 1.25, + -3.25, + 1.5, 180, 30 ], "CoffeeTable|-01.74|+00.01|+02.36": [ - -2.0, + -1.5, 3.0, 180, 30 @@ -36,9 +36,9 @@ 30 ], "TVStand|-01.57|+00.00|+03.87": [ - -1.75, - 3.0, - 0, - 30 + 0.25, + 3.75, + 270, + 0 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan203-layout.npy b/gen/layouts/FloorPlan203-layout.npy index 376ec54492d4c55399aa249bd24fad5970c67292..4d20f9d78ecf7a1dc99855dc1039a454b32f78cf 100644 GIT binary patch delta 26 icmZ4BbiiqXJ)_A+hc-^e2b;HZ>N7IF*nFMKQw#uzo(ahS delta 22 ecmX@$w7_YCJ)_Y^hc?d5*EkgzH?whDi2(p$KnE@W diff --git a/gen/layouts/FloorPlan203-objects.json b/gen/layouts/FloorPlan203-objects.json index 538b91a00..86fc0d40d 100644 --- a/gen/layouts/FloorPlan203-objects.json +++ b/gen/layouts/FloorPlan203-objects.json @@ -1,35 +1,35 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "Bowl", - "WateringCan", - "CellPhone", + "Laptop", + "Book", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", + "CoffeeTable", + "Plate", + "CreditCard", "Window", - "Ottoman", + "Bowl", "LightSwitch", + "HousePlant", + "RemoteControl", + "DiningTable", + "WateringCan", + "KeyChain", "Painting", - "Plate", - "CoffeeTable", - "Box", - "Pencil", - "Vase", "Watch", - "Newspaper", - "DiningTable", - "Laptop", + "Vase", + "Sofa", "TissueBox", - "Television", - "KeyChain", + "Pillow", "Drawer", + "GarbageCan", "SideTable", - "Pillow", + "Ottoman", + "FloorLamp", + "Newspaper", "Boots", + "Pencil", + "Floor", + "CellPhone", "ArmChair", - "Book", - "CreditCard" + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan204-layout.npy b/gen/layouts/FloorPlan204-layout.npy index 953d64489e460560ca416df48031a3562a41f1e2..36b5f5e8438eab3ce6b5ff43748d1d390ee1e0ac 100644 GIT binary patch delta 40 ycmV+@0N4M37?2l`J_0v4kwDgyHUTh`h5;Y}_>-3bKa=(WP_tG7umZCd1?mPHIt~#4 delta 117 zcmbOr-XJl-j>*DgqQf;wwgU`c@M1rNW`gl2^D~-H=40gGgvq>^Y|f}Zxs1_3iVv#h gf;~hJ51c=F0b>~Bm(9-^_cL+ARQ=dIpXDPP00gfaYybcN diff --git a/gen/layouts/FloorPlan204-objects.json b/gen/layouts/FloorPlan204-objects.json index b18bedbca..52ced8948 100644 --- a/gen/layouts/FloorPlan204-objects.json +++ b/gen/layouts/FloorPlan204-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "WateringCan", - "Desk", - "CellPhone", + "Laptop", + "Statue", + "Television", + "Safe", "Chair", - "GarbageCan", - "Window", - "RemoteControl", - "HousePlant", "DeskLamp", - "LightSwitch", - "Painting", - "Shelf", - "TVStand", "CoffeeTable", - "Box", - "Vase", - "Safe", + "CreditCard", + "Window", + "LightSwitch", + "HousePlant", + "RemoteControl", "DiningTable", - "Laptop", - "Statue", - "Television", + "WateringCan", "KeyChain", + "Painting", + "Desk", + "Vase", + "Sofa", "Drawer", "Pillow", + "TVStand", + "GarbageCan", + "FloorLamp", + "Floor", + "CellPhone", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan204-openable.json b/gen/layouts/FloorPlan204-openable.json index 01584a44f..49b3f357a 100644 --- a/gen/layouts/FloorPlan204-openable.json +++ b/gen/layouts/FloorPlan204-openable.json @@ -6,13 +6,13 @@ 30 ], "CoffeeTable|-01.97|+00.00|+04.19": [ - -1.75, + -2.0, 3.25, 0, 30 ], "Desk|-00.35|+00.00|+01.37": [ - -0.5, + -0.25, 2.0, 180, 30 @@ -50,7 +50,7 @@ "Drawer|00.00|+00.38|+01.22": [ -1.0, 0.5, - 0, + 90, 30 ], "Drawer|00.00|+00.58|+01.22": [ @@ -60,9 +60,9 @@ 0 ], "GarbageCan|+00.36|+00.00|+02.16": [ - 0.0, - 2.5, - 90, + -0.25, + 2.75, + 180, 30 ], "Safe|+00.18|+00.00|-00.07": [ @@ -84,7 +84,25 @@ 30 ], "Shelf|-01.10|+00.61|+01.32": [ - -1.5, + -1.75, + 0.0, + 0, + 0 + ], + "Shelf|-01.27|+00.20|+01.32": [ + -1.75, + 0.0, + 90, + 30 + ], + "Shelf|-01.27|+00.40|+01.32": [ + -1.75, + 0.25, + 90, + 30 + ], + "Shelf|-01.27|+00.61|+01.32": [ + -1.75, 0.25, 90, 30 @@ -96,17 +114,11 @@ 0 ], "Shelf|-04.25|+01.69|+00.77": [ - -2.75, + -3.5, 1.0, 270, 30 ], - "Shelf|-04.25|+02.16|+00.77": [ - -2.75, - 1.0, - 270, - 0 - ], "Shelf|-04.26|+00.83|+00.77": [ -3.75, 0.75, diff --git a/gen/layouts/FloorPlan205-layout.npy b/gen/layouts/FloorPlan205-layout.npy index 0419a436ec8b25667f06c6f6d15288b0a6f41797..ebc9e6e141ad55deb4969866c9ae3000d4b524f2 100644 GIT binary patch delta 18 acmZ3WFhOC09g~UWMu%w}o1bx5u>$}+69yju delta 20 ccmbQBus~sg9h0fSMu%w}j4w7H=kR0)07)kX@Bjb+ diff --git a/gen/layouts/FloorPlan205-objects.json b/gen/layouts/FloorPlan205-objects.json index 6d3d68821..d1495d6c1 100644 --- a/gen/layouts/FloorPlan205-objects.json +++ b/gen/layouts/FloorPlan205-objects.json @@ -1,29 +1,29 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "WateringCan", + "Laptop", + "Statue", + "Dresser", + "Television", "Chair", - "GarbageCan", - "HousePlant", - "RemoteControl", - "Window", - "Ottoman", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", - "Painting", - "Curtains", - "Box", - "Watch", + "HousePlant", + "RemoteControl", "DiningTable", - "Laptop", - "Dresser", - "Statue", - "Television", + "WateringCan", "KeyChain", + "Painting", + "Watch", + "Sofa", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "Ottoman", + "FloorLamp", + "Curtains", + "Floor", "ArmChair", - "CreditCard" + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan205-openable.json b/gen/layouts/FloorPlan205-openable.json index 30e9efa8c..58a78dbc0 100644 --- a/gen/layouts/FloorPlan205-openable.json +++ b/gen/layouts/FloorPlan205-openable.json @@ -42,9 +42,9 @@ 30 ], "Dresser|-03.20|00.00|+06.79": [ - -2.0, - 6.0, - 270, + -3.25, + 6.25, + 0, 30 ], "GarbageCan|-00.26|-00.01|+06.80": [ @@ -55,7 +55,7 @@ ], "SideTable|-00.24|00.00|+03.52": [ -0.75, - 3.25, + 3.75, 90, 30 ], diff --git a/gen/layouts/FloorPlan206-layout.npy b/gen/layouts/FloorPlan206-layout.npy index 3fc955271250bf600b4593a56ac8fb75ccb13c6a..b8e0e682f1992c3b0c4c0f8e1bef85320bb6b314 100644 GIT binary patch delta 17 YcmZ3$|AB9UJ)_}92Q$XaZH&KI0XO;v5C8xG delta 60 scmeysw}5|wJ)_A+2Qx;_5BnLw;K$~CMn*OT2#3J|LVvM`&`fYX0Gx~pyZ`_I diff --git a/gen/layouts/FloorPlan206-objects.json b/gen/layouts/FloorPlan206-objects.json index 26ccbe9ef..4d40534fc 100644 --- a/gen/layouts/FloorPlan206-objects.json +++ b/gen/layouts/FloorPlan206-objects.json @@ -1,26 +1,26 @@ [ - "Floor", - "Cabinet", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Television", + "CoffeeTable", + "CreditCard", + "Window", "Bowl", + "LightSwitch", "ShelvingUnit", - "GarbageCan", "HousePlant", "RemoteControl", - "Window", - "LightSwitch", + "KeyChain", "Painting", - "Shelf", - "TVStand", - "CoffeeTable", - "Box", + "Cabinet", "Vase", - "Laptop", - "Statue", - "Television", - "KeyChain", + "Sofa", "Pillow", + "TVStand", + "GarbageCan", + "FloorLamp", + "Floor", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan206-openable.json b/gen/layouts/FloorPlan206-openable.json index 149f0ba7b..6a7f82072 100644 --- a/gen/layouts/FloorPlan206-openable.json +++ b/gen/layouts/FloorPlan206-openable.json @@ -41,12 +41,6 @@ 180, 0 ], - "Shelf|-00.03|+00.44|-02.38": [ - 0.5, - -1.75, - 180, - 30 - ], "Shelf|-00.39|+00.30|-02.38": [ -1.0, -1.25, @@ -101,12 +95,6 @@ 270, -30 ], - "Shelf|-01.83|+01.74|-02.36": [ - -0.5, - -1.75, - 270, - 30 - ], "Shelf|-01.83|+02.04|-02.36": [ -0.75, -1.75, @@ -114,7 +102,7 @@ 0 ], "Sofa|+00.12|+00.01|+01.03": [ - 0.75, + -0.5, 0.25, 0, 30 @@ -126,7 +114,7 @@ 30 ], "TVStand|-01.73|00.00|-01.06": [ - -1.25, + -1.0, -1.0, 270, 30 diff --git a/gen/layouts/FloorPlan207-objects.json b/gen/layouts/FloorPlan207-objects.json index 54098510c..114aadb48 100644 --- a/gen/layouts/FloorPlan207-objects.json +++ b/gen/layouts/FloorPlan207-objects.json @@ -1,27 +1,27 @@ [ - "Floor", - "Cabinet", - "FloorLamp", - "Sofa", - "ShelvingUnit", - "GarbageCan", + "Laptop", + "Statue", + "Television", + "CoffeeTable", + "CreditCard", "Window", + "LightSwitch", + "ShelvingUnit", "HousePlant", "RemoteControl", - "LightSwitch", + "KeyChain", "Painting", - "Shelf", - "TVStand", - "CoffeeTable", - "Box", - "Vase", + "Cabinet", "Watch", - "Laptop", - "Statue", - "Television", - "KeyChain", - "SideTable", + "Vase", + "Sofa", "Pillow", + "TVStand", + "GarbageCan", + "SideTable", + "FloorLamp", + "Floor", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan207-openable.json b/gen/layouts/FloorPlan207-openable.json index e099fd27c..3c460de3b 100644 --- a/gen/layouts/FloorPlan207-openable.json +++ b/gen/layouts/FloorPlan207-openable.json @@ -1,8 +1,8 @@ { "ArmChair|+00.40|+00.01|+02.19": [ - 1.0, - 1.75, - 270, + 0.5, + 1.5, + 0, 30 ], "ArmChair|-00.63|+00.01|+02.19": [ @@ -55,8 +55,8 @@ ], "Shelf|+01.66|+00.64|+00.61": [ 0.75, - 1.0, - 180, + 0.25, + 0, 30 ], "Shelf|-01.77|+01.45|-01.59": [ @@ -66,10 +66,10 @@ 30 ], "Shelf|-01.77|+01.74|-01.59": [ - -1.0, + -0.75, -1.5, 270, - 0 + 30 ], "Shelf|-01.77|+02.04|-01.59": [ -1.0, diff --git a/gen/layouts/FloorPlan208-layout.npy b/gen/layouts/FloorPlan208-layout.npy index e5199effb0cd6c53c26fca52d1ff6782bd8529e4..70465ddc524364501d653330bac2ce093f8ef854 100644 GIT binary patch delta 38 ucmew$wLxlvJ)`kPhhxl>#aId^=W%dsUdJNAG`WsNU~(QS$L4ozO>6)IAPk`Z delta 52 zcmdlW^+9TaJ)`+Xhhxl>@3C@B{>NM~c^(_bla3EKv(^u=0+W^!nn?l= Ac>n+a delta 97 zcmcbhxP0IBt%~Vmtzq b{rD|7<)9irY_8|u&crDNgctCK28wcZs$?hDL03+K3%>V!Z delta 13 UcmX>gctCK28wcZq$?hDL03<5}-2eap diff --git a/gen/layouts/FloorPlan211-objects.json b/gen/layouts/FloorPlan211-objects.json index d8973c9ae..9ab966e36 100644 --- a/gen/layouts/FloorPlan211-objects.json +++ b/gen/layouts/FloorPlan211-objects.json @@ -1,30 +1,30 @@ [ - "Floor", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Television", + "CoffeeTable", + "Plate", + "CreditCard", + "Window", + "LightSwitch", "ShelvingUnit", - "CellPhone", - "GarbageCan", "HousePlant", "RemoteControl", - "Window", - "LightSwitch", - "Painting", - "Shelf", - "TVStand", - "CoffeeTable", - "Box", - "Vase", - "Newspaper", "DiningTable", - "Laptop", - "Statue", - "Television", "KeyChain", + "Painting", + "Vase", + "Sofa", "Drawer", - "SideTable", "Pillow", - "CreditCard", + "TVStand", + "GarbageCan", + "SideTable", + "FloorLamp", + "Newspaper", + "Floor", + "CellPhone", "ArmChair", - "Plate" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan211-openable.json b/gen/layouts/FloorPlan211-openable.json index 8387f1851..e6c7e972b 100644 --- a/gen/layouts/FloorPlan211-openable.json +++ b/gen/layouts/FloorPlan211-openable.json @@ -1,13 +1,7 @@ { - "ArmChair|-01.76|+00.00|-01.49": [ - -1.0, - -1.0, - 270, - 30 - ], "CoffeeTable|+00.17|+00.00|+00.22": [ -0.5, - -0.25, + 0.5, 90, 30 ], @@ -36,8 +30,8 @@ 30 ], "Shelf|-00.15|+00.55|+01.93": [ - 0.5, - 1.5, + -0.75, + 1.25, 0, 30 ], @@ -73,8 +67,8 @@ ], "TVStand|-01.97|+00.00|+00.56": [ -1.25, - 0.75, - 270, + -0.5, + 0, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan212-objects.json b/gen/layouts/FloorPlan212-objects.json index bdfb4aa79..1b9273b3e 100644 --- a/gen/layouts/FloorPlan212-objects.json +++ b/gen/layouts/FloorPlan212-objects.json @@ -1,30 +1,30 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "WateringCan", - "GarbageCan", - "RemoteControl", - "HousePlant", - "Window", - "LightSwitch", - "Painting", - "Shelf", - "TVStand", - "CoffeeTable", - "Box", - "Pencil", - "Pen", - "Newspaper", "Laptop", - "TissueBox", "Statue", "Television", + "CoffeeTable", + "CreditCard", + "Window", + "LightSwitch", + "HousePlant", + "RemoteControl", + "WateringCan", "KeyChain", + "Painting", + "Sofa", + "TissueBox", + "Pillow", "Drawer", + "TVStand", + "GarbageCan", "SideTable", - "Pillow", + "FloorLamp", + "Pen", + "Newspaper", "Boots", + "Pencil", + "Floor", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan212-openable.json b/gen/layouts/FloorPlan212-openable.json index 968cd760d..e62199150 100644 --- a/gen/layouts/FloorPlan212-openable.json +++ b/gen/layouts/FloorPlan212-openable.json @@ -19,7 +19,7 @@ ], "Drawer|+03.88|+00.77|+00.86": [ 2.75, - 1.0, + 0.75, 90, 0 ], @@ -73,7 +73,7 @@ ], "TVStand|-00.29|00.00|-00.77": [ -1.0, - -0.5, + -0.25, 90, 30 ] diff --git a/gen/layouts/FloorPlan213-layout.npy b/gen/layouts/FloorPlan213-layout.npy index 555f9f725493c04d1075474b3cdb66ebd1c6e18f..8272a745f57557996de621e9e77877029c252187 100644 GIT binary patch delta 26 icmdm>+MqhYj>*DeqC@M(s~h+>PvtLQ+$<_Mn-KtpYYCD7 delta 59 vcmZor-Jm+bj>*z+qC+begMtGC7`)iHe;Xfy%d$D2zl;&VXWM*VU?C#_l~W8` diff --git a/gen/layouts/FloorPlan213-objects.json b/gen/layouts/FloorPlan213-objects.json index 6c37b814c..6bc89a579 100644 --- a/gen/layouts/FloorPlan213-objects.json +++ b/gen/layouts/FloorPlan213-objects.json @@ -1,27 +1,27 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", - "Window", - "LightSwitch", - "Painting", - "Shelf", - "CoffeeTable", - "Box", - "Watch", "Laptop", "Dresser", "Statue", + "Book", "Television", + "Chair", + "CoffeeTable", + "CreditCard", + "Window", + "LightSwitch", + "HousePlant", + "RemoteControl", "KeyChain", + "Painting", + "Watch", + "Sofa", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "FloorLamp", + "Floor", "ArmChair", - "Book", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan213-openable.json b/gen/layouts/FloorPlan213-openable.json index a89802e64..d5835af4b 100644 --- a/gen/layouts/FloorPlan213-openable.json +++ b/gen/layouts/FloorPlan213-openable.json @@ -102,20 +102,20 @@ 30 ], "Shelf|+10.79|+00.23|+00.93": [ - 11.25, - -0.75, - 0, - 0 + 10.5, + 1.75, + 180, + 30 ], "SideTable|+11.38|+00.00|-01.16": [ - 12.0, + 10.75, -0.5, - 270, + 90, 30 ], "SideTable|+12.31|+00.00|-01.15": [ 12.75, - -0.75, + -0.5, 180, 30 ], @@ -127,7 +127,7 @@ ], "SideTable|+14.33|+00.00|+02.59": [ 13.75, - 3.25, + 2.75, 90, 30 ], diff --git a/gen/layouts/FloorPlan214-objects.json b/gen/layouts/FloorPlan214-objects.json index 1b2896776..6704f146d 100644 --- a/gen/layouts/FloorPlan214-objects.json +++ b/gen/layouts/FloorPlan214-objects.json @@ -1,29 +1,29 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "WateringCan", - "Bowl", - "GarbageCan", - "RemoteControl", - "Window", - "HousePlant", - "DeskLamp", - "LightSwitch", - "Shelf", - "Painting", - "Plate", - "Curtains", - "CoffeeTable", - "Box", - "Vase", - "Newspaper", "Laptop", "Statue", "Television", + "DeskLamp", + "CoffeeTable", + "Plate", + "CreditCard", + "Window", + "Bowl", + "LightSwitch", + "HousePlant", + "RemoteControl", + "WateringCan", "KeyChain", - "SideTable", + "Painting", + "Vase", + "Sofa", "Pillow", + "GarbageCan", + "SideTable", + "FloorLamp", + "Newspaper", + "Curtains", + "Floor", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan214-openable.json b/gen/layouts/FloorPlan214-openable.json index 9f0099f63..82065e0a1 100644 --- a/gen/layouts/FloorPlan214-openable.json +++ b/gen/layouts/FloorPlan214-openable.json @@ -19,7 +19,7 @@ ], "Shelf|-00.39|+01.45|+05.95": [ -1.25, - 5.75, + 6.25, 90, -30 ], @@ -42,14 +42,14 @@ 30 ], "Sofa|-02.49|+00.03|+00.73": [ - -2.75, + -2.5, 1.5, 180, 30 ], "Sofa|-04.36|+00.03|+02.93": [ -3.5, - 3.25, + 2.75, 270, 30 ] diff --git a/gen/layouts/FloorPlan215-layout.npy b/gen/layouts/FloorPlan215-layout.npy index edac74bb616106e7f8e08b284137ea65466625ee..cb2d58b2603acd276a4e770c64b4005994cc0d4b 100644 GIT binary patch delta 36 pcmX?LaKK|2~4DbK| diff --git a/gen/layouts/FloorPlan215-objects.json b/gen/layouts/FloorPlan215-objects.json index 4e31ad3ad..e0da53d1a 100644 --- a/gen/layouts/FloorPlan215-objects.json +++ b/gen/layouts/FloorPlan215-objects.json @@ -1,30 +1,30 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "WateringCan", - "Bowl", - "ShelvingUnit", + "Laptop", + "Statue", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", - "Window", "DeskLamp", + "CoffeeTable", + "CreditCard", + "Window", "LightSwitch", + "Bowl", + "ShelvingUnit", + "HousePlant", + "RemoteControl", + "WateringCan", + "KeyChain", "Painting", - "Shelf", - "CoffeeTable", - "Box", - "Vase", "Watch", - "Mirror", - "Newspaper", - "Laptop", - "Statue", - "Television", - "KeyChain", - "SideTable", + "Vase", + "Sofa", "Pillow", - "CreditCard" + "GarbageCan", + "SideTable", + "FloorLamp", + "Newspaper", + "Mirror", + "Floor", + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan215-openable.json b/gen/layouts/FloorPlan215-openable.json index d9868d4ff..69e837fe8 100644 --- a/gen/layouts/FloorPlan215-openable.json +++ b/gen/layouts/FloorPlan215-openable.json @@ -6,25 +6,25 @@ 30 ], "CoffeeTable|-05.56|+00.02|+06.83": [ - -4.75, - 6.5, - 270, + -5.25, + 6.0, + 0, 30 ], "Shelf|-00.59|+00.25|+02.00": [ - -1.5, - 1.0, - 0, + -1.75, + 2.5, + 90, 30 ], "Shelf|-00.59|+00.25|+05.98": [ -1.5, - 5.0, - 0, + 5.75, + 90, 30 ], "Shelf|-02.85|+00.47|+07.17": [ - -3.0, + -2.75, 6.5, 0, 30 @@ -36,9 +36,9 @@ 0 ], "Shelf|-02.86|+00.16|+07.17": [ - -2.75, - 6.5, - 0, + -4.5, + 6.25, + 90, 30 ], "Shelf|-02.87|+01.29|+07.17": [ @@ -73,7 +73,7 @@ ], "SideTable|-00.59|+00.01|+02.00": [ -1.25, - 1.75, + 2.25, 90, 30 ], diff --git a/gen/layouts/FloorPlan216-layout.npy b/gen/layouts/FloorPlan216-layout.npy index 54dd39cbdcc48250fc503736a886286a1250226b..c199eae736d2c19c6344eab8dd577dcd539bc5ce 100644 GIT binary patch delta 96 zcmbOr+#oW+j>*($qQf*!z5@(k@MGe6b4Ip_-``LE#u&i#!+x^`lOH4FkIm)G_8@9G ai#~`t&U%tr0iuE70EGTv5263;hw%Znk{dGs delta 45 zcmV+|0Mh?}6p#~;J_0l~kwBJ_<}i~c0pI};llK8%vt|N70kgIPFafjn1Rw#kCI-3# DZZQvc diff --git a/gen/layouts/FloorPlan216-objects.json b/gen/layouts/FloorPlan216-objects.json index c72acfe23..688214e22 100644 --- a/gen/layouts/FloorPlan216-objects.json +++ b/gen/layouts/FloorPlan216-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", - "Window", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", + "HousePlant", + "RemoteControl", + "DiningTable", + "KeyChain", "Painting", - "Shelf", - "Box", "Vase", - "Newspaper", - "DiningTable", - "Laptop", + "Sofa", "TissueBox", - "Statue", - "Television", - "KeyChain", + "Pillow", "Drawer", + "GarbageCan", "SideTable", - "Pillow", + "FloorLamp", + "Newspaper", + "Floor", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan216-openable.json b/gen/layouts/FloorPlan216-openable.json index 4b616e958..c75d7552c 100644 --- a/gen/layouts/FloorPlan216-openable.json +++ b/gen/layouts/FloorPlan216-openable.json @@ -24,15 +24,15 @@ 30 ], "Drawer|-00.16|+00.73|+01.03": [ - -0.75, - 0.5, + -1.0, + 0.75, 90, 30 ], "Drawer|-01.02|+00.73|+01.03": [ - -0.5, - 0.5, - 270, + -1.75, + 0.75, + 90, 30 ], "Shelf|-00.55|+00.11|+01.25": [ @@ -48,13 +48,13 @@ 30 ], "SideTable|+01.58|+00.00|-01.49": [ - 1.0, - -0.5, - 90, + 1.5, + -0.75, + 180, 30 ], "SideTable|-00.59|+00.00|+01.23": [ - -0.5, + -0.75, 0.75, 0, 30 diff --git a/gen/layouts/FloorPlan217-objects.json b/gen/layouts/FloorPlan217-objects.json index 9d637104a..c7149612c 100644 --- a/gen/layouts/FloorPlan217-objects.json +++ b/gen/layouts/FloorPlan217-objects.json @@ -1,29 +1,29 @@ [ - "Floor", - "Cabinet", - "FloorLamp", - "Sofa", - "WateringCan", - "Chair", - "GarbageCan", - "RemoteControl", - "Window", - "HousePlant", - "DeskLamp", - "LightSwitch", - "Painting", - "Curtains", - "CoffeeTable", - "Box", - "Watch", "Laptop", "Dresser", "Statue", "Television", + "Chair", + "DeskLamp", + "CoffeeTable", + "CreditCard", + "Window", + "LightSwitch", + "HousePlant", + "RemoteControl", + "WateringCan", "KeyChain", + "Painting", + "Cabinet", + "Watch", + "Sofa", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "FloorLamp", + "Curtains", + "Floor", "ArmChair", - "CreditCard" + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan217-openable.json b/gen/layouts/FloorPlan217-openable.json index fc0f6e991..ba058be94 100644 --- a/gen/layouts/FloorPlan217-openable.json +++ b/gen/layouts/FloorPlan217-openable.json @@ -12,9 +12,9 @@ 30 ], "Cabinet|-04.41|+00.50|+01.57": [ - -3.75, + -4.0, 2.25, - 180, + 270, 30 ], "Cabinet|-04.41|+00.50|+02.59": [ @@ -36,7 +36,7 @@ 30 ], "CoffeeTable|-02.41|00.00|+02.55": [ - -2.25, + -2.5, 3.25, 180, 30 @@ -67,14 +67,14 @@ ], "Dresser|-04.74|+00.00|+02.60": [ -4.0, - 2.25, + 2.75, 270, 30 ], "GarbageCan|-04.81|-00.03|+01.24": [ -4.0, - 1.75, - 180, + 1.5, + 270, 30 ], "SideTable|-00.04|+00.00|+04.62": [ diff --git a/gen/layouts/FloorPlan218-layout.npy b/gen/layouts/FloorPlan218-layout.npy index bf92d28b3736df87acf37253cbe6094bc1b0c1d9..ef1f13d432d08cd328e680e53d06eb46507e7022 100644 GIT binary patch delta 59 zcmaE0^1*O|Ewizu;Y0_&jqh$SPyWUtu(^zN1M_AxP6x)#ZCnD3lb3Nnm^_W=!{%wc P0*srt@d1U|1fsYAzM~b^ delta 302 zcmexh_`qa>EwhQC$wUXgpa=F0V8C<$Lc{nBX#79>QRRQ2@xQ?N8ylW6Yf3@2vp7Js zNuu#3VEoDPEaHh`FrEVg7>J_rMbP-dXnY|wz91T3U~@XlerBc%_M0U*{1`!W1g9K` go}9t;4n%oy{{x9y@PI`(d+_=(GCtVc&X>sr0J2>(Q2+n{ diff --git a/gen/layouts/FloorPlan218-objects.json b/gen/layouts/FloorPlan218-objects.json index 6e103424f..877b8a289 100644 --- a/gen/layouts/FloorPlan218-objects.json +++ b/gen/layouts/FloorPlan218-objects.json @@ -1,30 +1,30 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "WateringCan", - "CellPhone", + "Laptop", + "Statue", + "Dresser", + "Television", "Chair", - "GarbageCan", - "HousePlant", - "RemoteControl", - "Window", "DeskLamp", - "LightSwitch", - "Painting", - "Curtains", "CoffeeTable", - "Box", - "Newspaper", + "Plate", + "CreditCard", + "Window", + "LightSwitch", + "HousePlant", + "RemoteControl", "DiningTable", - "Laptop", - "Dresser", - "Statue", - "Television", + "WateringCan", "KeyChain", + "Painting", + "Sofa", "Drawer", - "SideTable", "Pillow", - "CreditCard", - "Plate" + "GarbageCan", + "SideTable", + "FloorLamp", + "Newspaper", + "Curtains", + "Floor", + "CellPhone", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan218-openable.json b/gen/layouts/FloorPlan218-openable.json index f42ddaa70..59674c3f5 100644 --- a/gen/layouts/FloorPlan218-openable.json +++ b/gen/layouts/FloorPlan218-openable.json @@ -37,7 +37,7 @@ ], "Dresser|+00.85|+00.00|+03.71": [ 0.5, - 4.75, + 5.0, 180, 30 ], diff --git a/gen/layouts/FloorPlan219-objects.json b/gen/layouts/FloorPlan219-objects.json index d01380b3b..63458c6ba 100644 --- a/gen/layouts/FloorPlan219-objects.json +++ b/gen/layouts/FloorPlan219-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "Cabinet", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Dresser", + "Television", + "Safe", + "DeskLamp", + "CreditCard", + "LightSwitch", "ShelvingUnit", - "CellPhone", - "GarbageCan", "HousePlant", "RemoteControl", - "DeskLamp", - "LightSwitch", - "Shelf", + "KeyChain", "Painting", - "Box", - "Vase", + "Cabinet", "Watch", - "Safe", - "Newspaper", - "Laptop", + "Vase", + "Sofa", "TissueBox", - "Dresser", - "Statue", - "Television", - "KeyChain", + "Pillow", "Drawer", + "GarbageCan", "SideTable", - "Pillow", + "FloorLamp", + "Newspaper", + "Floor", + "CellPhone", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan219-openable.json b/gen/layouts/FloorPlan219-openable.json index bd981fd25..ae869b8fb 100644 --- a/gen/layouts/FloorPlan219-openable.json +++ b/gen/layouts/FloorPlan219-openable.json @@ -6,13 +6,13 @@ 30 ], "Cabinet|-02.88|+00.56|+04.21": [ - -3.75, - 3.5, - 90, + -3.5, + 3.75, + 0, 30 ], "Cabinet|-04.03|+00.56|+04.21": [ - -3.5, + -3.75, 3.75, 0, 30 @@ -60,7 +60,7 @@ 30 ], "Dresser|-04.04|00.00|+04.59": [ - -4.5, + -3.5, 3.75, 0, 0 @@ -96,22 +96,22 @@ 0 ], "Shelf|-01.22|+00.27|+00.26": [ - -1.5, + -1.75, 1.0, 180, 30 ], "Shelf|-01.22|+00.78|+00.24": [ - -1.5, - 1.25, - 180, - 0 + -1.75, + 1.0, + 90, + 30 ], "Shelf|-01.22|+01.29|+00.27": [ -1.75, 1.0, 180, - 0 + 30 ], "Shelf|-01.22|+01.81|+00.28": [ -1.25, @@ -126,21 +126,21 @@ -30 ], "Shelf|-05.24|+01.58|+00.07": [ - -4.0, - 0.75, - 270, + -4.25, + 1.0, + 180, 30 ], "Shelf|-05.24|+01.78|+00.07": [ - -4.0, - 0.75, - 270, + -4.25, + 1.0, + 180, 30 ], "Shelf|-05.24|+01.97|+00.09": [ - -4.0, - 0.75, - 270, + -4.25, + 1.0, + 180, 0 ], "SideTable|-05.02|+00.01|+00.27": [ diff --git a/gen/layouts/FloorPlan22-objects.json b/gen/layouts/FloorPlan22-objects.json index 8f95ebc8e..29492b1bf 100644 --- a/gen/layouts/FloorPlan22-objects.json +++ b/gen/layouts/FloorPlan22-objects.json @@ -1,42 +1,42 @@ [ - "Floor", - "Cabinet", - "Apple", - "Stool", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", "StoveKnob", - "Potato", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "Kettle", - "Cup", + "Stool", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "CreditCard", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "CreditCard", - "Bread", - "Fork", + "Apple", + "Spatula", "Knife", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan22-openable.json b/gen/layouts/FloorPlan22-openable.json index a80838e1b..24e262e4f 100644 --- a/gen/layouts/FloorPlan22-openable.json +++ b/gen/layouts/FloorPlan22-openable.json @@ -36,9 +36,9 @@ 0 ], "Cabinet|-00.82|+00.47|-00.91": [ - -0.5, + -1.75, 0.0, - 270, + 90, 30 ], "Cabinet|-00.84|+02.01|-01.20": [ @@ -54,27 +54,27 @@ 0 ], "Cabinet|-01.80|+00.47|-00.91": [ - -1.0, - 0.0, - 270, + -2.0, + -0.25, + 90, 30 ], "Cabinet|-01.84|+02.01|-01.20": [ - -1.5, + -1.75, -0.5, 180, 0 ], "Cabinet|-01.85|+00.39|-00.90": [ - -1.5, - 0.0, - 270, + -2.0, + -0.25, + 180, 30 ], "Cabinet|-02.39|+00.39|+00.38": [ -1.5, - 0.75, - 180, + -0.5, + 0, 30 ], "Cabinet|-02.63|+02.01|-01.20": [ @@ -90,9 +90,9 @@ 0 ], "Cabinet|-02.65|+02.01|-00.95": [ - -1.5, - -0.5, - 270, + -1.75, + 0.0, + 180, 0 ], "Cabinet|-02.65|+02.08|-00.23": [ @@ -108,19 +108,19 @@ 0 ], "Cabinet|-02.65|+02.20|+00.43": [ - -1.5, - 0.0, + -1.25, + 1.0, 270, 0 ], "Cabinet|-02.65|+02.20|+01.67": [ - -1.5, - 2.0, + -2.25, + 1.75, 270, - 0 + -30 ], "CounterTop|+00.07|+00.95|-01.20": [ - 0.0, + 0.25, -0.5, 180, 30 @@ -133,7 +133,7 @@ ], "CounterTop|-02.70|+00.95|+00.11": [ -2.0, - 0.25, + -0.25, 270, 30 ], diff --git a/gen/layouts/FloorPlan220-objects.json b/gen/layouts/FloorPlan220-objects.json index 3d221d8ca..29986daab 100644 --- a/gen/layouts/FloorPlan220-objects.json +++ b/gen/layouts/FloorPlan220-objects.json @@ -1,30 +1,30 @@ [ - "Floor", - "FloorLamp", - "Sofa", + "Laptop", + "Dresser", + "Statue", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", + "CoffeeTable", + "CreditCard", "Window", "LightSwitch", + "HousePlant", + "RemoteControl", + "DiningTable", + "KeyChain", "Painting", - "TVStand", - "CoffeeTable", "Box", - "Candle", - "DiningTable", - "Laptop", - "TissueBox", - "Dresser", - "Statue", - "Television", "RoomDecor", - "KeyChain", + "Sofa", + "TissueBox", + "Pillow", "Drawer", + "TVStand", + "GarbageCan", "SideTable", - "Pillow", + "FloorLamp", "Boots", + "Floor", "ArmChair", - "CreditCard" + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan220-openable.json b/gen/layouts/FloorPlan220-openable.json index e1ce60729..56851e254 100644 --- a/gen/layouts/FloorPlan220-openable.json +++ b/gen/layouts/FloorPlan220-openable.json @@ -37,7 +37,7 @@ ], "Drawer|-00.31|+00.76|+03.61": [ -1.5, - 3.5, + 3.25, 90, 0 ], @@ -72,7 +72,7 @@ 30 ], "Sofa|-02.68|+00.01|-00.12": [ - -3.5, + -1.75, 0.75, 180, 30 diff --git a/gen/layouts/FloorPlan221-layout.npy b/gen/layouts/FloorPlan221-layout.npy index cae71b2884cd3d21429e8159c04d310c2e8fd4cc..1998dfe53466034f9930433a8609e39fc508e2a2 100644 GIT binary patch delta 17 YcmZqR|G+oFp3!ilLmK1eZH%W_0XK>UAOHXW delta 19 acmeys*T6r)p3!KdLmDF^$L8sbH(3Ed8wMHx diff --git a/gen/layouts/FloorPlan221-objects.json b/gen/layouts/FloorPlan221-objects.json index ebcd357f1..08d89088b 100644 --- a/gen/layouts/FloorPlan221-objects.json +++ b/gen/layouts/FloorPlan221-objects.json @@ -1,29 +1,29 @@ [ - "Floor", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Television", "Stool", "Chair", - "GarbageCan", - "HousePlant", - "RemoteControl", + "CoffeeTable", + "Plate", + "CreditCard", "Window", "LightSwitch", - "Painting", - "Curtains", - "CoffeeTable", - "Box", - "Vase", - "Pen", + "HousePlant", + "RemoteControl", "DiningTable", - "Laptop", - "Statue", - "Television", "KeyChain", + "Painting", + "Vase", + "Sofa", "Drawer", - "SideTable", "Pillow", - "CreditCard", + "GarbageCan", + "SideTable", + "FloorLamp", + "Pen", + "Curtains", + "Floor", "ArmChair", - "Plate" + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan221-openable.json b/gen/layouts/FloorPlan221-openable.json index 58547001c..616f56233 100644 --- a/gen/layouts/FloorPlan221-openable.json +++ b/gen/layouts/FloorPlan221-openable.json @@ -18,9 +18,9 @@ 30 ], "DiningTable|-03.43|+00.10|-01.19": [ - -3.5, - -2.0, - 0, + -2.25, + -1.5, + 270, 30 ], "Drawer|-00.03|+00.87|-02.49": [ diff --git a/gen/layouts/FloorPlan222-objects.json b/gen/layouts/FloorPlan222-objects.json index 0e8f61a3e..07683cc3a 100644 --- a/gen/layouts/FloorPlan222-objects.json +++ b/gen/layouts/FloorPlan222-objects.json @@ -1,26 +1,26 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "GarbageCan", - "HousePlant", - "RemoteControl", - "Window", - "LightSwitch", - "Painting", - "TVStand", - "Curtains", - "CoffeeTable", - "Box", - "Watch", - "Newspaper", "Laptop", "Statue", "Television", + "CoffeeTable", + "CreditCard", + "Window", + "LightSwitch", + "HousePlant", + "RemoteControl", "KeyChain", + "Painting", + "Watch", + "Sofa", "Drawer", - "SideTable", "Pillow", + "TVStand", + "GarbageCan", + "SideTable", + "FloorLamp", + "Newspaper", + "Curtains", + "Floor", "ArmChair", - "CreditCard" + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan222-openable.json b/gen/layouts/FloorPlan222-openable.json index 88d7254a6..78f79df35 100644 --- a/gen/layouts/FloorPlan222-openable.json +++ b/gen/layouts/FloorPlan222-openable.json @@ -77,16 +77,10 @@ 90, 30 ], - "Sofa|-01.01|+00.01|-00.21": [ - -0.25, - -0.25, - 270, - 30 - ], "TVStand|+00.84|-00.01|+01.58": [ - 1.0, - 1.0, - 0, + 2.0, + 1.25, + 270, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan223-layout.npy b/gen/layouts/FloorPlan223-layout.npy index 60915f3948627779399baeb1ae3ffe90945da8f3..665418e122d9cac06770ebc649028343ff60128b 100644 GIT binary patch delta 17 Ycmca0H9=~EJ)_}9hcvFu&$zOf065?V1^@s6 delta 67 ocmbOrbwO%^J)`MHhcqrj4hIG>_+SsAxzPALXnelS)43{{0FxIAbN~PV diff --git a/gen/layouts/FloorPlan223-objects.json b/gen/layouts/FloorPlan223-objects.json index 3c098b1f5..a959c9291 100644 --- a/gen/layouts/FloorPlan223-objects.json +++ b/gen/layouts/FloorPlan223-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "WateringCan", + "Laptop", + "Statue", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", + "CoffeeTable", + "Plate", + "CreditCard", "Window", "LightSwitch", + "HousePlant", + "RemoteControl", + "DiningTable", + "WateringCan", + "KeyChain", "Painting", - "TVStand", - "CoffeeTable", "Box", "Vase", - "Candle", - "DiningTable", - "Laptop", - "Statue", - "Television", - "KeyChain", - "SideTable", + "Sofa", "Pillow", - "CreditCard", + "TVStand", + "GarbageCan", + "SideTable", + "FloorLamp", + "Floor", "ArmChair", - "Plate" + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan223-openable.json b/gen/layouts/FloorPlan223-openable.json index 6e8ae2695..926752e61 100644 --- a/gen/layouts/FloorPlan223-openable.json +++ b/gen/layouts/FloorPlan223-openable.json @@ -7,7 +7,7 @@ ], "ArmChair|-00.44|+00.01|+01.92": [ -1.25, - 1.75, + 2.0, 90, 30 ], @@ -19,7 +19,7 @@ ], "CoffeeTable|-02.02|+00.01|+00.02": [ -1.25, - 0.0, + -0.25, 270, 30 ], @@ -31,14 +31,8 @@ ], "DiningTable|-01.86|+00.23|+02.79": [ -2.5, - 2.25, - 0, - 30 - ], - "SideTable|-03.60|+00.00|+01.44": [ - -3.0, - 2.0, - 180, + 1.75, + 90, 30 ], "SideTable|-03.60|+00.00|-01.61": [ @@ -49,14 +43,8 @@ ], "Sofa|-03.42|+00.01|-00.04": [ -2.5, - -0.75, + 0.75, 270, 30 - ], - "TVStand|-01.86|+00.00|+02.79": [ - -2.75, - 2.25, - 90, - 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan224-layout.npy b/gen/layouts/FloorPlan224-layout.npy index ca174cb060e01156465291db786b5883a80ad717..32ec8b98d34f480b238ced98dc1ea711dd6487e8 100644 GIT binary patch delta 15 XcmaE$azSN+J)`MF2e*yWP6+}4GQI{k delta 26 dcmcbh@<3&RJ)_w~2RAMj2L=c@u(9ESAOL4D2Q~lz diff --git a/gen/layouts/FloorPlan224-objects.json b/gen/layouts/FloorPlan224-objects.json index e4d819678..78ef62967 100644 --- a/gen/layouts/FloorPlan224-objects.json +++ b/gen/layouts/FloorPlan224-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "Cabinet", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Dresser", + "Book", + "Television", "Stool", - "WateringCan", - "CellPhone", "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", - "Window", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", + "HousePlant", + "RemoteControl", + "DogBed", + "WateringCan", + "KeyChain", "Painting", - "Box", + "Cabinet", "Vase", - "Newspaper", - "Laptop", - "Dresser", - "Statue", - "Television", - "KeyChain", + "Sofa", "Drawer", - "SideTable", "Pillow", - "DogBed", + "GarbageCan", + "SideTable", + "FloorLamp", + "Newspaper", + "Floor", + "CellPhone", "ArmChair", - "Book", - "CreditCard" + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan224-openable.json b/gen/layouts/FloorPlan224-openable.json index 6319dae58..0e044ef87 100644 --- a/gen/layouts/FloorPlan224-openable.json +++ b/gen/layouts/FloorPlan224-openable.json @@ -42,8 +42,8 @@ 30 ], "Drawer|-00.17|+00.47|-02.14": [ - -0.75, - -1.25, + -0.5, + -1.5, 90, 30 ], @@ -126,7 +126,7 @@ 30 ], "Drawer|-03.24|+00.42|-00.49": [ - -2.25, + -2.5, -1.0, 0, 30 @@ -150,9 +150,9 @@ 30 ], "SideTable|+03.16|+00.03|+01.40": [ - 2.5, - 0.75, - 0, + 2.75, + 1.5, + 90, 30 ], "SideTable|+03.16|+00.03|-00.57": [ diff --git a/gen/layouts/FloorPlan225-objects.json b/gen/layouts/FloorPlan225-objects.json index 5d676468f..84c0e80ad 100644 --- a/gen/layouts/FloorPlan225-objects.json +++ b/gen/layouts/FloorPlan225-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Television", "Chair", - "GarbageCan", - "HousePlant", - "RemoteControl", - "Window", "DeskLamp", + "CoffeeTable", + "CreditCard", + "Window", "LightSwitch", + "HousePlant", + "RemoteControl", + "KeyChain", "Painting", - "Shelf", - "TVStand", - "Curtains", - "CoffeeTable", - "Box", - "Vase", "Watch", - "Newspaper", - "Laptop", + "Vase", + "Sofa", "TissueBox", - "Statue", - "Television", - "KeyChain", + "Pillow", "Drawer", + "TVStand", + "GarbageCan", "SideTable", - "Pillow", + "FloorLamp", + "Newspaper", + "Curtains", + "Floor", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan225-openable.json b/gen/layouts/FloorPlan225-openable.json index 59cce0f5d..c14fbdb01 100644 --- a/gen/layouts/FloorPlan225-openable.json +++ b/gen/layouts/FloorPlan225-openable.json @@ -12,9 +12,9 @@ 30 ], "Drawer|-04.43|+00.47|+03.34": [ - -3.75, - 3.75, - 180, + -3.5, + 2.75, + 0, 30 ], "GarbageCan|-00.23|+00.01|+04.78": [ @@ -24,10 +24,10 @@ 30 ], "Shelf|-00.34|+00.28|+03.05": [ - -1.5, + -2.0, 3.5, - 180, - 30 + 90, + 0 ], "Shelf|-00.34|+00.31|+02.31": [ -1.5, diff --git a/gen/layouts/FloorPlan226-layout.npy b/gen/layouts/FloorPlan226-layout.npy index fd153d13ee591e5f4ab9bac89a54918d5b0221ad..612bff252a03c692fd9fae9587c56e6b1ca74d94 100644 GIT binary patch delta 29 lcmbQh{ef$OEt9$BM0@v%(-fG#*iUQ_n|RJ+vl?R-3jm*U3Vr|p delta 53 xcmeysHGzAAEt7@eM0TL;LrYv4QiYW2Ozv36W51xGC?_CHvTVU0RXTr57+vw%mM)9kPMOl diff --git a/gen/layouts/FloorPlan227-objects.json b/gen/layouts/FloorPlan227-objects.json index 0a937bf9b..5cc0cdb20 100644 --- a/gen/layouts/FloorPlan227-objects.json +++ b/gen/layouts/FloorPlan227-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "Cabinet", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", + "CoffeeTable", + "Plate", + "CreditCard", "Window", "LightSwitch", - "Shelf", - "Painting", - "Plate", - "CoffeeTable", - "Box", - "Vase", - "Newspaper", + "HousePlant", + "RemoteControl", "DiningTable", - "Laptop", - "Statue", - "Television", "KeyChain", + "Painting", + "Cabinet", + "Vase", + "Sofa", "Drawer", "Pillow", + "GarbageCan", + "FloorLamp", + "Newspaper", + "Floor", "ArmChair", - "CreditCard" + "Shelf", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan227-openable.json b/gen/layouts/FloorPlan227-openable.json index 4adb2c1e4..76136ed5f 100644 --- a/gen/layouts/FloorPlan227-openable.json +++ b/gen/layouts/FloorPlan227-openable.json @@ -12,7 +12,7 @@ 30 ], "Cabinet|-01.53|+01.87|+00.33": [ - -1.25, + -1.0, 1.0, 180, 0 @@ -65,26 +65,20 @@ 270, 30 ], - "CoffeeTable|-03.00|+00.03|+01.73": [ - -4.0, - 1.0, - 0, - 30 - ], "DiningTable|-05.82|+00.03|+02.56": [ - -5.75, - 4.25, - 180, + -4.75, + 2.0, + 270, 30 ], "Drawer|-01.09|+00.23|+00.46": [ - -0.75, + -1.0, 1.25, 180, 30 ], "Drawer|-02.68|+00.23|+00.46": [ - -2.25, + -2.75, 1.25, 180, 30 @@ -96,7 +90,7 @@ 30 ], "Drawer|-02.94|+00.82|+05.00": [ - -2.75, + -3.0, 4.5, 0, 30 @@ -114,7 +108,7 @@ 30 ], "Drawer|-06.33|+00.82|+05.00": [ - -6.5, + -6.25, 4.5, 0, 30 @@ -126,10 +120,10 @@ 30 ], "Shelf|-00.81|+01.69|+00.19": [ - -0.75, - 0.75, + -1.0, + 1.0, 180, - 30 + 0 ], "Shelf|-01.04|+01.00|+00.18": [ -0.5, @@ -138,16 +132,16 @@ 0 ], "Shelf|-01.04|+01.32|+00.18": [ - -0.75, - 0.75, + -0.5, + 1.0, 180, 0 ], "Shelf|-01.78|+00.99|+00.18": [ - -2.25, - 0.75, - 90, - 30 + -1.25, + 1.0, + 180, + 0 ], "Shelf|-02.22|+00.45|+05.17": [ -2.75, @@ -156,8 +150,8 @@ 30 ], "Shelf|-02.67|+00.61|+00.27": [ - -3.5, - 0.75, + -2.0, + 1.0, 180, 30 ], @@ -168,10 +162,10 @@ 0 ], "Shelf|-03.94|+00.99|+05.17": [ - -3.5, - 4.5, - 270, - 30 + -3.75, + 4.25, + 0, + 0 ], "Shelf|-04.67|+01.00|+05.17": [ -4.75, diff --git a/gen/layouts/FloorPlan228-objects.json b/gen/layouts/FloorPlan228-objects.json index 3bec6a34d..39b76aaf7 100644 --- a/gen/layouts/FloorPlan228-objects.json +++ b/gen/layouts/FloorPlan228-objects.json @@ -1,27 +1,27 @@ [ - "Floor", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "HousePlant", + "CoffeeTable", + "Plate", + "CreditCard", "Window", "LightSwitch", - "Painting", - "CoffeeTable", - "Box", - "Vase", - "Watch", - "Newspaper", + "HousePlant", + "RemoteControl", "DiningTable", - "Laptop", - "Statue", - "Television", "KeyChain", + "Painting", + "Watch", + "Vase", + "Sofa", "Drawer", - "SideTable", - "CreditCard", "Pillow", - "Plate" + "GarbageCan", + "SideTable", + "FloorLamp", + "Newspaper", + "Floor", + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan228-openable.json b/gen/layouts/FloorPlan228-openable.json index 7474dbbac..4e366d8a4 100644 --- a/gen/layouts/FloorPlan228-openable.json +++ b/gen/layouts/FloorPlan228-openable.json @@ -30,9 +30,9 @@ 30 ], "SideTable|-03.79|+00.01|+04.46": [ - -4.0, - 3.75, - 0, + -2.75, + 4.0, + 270, 30 ], "SideTable|-04.93|00.00|+00.27": [ diff --git a/gen/layouts/FloorPlan229-layout.npy b/gen/layouts/FloorPlan229-layout.npy index a0ba3d9cf4069712db5cedb8f8ad562993ede2c3..c0b1d96af1973cc30397ef904e9a68c2a6b47cad 100644 GIT binary patch delta 39 xcmV+?0NDTV7?2o{J_0y3kwA8_#xMc11_B@fvo-^81CzD}(36%2@UxZ(+5;5x4ut>! delta 75 zcmbOr@j+sO9h0TuM29lQFB_NJGjfU@U;u+3o9{EKGjfVTxqmkQXDVlAyf8VP?LJ(P RW3oN_cg8Q9)j3`=0{~=M7J>i( diff --git a/gen/layouts/FloorPlan229-objects.json b/gen/layouts/FloorPlan229-objects.json index 0dbaec5b7..e462d76f1 100644 --- a/gen/layouts/FloorPlan229-objects.json +++ b/gen/layouts/FloorPlan229-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "FloorLamp", - "Sofa", - "WateringCan", - "CellPhone", - "Desk", + "Laptop", + "Statue", + "Dresser", + "Book", + "Television", "Chair", - "GarbageCan", - "HousePlant", - "RemoteControl", + "CoffeeTable", + "CreditCard", "Window", "LightSwitch", + "HousePlant", + "RemoteControl", + "WateringCan", + "KeyChain", "Painting", - "CoffeeTable", - "Box", - "Pencil", - "Pen", - "Laptop", + "Desk", + "Sofa", "TissueBox", - "Dresser", - "Statue", - "Television", - "KeyChain", + "Pillow", "Drawer", + "GarbageCan", "SideTable", - "Pillow", + "FloorLamp", + "Pen", "Boots", + "Pencil", + "Floor", + "CellPhone", "ArmChair", - "Book", - "CreditCard" + "Box" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan229-openable.json b/gen/layouts/FloorPlan229-openable.json index 6e250cf1f..27d4df17e 100644 --- a/gen/layouts/FloorPlan229-openable.json +++ b/gen/layouts/FloorPlan229-openable.json @@ -6,7 +6,7 @@ 30 ], "CoffeeTable|-03.04|+00.00|+02.34": [ - -3.0, + -3.25, 3.0, 180, 30 @@ -18,15 +18,15 @@ 30 ], "Drawer|-05.50|+00.21|+02.13": [ - -5.0, + -5.25, 1.5, - 270, + 0, 30 ], "Drawer|-05.50|+00.21|+02.68": [ - -5.0, - 2.5, - 270, + -5.25, + 3.25, + 180, 30 ], "Drawer|-05.50|+00.52|+02.13": [ @@ -43,8 +43,8 @@ ], "Dresser|-05.70|+00.02|+02.40": [ -5.25, - 3.0, - 270, + 1.5, + 0, 30 ], "SideTable|-00.31|+00.02|+01.52": [ @@ -60,7 +60,7 @@ 30 ], "Sofa|-03.13|+00.03|+00.61": [ - -3.5, + -3.25, 1.5, 180, 30 diff --git a/gen/layouts/FloorPlan23-objects.json b/gen/layouts/FloorPlan23-objects.json index 5cc8f46aa..b2c9d75f2 100644 --- a/gen/layouts/FloorPlan23-objects.json +++ b/gen/layouts/FloorPlan23-objects.json @@ -1,47 +1,47 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", + "StoveKnob", + "Faucet", + "Fridge", + "Tomato", + "SaltShaker", "PepperShaker", "Chair", - "GarbageCan", - "WineBottle", + "Cup", + "Pan", + "Egg", + "StoveBurner", + "Plate", + "Bread", "Window", - "Spoon", + "SinkBasin", + "Lettuce", + "Blinds", "LightSwitch", - "Pan", - "Shelf", + "DishSponge", + "Bowl", + "DiningTable", + "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", "Bottle", - "StoveKnob", - "Blinds", - "Potato", + "Spoon", "Pot", - "Pencil", - "Tomato", - "Spatula", - "Fridge", "Pen", - "DiningTable", - "Cup", - "SaltShaker", - "Microwave", - "Lettuce", - "Egg", - "Faucet", - "SinkBasin", - "Sink", "CounterTop", + "Microwave", + "Pencil", + "Potato", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "Apple", + "WineBottle", + "Spatula", "Knife", + "Shelf", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan23-openable.json b/gen/layouts/FloorPlan23-openable.json index 6c15ae5f1..99352e9a3 100644 --- a/gen/layouts/FloorPlan23-openable.json +++ b/gen/layouts/FloorPlan23-openable.json @@ -1,4 +1,16 @@ { + "Cabinet|-00.30|+01.92|-02.50": [ + -1.0, + -2.75, + 90, + 0 + ], + "Cabinet|-00.33|+01.92|-03.39": [ + -1.0, + -2.75, + 180, + 0 + ], "Cabinet|-00.58|+00.39|-01.80": [ -1.25, -2.25, @@ -6,32 +18,32 @@ 30 ], "Cabinet|-00.58|+00.39|-02.20": [ - -1.25, - -1.75, - 180, + -1.5, + -2.75, + 0, 30 ], "Cabinet|-00.58|+00.39|-03.40": [ - -1.25, - -2.75, - 180, + -1.75, + -3.0, + 90, 30 ], "Cabinet|-00.88|+00.39|-03.42": [ - -1.0, - -3.0, - 180, + -1.25, + -2.5, + 90, 30 ], "Cabinet|-00.88|+02.14|-03.69": [ - -1.0, - -2.25, + -1.5, + -2.75, 180, 0 ], "Cabinet|-01.76|+02.14|-03.69": [ - -1.75, - -2.25, + -1.25, + -2.75, 180, 0 ], @@ -43,22 +55,10 @@ ], "DiningTable|-02.43|+00.00|-01.69": [ -1.75, - -1.75, + -1.5, 270, 30 ], - "Drawer|-00.45|+00.78|-03.27": [ - -1.5, - -2.5, - 90, - 0 - ], - "Drawer|-00.75|+00.78|-03.55": [ - -1.0, - -2.5, - 180, - 0 - ], "Fridge|-00.33|+00.00|-00.77": [ -1.25, -0.75, @@ -78,15 +78,15 @@ -30 ], "Shelf|-02.43|+00.15|-01.69": [ - -1.5, - -1.5, - 270, + -3.25, + -0.75, + 90, 30 ], "Shelf|-02.43|+00.52|-01.69": [ - -1.0, - -1.5, - 270, + -3.75, + -1.75, + 90, 0 ], "Sink|-00.35|+00.91|-02.01|SinkBasin": [ diff --git a/gen/layouts/FloorPlan230-objects.json b/gen/layouts/FloorPlan230-objects.json index c16b545c2..c5c355bc6 100644 --- a/gen/layouts/FloorPlan230-objects.json +++ b/gen/layouts/FloorPlan230-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "FloorLamp", - "Sofa", + "Laptop", + "Statue", + "Television", "Chair", - "GarbageCan", - "HousePlant", - "RemoteControl", - "Window", "DeskLamp", + "CoffeeTable", + "Plate", + "CreditCard", + "Window", "LightSwitch", + "HousePlant", + "RemoteControl", + "DiningTable", + "KeyChain", "Painting", - "CoffeeTable", "Box", + "RoomDecor", "Watch", - "Mirror", - "Candle", - "Newspaper", - "DiningTable", - "Laptop", + "Sofa", "TissueBox", - "Statue", - "Television", - "RoomDecor", - "KeyChain", - "SideTable", "Pillow", - "CreditCard", + "GarbageCan", + "SideTable", + "FloorLamp", + "Newspaper", + "Mirror", "Boots", + "Floor", "ArmChair", - "Plate" + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan230-openable.json b/gen/layouts/FloorPlan230-openable.json index 274b49018..b866dc6e2 100644 --- a/gen/layouts/FloorPlan230-openable.json +++ b/gen/layouts/FloorPlan230-openable.json @@ -24,9 +24,9 @@ 30 ], "DiningTable|-02.90|+00.01|+02.23": [ - -4.25, + -1.5, 2.25, - 90, + 270, 30 ], "GarbageCan|-05.71|+00.01|+00.30": [ diff --git a/gen/layouts/FloorPlan24-layout.npy b/gen/layouts/FloorPlan24-layout.npy index b6abf0c9a039e786d0851237dfe05c86c1a0b526..33ebd8c0cd3be20377e952e1aa38d20c79148755 100644 GIT binary patch delta 45 wcmaFB(ZD&uj?rYJ{dPvC3-+5|Fv@}G$v>FZasJuQ00vx>=QB^A?8YJm0BrXT#sB~S delta 39 qcmZqRe84fmj?rkN{dUI9Y)k@-lhv3POuoiEfs+9WcqYfQC;|ZC3<+xh diff --git a/gen/layouts/FloorPlan24-objects.json b/gen/layouts/FloorPlan24-objects.json index a6d350cac..454817492 100644 --- a/gen/layouts/FloorPlan24-objects.json +++ b/gen/layouts/FloorPlan24-objects.json @@ -1,42 +1,42 @@ [ - "Floor", - "Cabinet", - "Apple", + "StoveKnob", + "Faucet", + "Fridge", "Stool", - "Toaster", - "CoffeeMachine", - "Bowl", "PepperShaker", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", - "StoveKnob", - "StoveBurner", - "Pot", - "PaperTowelRoll", + "SaltShaker", "Tomato", - "Spatula", - "Fridge", - "DiningTable", "Cup", - "SaltShaker", - "Microwave", - "Lettuce", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "Apple", + "Spatula", "Knife", + "PaperTowelRoll", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan24-openable.json b/gen/layouts/FloorPlan24-openable.json index c13b1d09f..df9716de1 100644 --- a/gen/layouts/FloorPlan24-openable.json +++ b/gen/layouts/FloorPlan24-openable.json @@ -1,20 +1,14 @@ { - "Cabinet|+00.58|+00.39|+00.82": [ - -0.25, - 1.5, - 180, - 30 - ], "Cabinet|+00.58|+00.39|+02.36": [ -0.25, - 2.0, - 90, + 1.75, + 0, 30 ], "Cabinet|+00.58|+00.39|+02.69": [ - 0.0, - 3.0, - 90, + -0.25, + 2.0, + 0, 30 ], "Cabinet|-00.42|+00.67|+03.74": [ @@ -36,32 +30,20 @@ 0 ], "Cabinet|-01.14|+00.39|+03.52": [ - -0.75, + -1.75, 2.75, - 270, + 90, 30 ], "Cabinet|-01.96|+01.93|+03.73": [ - -1.5, + -1.75, 3.25, 0, 0 ], "Cabinet|-01.97|+00.39|+03.52": [ - -1.25, - 2.75, - 270, - 30 - ], - "Cabinet|-01.98|+01.78|+03.73": [ - -1.75, - 2.75, - 0, - -30 - ], - "Cabinet|-01.99|+00.39|+03.51": [ - -1.75, - 2.25, + -1.5, + 3.0, 0, 30 ], @@ -84,58 +66,46 @@ 0 ], "Cabinet|-02.38|+01.93|+01.69": [ - -1.5, - 2.0, + -1.75, + 1.5, 270, 0 ], "Cabinet|-02.38|+02.01|+01.06": [ - -1.5, - 1.75, + -1.75, + 1.5, 270, 0 ], "Cabinet|-02.38|+02.01|+01.69": [ - -1.5, - 2.5, + -1.75, + 2.25, 270, 0 ], "Cabinet|-02.38|+02.01|+02.56": [ - -1.5, - 1.75, + -1.75, + 2.75, 270, 0 ], "Cabinet|-02.38|+02.01|+03.18": [ -1.75, - 3.0, + 2.75, 270, 0 ], "Cabinet|-02.43|+00.44|+03.17": [ - -1.75, - 3.0, - 270, - 30 - ], - "Cabinet|-02.43|+00.44|+03.42": [ -1.5, 2.75, 0, 30 ], - "Cabinet|-02.62|+01.93|+03.73": [ - -1.75, - 2.75, - 0, - 0 - ], - "Cabinet|-02.95|+01.93|+03.73": [ + "Cabinet|-02.43|+00.44|+03.42": [ -1.75, - 3.0, + 2.5, 270, - -30 + 30 ], "CounterTop|+00.86|+00.86|+00.98": [ -0.25, @@ -145,12 +115,12 @@ ], "CounterTop|+00.86|+00.86|+02.37": [ 0.25, - 2.5, + 2.25, 90, 30 ], "CounterTop|-02.08|+00.86|+03.80": [ - -1.5, + -1.75, 3.25, 0, 30 @@ -161,6 +131,24 @@ 270, 30 ], + "Drawer|+00.73|+00.70|+00.98": [ + 0.0, + 1.5, + 180, + 30 + ], + "Drawer|+00.73|+00.70|+02.20": [ + 0.0, + 2.5, + 180, + 30 + ], + "Drawer|+00.73|+00.70|+02.53": [ + 0.0, + 3.0, + 180, + 30 + ], "Fridge|-02.64|+00.00|+02.13": [ -1.75, 2.25, diff --git a/gen/layouts/FloorPlan25-layout.npy b/gen/layouts/FloorPlan25-layout.npy index 3620ed1f26e778c1032210c1a44b598b9a0be10c..dba6d34702c9a9cdc1d2401a819e1276bdff48d0 100644 GIT binary patch delta 31 jcmbQhvVmoS9i#a~`*y|;6Sv26G8|w4gCCpu85tP?psfhR delta 18 acmdnMGJ$1+9i!<)`}T>~0w$X={sI6!*#{p0 diff --git a/gen/layouts/FloorPlan25-objects.json b/gen/layouts/FloorPlan25-objects.json index fb1d4b30a..8a28437e6 100644 --- a/gen/layouts/FloorPlan25-objects.json +++ b/gen/layouts/FloorPlan25-objects.json @@ -1,41 +1,41 @@ [ - "Floor", - "Cabinet", - "Apple", - "Stool", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", - "Ladle", "StoveKnob", - "StoveBurner", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "Cup", + "Stool", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Ladle", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "Apple", + "Spatula", "Knife", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan25-openable.json b/gen/layouts/FloorPlan25-openable.json index 7362ee539..24fd6fec7 100644 --- a/gen/layouts/FloorPlan25-openable.json +++ b/gen/layouts/FloorPlan25-openable.json @@ -1,13 +1,13 @@ { "Cabinet|-01.29|+00.39|+00.56": [ - -1.0, + -2.0, 1.25, - 270, + 90, 30 ], "Cabinet|-02.24|+00.39|+00.56": [ - -1.5, - 1.25, + -1.25, + 1.5, 270, 30 ], @@ -25,8 +25,8 @@ ], "Cabinet|-02.44|+00.39|+01.67": [ -1.75, - 2.0, - 180, + 1.0, + 0, 30 ], "Cabinet|-02.46|+01.80|+00.23": [ @@ -41,12 +41,6 @@ 270, 0 ], - "Cabinet|-02.78|+01.80|+00.82": [ - -2.0, - 1.0, - 270, - -30 - ], "Cabinet|-02.78|+01.80|+00.83": [ -2.0, 1.25, @@ -54,23 +48,11 @@ -30 ], "CounterTop|-01.56|+00.86|+00.28": [ - -1.0, + -2.0, 1.25, 180, 30 ], - "Drawer|-00.40|+00.70|+00.91": [ - -1.5, - 1.0, - 90, - 0 - ], - "Drawer|-00.40|+00.70|+01.25": [ - -1.5, - 2.0, - 90, - 0 - ], "Drawer|-02.59|+00.70|+01.51": [ -1.75, 2.0, diff --git a/gen/layouts/FloorPlan26-layout.npy b/gen/layouts/FloorPlan26-layout.npy index 065f3b7706857ca49793c3136eada03c8dd85e77..4d80a47dc523688d786af983b4ee875c7617fc22 100644 GIT binary patch delta 26 icmdnMb%1Mv9i!Pq`*234iS7D~KQ=Bu&pf$}WfcH>YzgH6 delta 32 lcmX@WwSjAb9i!<)`|yd&6gFNvz|6^TfB_8nCik;!1OT<{3I6~9 diff --git a/gen/layouts/FloorPlan26-objects.json b/gen/layouts/FloorPlan26-objects.json index 7f2ce982c..a5ffe67ab 100644 --- a/gen/layouts/FloorPlan26-objects.json +++ b/gen/layouts/FloorPlan26-objects.json @@ -1,40 +1,40 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", "StoveKnob", - "Potato", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "DiningTable", - "Cup", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "Apple", + "Spatula", "Knife", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan26-openable.json b/gen/layouts/FloorPlan26-openable.json index 3d0c2b4e1..2dd4245bf 100644 --- a/gen/layouts/FloorPlan26-openable.json +++ b/gen/layouts/FloorPlan26-openable.json @@ -12,7 +12,7 @@ 0 ], "Cabinet|-01.48|+02.05|+00.39": [ - -1.25, + -1.5, 1.0, 180, 0 @@ -24,13 +24,13 @@ 0 ], "Cabinet|-02.47|+02.05|+00.39": [ - -2.0, + -2.5, 1.0, 180, 0 ], "CounterTop|-01.37|+00.95|+00.35": [ - -2.5, + -2.0, 1.0, 180, 30 @@ -43,7 +43,7 @@ ], "DiningTable|-00.49|00.00|+03.18": [ -1.25, - 3.0, + 3.25, 90, 30 ], @@ -66,7 +66,7 @@ 30 ], "Drawer|-02.32|+00.70|+00.41": [ - -2.0, + -1.75, 1.75, 180, 0 diff --git a/gen/layouts/FloorPlan27-layout.npy b/gen/layouts/FloorPlan27-layout.npy index 4f06aa68fdbaf2ccab8325e8b9b19df3ed8f74b4..173ccabdfb34e3cdfc2e58d3aba6dd66e3818fdc 100644 GIT binary patch delta 23 fcmX@WHi2z|9i!ny`{fhA8B8`~G}v6mc#07KX6p!g delta 29 kcmbQhc7Sby9iz!a`{j&ZCSJE^{4$xH5lC(}XS~S>0HoXs`~Uy| diff --git a/gen/layouts/FloorPlan27-objects.json b/gen/layouts/FloorPlan27-objects.json index efce0b6ba..f5baa9ba8 100644 --- a/gen/layouts/FloorPlan27-objects.json +++ b/gen/layouts/FloorPlan27-objects.json @@ -1,43 +1,43 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "Chair", - "GarbageCan", - "WineBottle", - "Spoon", - "LightSwitch", - "Pan", - "Ladle", - "Curtains", "StoveKnob", - "StoveBurner", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "DiningTable", - "Cup", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Chair", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "Bowl", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Curtains", + "Floor", + "Ladle", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "WineBottle", + "Spatula", "Knife", + "Apple", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan27-openable.json b/gen/layouts/FloorPlan27-openable.json index ba0327d54..9dbe15133 100644 --- a/gen/layouts/FloorPlan27-openable.json +++ b/gen/layouts/FloorPlan27-openable.json @@ -6,9 +6,9 @@ 30 ], "Cabinet|+00.35|+00.39|+02.36": [ - 1.25, - 1.5, - 270, + 1.0, + 1.75, + 0, 30 ], "Cabinet|+01.51|+00.39|+02.36": [ @@ -37,13 +37,13 @@ ], "Cabinet|+02.04|+01.81|+00.28": [ 1.25, - 1.0, + 0.75, 90, 0 ], "Cabinet|+02.04|+01.81|+00.87": [ 1.25, - 0.25, + 0.5, 90, 0 ], @@ -55,7 +55,7 @@ ], "Cabinet|+02.04|+02.11|+01.77": [ 1.25, - 2.0, + 1.0, 90, 0 ], @@ -71,12 +71,6 @@ 90, -30 ], - "CounterTop|+01.07|+00.97|+02.67": [ - 1.5, - 2.0, - 90, - 30 - ], "CounterTop|+02.06|+00.97|+00.58": [ 1.25, 0.5, @@ -108,7 +102,7 @@ 30 ], "Fridge|+02.10|+00.00|-00.28": [ - 1.25, + 1.0, -0.25, 90, 30 @@ -127,8 +121,8 @@ ], "Sink|+00.94|+00.94|+02.65|SinkBasin": [ 1.0, - 1.75, + 2.0, 0, - 0 + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan28-objects.json b/gen/layouts/FloorPlan28-objects.json index 7aa6450c7..5ca013385 100644 --- a/gen/layouts/FloorPlan28-objects.json +++ b/gen/layouts/FloorPlan28-objects.json @@ -1,43 +1,43 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", - "Shelf", "StoveKnob", - "Blinds", - "Potato", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "DiningTable", - "Cup", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Blinds", + "LightSwitch", + "DishSponge", + "Bowl", + "DiningTable", "Sink", - "CounterTop", - "SoapBottle", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", "Drawer", - "DishSponge", + "GarbageCan", "SideTable", - "Bread", - "Fork", + "Spoon", + "Pot", + "CounterTop", + "Potato", + "Microwave", + "Floor", + "SoapBottle", "Knife", + "Spatula", + "Apple", + "Shelf", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan28-openable.json b/gen/layouts/FloorPlan28-openable.json index 2701b0d19..a56b16123 100644 --- a/gen/layouts/FloorPlan28-openable.json +++ b/gen/layouts/FloorPlan28-openable.json @@ -11,34 +11,22 @@ 90, 0 ], - "Cabinet|-00.34|+02.11|-00.39": [ - -1.5, + "Cabinet|-00.35|+01.89|-03.29": [ -1.25, + -3.0, 90, 0 ], - "Cabinet|-00.34|+02.11|-01.27": [ - -1.5, - -1.75, - 90, - 0 - ], - "Cabinet|-00.35|+01.89|-03.29": [ - -1.0, - -3.0, - 180, - -30 - ], "Cabinet|-00.63|+00.39|-01.61": [ - -1.25, - -1.0, - 180, + -1.5, + -2.0, + 0, 30 ], "Cabinet|-00.63|+00.39|-02.51": [ -1.25, - -2.25, - 180, + -3.0, + 90, 30 ], "Cabinet|-00.63|+00.39|-03.01": [ @@ -48,8 +36,8 @@ 30 ], "Cabinet|-01.01|+00.39|-03.37": [ - -1.5, - -2.75, + -1.75, + -2.5, 90, 30 ], @@ -60,9 +48,9 @@ 30 ], "CounterTop|-01.94|+00.98|-03.67": [ - -1.75, + -1.0, -3.0, - 180, + 90, 30 ], "DiningTable|-03.22|00.00|-00.45": [ @@ -128,7 +116,7 @@ "Sink|-00.60|+00.93|-03.39|SinkBasin": [ -1.0, -3.0, - 180, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan29-layout.npy b/gen/layouts/FloorPlan29-layout.npy index 7743adbe91b0836454bfed2348ba887ce8c92cd2..3ae68148a7960946b2d57b4b5964ef738dbcc3ce 100644 GIT binary patch delta 27 jcmeysF@bY}9i!<)dw0eMllvLPC-&W7{IEHkQIZ(|jW7w< delta 19 bcmbQh`GI4C9i#C?d-sXc9&B!7Ok8~}+A4cGtx delta 19 bcmX@W*T6Typ3!8Z!!cH-3-*(Lu>Jr5M5YI} diff --git a/gen/layouts/FloorPlan3-objects.json b/gen/layouts/FloorPlan3-objects.json index cfbde1762..862f541df 100644 --- a/gen/layouts/FloorPlan3-objects.json +++ b/gen/layouts/FloorPlan3-objects.json @@ -1,45 +1,45 @@ [ - "Floor", - "Cabinet", - "Apple", - "Stool", - "Bowl", - "Toaster", - "CoffeeMachine", - "PepperShaker", - "GarbageCan", - "Window", - "WineBottle", - "HousePlant", - "Spoon", - "LightSwitch", - "Pan", + "Faucet", "StoveKnob", - "StoveBurner", - "Pot", - "PaperTowelRoll", - "Tomato", - "Spatula", "Fridge", - "Kettle", - "Cup", + "Stool", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Bowl", + "LightSwitch", + "DishSponge", + "HousePlant", "Sink", - "CounterTop", - "SoapBottle", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", "Drawer", - "DishSponge", + "GarbageCan", "SideTable", - "Bread", + "Spoon", + "Pot", + "CounterTop", + "Potato", + "Microwave", + "Floor", + "SoapBottle", "Knife", - "Fork", + "WineBottle", + "Spatula", + "Apple", + "PaperTowelRoll", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan3-openable.json b/gen/layouts/FloorPlan3-openable.json index fcc2cf348..1d586c647 100644 --- a/gen/layouts/FloorPlan3-openable.json +++ b/gen/layouts/FloorPlan3-openable.json @@ -1,9 +1,9 @@ { "Cabinet|+00.58|+00.78|-02.05": [ - -0.75, - -1.75, - 90, - 0 + -0.25, + -1.25, + 180, + 30 ], "Cabinet|-01.46|+00.78|+00.47": [ -0.75, @@ -25,14 +25,14 @@ ], "CounterTop|-01.81|+01.36|+01.18": [ -1.0, - -2.25, + 1.5, 270, 30 ], "Drawer|+00.65|+00.60|+00.68": [ - -0.25, - 1.25, - 180, + 0.0, + 0.25, + 0, 30 ], "Drawer|+00.65|+00.60|+01.02": [ @@ -49,22 +49,34 @@ ], "Drawer|+00.65|+00.84|+01.02": [ 0.0, - 0.5, - 0, + 1.5, + 180, 30 ], "Drawer|+00.65|+01.06|+00.68": [ -0.25, - 0.25, + 0.0, 90, 0 ], "Drawer|+00.65|+01.06|+01.02": [ -0.25, - 0.5, + 1.75, 90, 0 ], + "Drawer|-01.61|+00.68|-00.43": [ + -1.0, + -1.0, + 0, + 30 + ], + "Drawer|-01.61|+00.68|-01.22": [ + -1.0, + -1.75, + 0, + 30 + ], "Fridge|+01.01|+00.23|+01.92": [ 0.0, 2.0, @@ -72,9 +84,9 @@ 0 ], "GarbageCan|-01.63|+00.21|+02.19": [ - -1.0, + -0.75, 1.5, - 270, + 0, 30 ], "Microwave|+00.99|+01.31|-02.16": [ @@ -84,15 +96,15 @@ 0 ], "SideTable|+00.98|+00.21|+00.87": [ + 0.5, 0.0, - 1.5, - 90, - 0 + 0, + 30 ], "Sink|-01.99|+01.14|-00.98|SinkBasin": [ - -1.0, - -0.5, + -0.25, + 0.0, 270, - 0 + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan30-layout.npy b/gen/layouts/FloorPlan30-layout.npy index c69feff0f22ab9eb515c1ba9d125253d3ca38142..4dff912e9ee932067c7ef80e65180eb5cb8d8469 100644 GIT binary patch delta 298 zcmaFBK7nh3Et9$NMEm8659}Gh;KhCj{R55vXX5pG!w*ow2T(;{(D*P-F!?{5-5F;x z)k93Y0M!Ij1QBImfblOt4TJGvE`sr2pvl7=1Cxh22F8cej!=z%&2LK$HFmr O8H>PVHC6$pANBx&gA#uL diff --git a/gen/layouts/FloorPlan301-objects.json b/gen/layouts/FloorPlan301-objects.json index 395b617c2..28db1ee5a 100644 --- a/gen/layouts/FloorPlan301-objects.json +++ b/gen/layouts/FloorPlan301-objects.json @@ -1,35 +1,35 @@ [ - "Floor", - "Bowl", - "CellPhone", - "Desk", + "Laptop", + "Dresser", + "Statue", + "Book", "Chair", - "GarbageCan", - "Window", "DeskLamp", + "CreditCard", + "Window", + "Bowl", "LightSwitch", - "Shelf", - "Blinds", - "BaseballBat", - "Box", - "Pencil", + "DogBed", + "KeyChain", + "Mug", "BasketBall", + "Desk", + "AlarmClock", "Watch", - "Pen", - "Mirror", - "Laptop", "TissueBox", - "AlarmClock", - "Dresser", - "Statue", - "Bed", - "KeyChain", - "Drawer", "Pillow", - "DogBed", - "CD", + "Drawer", + "GarbageCan", + "Bed", + "Pen", + "BaseballBat", "Boots", - "Book", - "CreditCard", - "Mug" + "Mirror", + "Pencil", + "CD", + "Floor", + "CellPhone", + "Shelf", + "Box", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan301-openable.json b/gen/layouts/FloorPlan301-openable.json index 4135dfb3a..5acc2707a 100644 --- a/gen/layouts/FloorPlan301-openable.json +++ b/gen/layouts/FloorPlan301-openable.json @@ -13,31 +13,31 @@ ], "Drawer|+01.62|+00.19|-01.18": [ 1.0, - 0.0, + -0.25, 90, 30 ], "Drawer|+01.62|+00.41|-01.18": [ - 1.25, - -0.25, - 90, + 1.5, + -0.5, + 180, 30 ], "Drawer|+01.62|+00.63|-01.18": [ - 1.5, - 0.0, - 180, - 0 + 2.0, + -0.5, + 270, + 30 ], "Drawer|+01.94|+00.19|-01.18": [ - 1.25, - 0.0, - 90, + 2.5, + -0.25, + 270, 30 ], "Drawer|+01.94|+00.41|-01.18": [ 1.5, - -0.25, + -0.5, 90, 30 ], @@ -54,7 +54,7 @@ 30 ], "Drawer|+02.82|+00.41|-01.18": [ - 2.5, + 2.0, -0.5, 180, 30 @@ -67,20 +67,20 @@ ], "Drawer|-01.31|+00.18|-00.58": [ -0.5, - -1.0, - 0, + -0.5, + 270, 30 ], "Drawer|-01.31|+00.18|-00.92": [ -0.5, -0.5, - 270, + 180, 30 ], "Drawer|-01.31|+00.45|-00.58": [ - -0.5, + -0.75, -1.0, - 0, + 270, 30 ], "Drawer|-01.31|+00.45|-00.92": [ @@ -97,51 +97,21 @@ ], "Drawer|-01.31|+00.75|-00.92": [ -0.75, - -0.5, - 180, - 30 - ], - "Drawer|-01.31|+01.03|-00.58": [ - -0.75, - -1.0, - 0, - 30 - ], - "Drawer|-01.31|+01.03|-00.92": [ -0.75, - -0.5, - 180, + 270, 30 ], "Dresser|-01.33|+00.01|-00.74": [ -0.75, - -0.75, + -1.0, 270, 0 ], - "Shelf|+01.80|+01.39|-01.38": [ - 2.0, - -0.75, - 180, - 30 - ], - "Shelf|+02.25|+01.50|-01.38": [ - 2.0, - -0.75, - 180, - 30 - ], - "Shelf|+02.48|+00.92|-01.38": [ + "GarbageCan|+02.84|+00.01|+00.22": [ 2.5, -0.5, - 180, - 0 - ], - "Shelf|+02.48|+01.15|-01.38": [ - 2.0, - -0.75, - 180, - 0 + 0, + 30 ], "Shelf|+02.70|+01.51|-01.38": [ 2.5, diff --git a/gen/layouts/FloorPlan302-objects.json b/gen/layouts/FloorPlan302-objects.json index e0e34fac0..2432e9467 100644 --- a/gen/layouts/FloorPlan302-objects.json +++ b/gen/layouts/FloorPlan302-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "Bowl", - "CellPhone", - "Desk", + "Laptop", + "Book", + "Safe", "Chair", - "GarbageCan", - "HousePlant", - "Window", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", - "Shelf", - "TennisRacket", + "Bowl", + "HousePlant", + "KeyChain", "Painting", - "Blinds", - "Pencil", - "Pen", - "Mirror", - "Safe", - "Laptop", + "Desk", "AlarmClock", - "TeddyBear", - "Bed", - "KeyChain", "Drawer", - "SideTable", "Pillow", + "TeddyBear", + "GarbageCan", + "SideTable", + "TennisRacket", + "Bed", + "Pen", + "Mirror", + "Pencil", "CD", - "Book", - "CreditCard" + "Floor", + "CellPhone", + "Shelf", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan302-openable.json b/gen/layouts/FloorPlan302-openable.json index 750b628be..17003e4fb 100644 --- a/gen/layouts/FloorPlan302-openable.json +++ b/gen/layouts/FloorPlan302-openable.json @@ -1,7 +1,7 @@ { "Bed|+01.24|+00.00|-00.90": [ 0.25, - -1.0, + -0.75, 90, 30 ], @@ -12,21 +12,21 @@ 30 ], "Drawer|+00.30|+00.17|+01.16": [ - -0.5, - 0.5, - 0, + 1.0, + 0.75, + 270, 30 ], "Drawer|+00.30|+00.46|+01.16": [ -0.25, - 0.5, + 0.75, 90, 30 ], - "GarbageCan|+00.84|+00.01|+01.34": [ - 1.0, - 0.75, - 0, + "Drawer|+00.42|+00.53|-01.55": [ + 0.0, + -1.25, + 90, 30 ], "Safe|+01.62|+00.00|+00.45": [ @@ -37,8 +37,8 @@ ], "Shelf|-00.47|+00.83|-02.04": [ 0.0, - -1.0, - 270, + -0.75, + 180, 30 ], "Shelf|-01.29|+01.45|-00.60": [ @@ -54,8 +54,14 @@ 30 ], "Shelf|-01.29|+01.81|-00.60": [ - -0.25, - -1.0, + -0.5, + -0.75, + 270, + 0 + ], + "Shelf|-01.29|+01.81|-01.34": [ + -0.5, + -0.75, 270, 0 ], diff --git a/gen/layouts/FloorPlan303-layout.npy b/gen/layouts/FloorPlan303-layout.npy index a61ccd59e4e3104ed02ba05668dd0fa413cd7ba3..96e7f3315bb982a58567ccff8437ca83f66ccdc8 100644 GIT binary patch delta 27 jcmZqRTEIEMmdVU)qP_dXX$}*g32YW)T);f}8jBVHfs6@w delta 68 zcmZ3$*}yfymdV^`qP;uU1$zbvI54rnjq$_8?ec;@phAE4LuCGJJieZJ@;yd@$@7>v Mm>3u)7qA!r0FuQMDgXcg diff --git a/gen/layouts/FloorPlan303-objects.json b/gen/layouts/FloorPlan303-objects.json index 9da35e1ab..21030db99 100644 --- a/gen/layouts/FloorPlan303-objects.json +++ b/gen/layouts/FloorPlan303-objects.json @@ -1,35 +1,35 @@ [ - "Floor", - "Cloth", - "ShelvingUnit", - "CellPhone", - "Desk", + "Laptop", + "Book", "Chair", - "GarbageCan", - "Window", - "Dumbbell", "DeskLamp", + "CreditCard", + "Window", + "Poster", "LightSwitch", - "Shelf", - "TennisRacket", - "Blinds", - "BaseballBat", - "Box", - "Pencil", - "Vase", - "Pen", - "Mirror", - "Laptop", - "AlarmClock", - "Bed", + "ShelvingUnit", + "GarbageBag", "KeyChain", - "Poster", + "Mug", + "Desk", + "AlarmClock", + "Vase", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "TennisRacket", + "Dumbbell", + "Pen", + "Bed", + "Cloth", + "BaseballBat", + "Mirror", "CD", - "GarbageBag", - "Book", - "CreditCard", - "Mug" + "Pencil", + "Floor", + "CellPhone", + "Shelf", + "Box", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan303-openable.json b/gen/layouts/FloorPlan303-openable.json index 5c6d022c4..8704b6b03 100644 --- a/gen/layouts/FloorPlan303-openable.json +++ b/gen/layouts/FloorPlan303-openable.json @@ -7,7 +7,7 @@ ], "Desk|-01.71|+00.00|-00.37": [ -1.0, - -0.75, + -0.5, 270, 30 ], @@ -18,15 +18,15 @@ 30 ], "Drawer|-01.79|+00.25|-01.14": [ - -1.0, - -1.0, - 270, + -0.75, + -0.75, + 180, 30 ], "Drawer|-01.79|+00.39|-01.14": [ -1.0, - -1.0, - 270, + -0.75, + 180, 30 ], "Shelf|+01.31|+00.97|-02.30": [ @@ -41,6 +41,12 @@ 180, 0 ], + "Shelf|+01.31|+01.37|-02.30": [ + 1.25, + -1.75, + 180, + -30 + ], "Shelf|+01.31|+01.57|-02.30": [ 1.25, -1.75, @@ -60,7 +66,7 @@ 30 ], "Shelf|+01.59|+00.61|-02.31": [ - 1.75, + 1.25, -1.75, 180, 30 @@ -72,14 +78,20 @@ 0 ], "Shelf|+01.84|+01.17|-02.30": [ - 1.75, - -1.75, + 1.5, + -1.5, 180, 0 ], + "Shelf|+01.84|+01.37|-02.30": [ + 1.75, + -1.5, + 180, + -30 + ], "Shelf|+01.84|+01.57|-02.30": [ 1.75, - -1.75, + -1.5, 180, 30 ], @@ -96,14 +108,14 @@ 30 ], "SideTable|+00.44|+00.04|-02.65": [ - 0.25, + 0.5, -2.0, 180, 30 ], "SideTable|-01.82|+00.00|-01.14": [ -1.0, - -0.75, + -0.5, 180, 30 ] diff --git a/gen/layouts/FloorPlan304-layout.npy b/gen/layouts/FloorPlan304-layout.npy index 2d47cfe76057298e7b4404ebda7851f7d03196ca..d6e9934a5c069b8d62bd8481899144452732f6d5 100644 GIT binary patch delta 16 XcmZ3$H-T@0J)`MH2QjwEX>7XyD*^== delta 27 ecmbQhw}5YgJ)_x12QfCT2m2Wyz+rL#+W`P)mP(FGlMR^UCZA*C0OCv_&jHB02juxNgLnZz o-aC*Sa|Y7~`^gs=t<8 diff --git a/gen/layouts/FloorPlan307-objects.json b/gen/layouts/FloorPlan307-objects.json index 30f62b540..78edf7b7d 100644 --- a/gen/layouts/FloorPlan307-objects.json +++ b/gen/layouts/FloorPlan307-objects.json @@ -1,34 +1,34 @@ [ - "Floor", - "Cloth", - "Bowl", - "ShelvingUnit", - "CellPhone", - "Desk", + "Laptop", + "Book", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "Window", "DeskLamp", + "CreditCard", + "Window", + "Poster", "LightSwitch", - "TennisRacket", + "ShelvingUnit", + "Bowl", + "RemoteControl", + "KeyChain", "Painting", - "Shelf", - "Blinds", - "Pencil", - "LaundryHamper", - "Pen", - "Mirror", - "Laptop", + "Desk", "AlarmClock", - "Television", - "Bed", - "KeyChain", - "Poster", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "TennisRacket", + "Bed", + "Pen", + "Cloth", + "Mirror", + "Pencil", "CD", - "Book", - "CreditCard" + "Floor", + "CellPhone", + "Shelf", + "LaundryHamper", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan307-openable.json b/gen/layouts/FloorPlan307-openable.json index cd262c83f..89bd5662a 100644 --- a/gen/layouts/FloorPlan307-openable.json +++ b/gen/layouts/FloorPlan307-openable.json @@ -1,10 +1,4 @@ { - "Bed|+00.27|+00.00|+01.33": [ - 0.75, - 0.25, - 0, - 30 - ], "Desk|+00.24|+00.00|-02.36": [ 1.0, -2.0, @@ -41,12 +35,6 @@ 180, 30 ], - "LaundryHamper|-01.33|+00.00|+01.83": [ - -1.25, - 1.25, - 0, - 30 - ], "Shelf|-00.98|+01.39|-02.48": [ -1.0, -1.75, @@ -73,8 +61,8 @@ ], "Shelf|-01.61|+00.44|-01.12": [ -0.75, - -1.5, - 0, + -0.75, + 180, 30 ], "Shelf|-01.61|+00.72|-00.69": [ @@ -85,19 +73,19 @@ ], "Shelf|-01.61|+00.72|-01.12": [ -0.5, - -0.75, + -1.5, 270, 0 ], "Shelf|-01.61|+01.01|-00.69": [ -0.75, - -0.25, + -1.0, 270, 0 ], "Shelf|-01.61|+01.01|-01.12": [ -0.75, - -0.75, + -1.25, 270, 0 ], diff --git a/gen/layouts/FloorPlan308-layout.npy b/gen/layouts/FloorPlan308-layout.npy index 25b35a3e08bd0237fafda76fce8b908cda370978..e42dac24588a330c986b019111f10a27aa47fcc0 100644 GIT binary patch delta 50 mcmdnMdx3X?EwiD4;Y54;jrE3X3JhTIU_XRrae&Yl;CuinO9@E; delta 16 Xcmcb>yMcFtEt93?LG) diff --git a/gen/layouts/FloorPlan309-objects.json b/gen/layouts/FloorPlan309-objects.json index fab1319f7..47baf8cd9 100644 --- a/gen/layouts/FloorPlan309-objects.json +++ b/gen/layouts/FloorPlan309-objects.json @@ -1,33 +1,33 @@ [ - "Floor", - "Cabinet", - "Desk", - "CellPhone", + "Laptop", + "Book", + "Television", + "Safe", "Chair", - "GarbageCan", - "HousePlant", - "RemoteControl", - "Window", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", - "Blinds", - "Pencil", - "LaundryHamper", - "Pen", - "Mirror", - "Safe", - "Laptop", - "AlarmClock", - "TeddyBear", - "Television", - "Bed", + "HousePlant", + "RemoteControl", "KeyChain", + "Mug", + "Desk", + "Cabinet", + "AlarmClock", "Drawer", - "SideTable", "Pillow", + "TeddyBear", + "GarbageCan", + "SideTable", + "Bed", + "Pen", + "Mirror", + "Pencil", "CD", + "Floor", + "CellPhone", "ArmChair", - "Book", - "CreditCard", - "Mug" + "LaundryHamper", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan309-openable.json b/gen/layouts/FloorPlan309-openable.json index cf005c8b3..a9766588c 100644 --- a/gen/layouts/FloorPlan309-openable.json +++ b/gen/layouts/FloorPlan309-openable.json @@ -1,12 +1,12 @@ { "ArmChair|-00.95|+00.05|+03.58": [ - -0.25, + -0.75, 3.0, - 270, + 0, 30 ], "ArmChair|-02.17|+00.05|+03.60": [ - -1.75, + -2.0, 3.0, 0, 30 @@ -36,14 +36,14 @@ 30 ], "Desk|-01.27|+01.17|-02.99": [ - -1.0, + -0.75, -2.25, 180, 0 ], "Drawer|-00.37|+00.29|-02.85": [ -1.0, - -2.0, + -2.25, 90, 30 ], @@ -55,14 +55,14 @@ ], "Drawer|-01.16|+00.29|-02.85": [ -0.5, - -2.0, + -2.25, 270, 30 ], - "LaundryHamper|+01.83|+00.06|+03.69": [ - 1.25, - 3.5, - 90, + "GarbageCan|-03.34|+00.02|-02.80": [ + -3.25, + -2.25, + 180, 30 ], "SideTable|+01.78|+00.05|+02.38": [ diff --git a/gen/layouts/FloorPlan310-objects.json b/gen/layouts/FloorPlan310-objects.json index 2a9eac29e..f9196d9d6 100644 --- a/gen/layouts/FloorPlan310-objects.json +++ b/gen/layouts/FloorPlan310-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "Cabinet", - "CellPhone", - "Desk", + "Laptop", + "Book", "Chair", - "GarbageCan", - "Window", "DeskLamp", + "CreditCard", + "Window", + "Poster", "LightSwitch", - "TennisRacket", - "Shelf", - "Blinds", - "BaseballBat", - "Box", - "Pencil", + "KeyChain", "BasketBall", - "Pen", - "Mirror", - "Laptop", + "Desk", + "Cabinet", "AlarmClock", - "Bed", - "KeyChain", - "Poster", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "TennisRacket", + "Bed", + "Pen", + "Mirror", + "BaseballBat", + "Pencil", "CD", - "Book", - "CreditCard" + "Floor", + "CellPhone", + "Shelf", + "Box", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan310-openable.json b/gen/layouts/FloorPlan310-openable.json index 4324c25bc..586254660 100644 --- a/gen/layouts/FloorPlan310-openable.json +++ b/gen/layouts/FloorPlan310-openable.json @@ -1,12 +1,6 @@ { - "Bed|+01.18|+00.00|+00.24": [ - 1.25, - -0.75, - 0, - 30 - ], "Cabinet|-00.24|+01.53|-02.10": [ - 0.0, + -0.5, -1.25, 180, 30 @@ -17,18 +11,6 @@ 180, 30 ], - "Cabinet|-01.30|+01.53|-02.10": [ - -1.25, - -1.0, - 180, - 0 - ], - "Cabinet|-01.68|+01.53|-02.10": [ - -1.25, - -1.0, - 180, - 30 - ], "Desk|-00.96|00.00|-01.94": [ -0.5, -1.25, @@ -42,13 +24,13 @@ 30 ], "Drawer|+01.62|+00.45|-00.99": [ - 1.0, + 0.75, -1.5, - 90, + 0, 30 ], "GarbageCan|+00.13|-00.03|-02.15": [ - 0.5, + 0.25, -1.5, 180, 30 @@ -61,7 +43,7 @@ ], "SideTable|+01.69|+00.00|-00.99": [ 1.25, - -1.5, + -1.0, 90, 30 ] diff --git a/gen/layouts/FloorPlan311-layout.npy b/gen/layouts/FloorPlan311-layout.npy index b54a8c3cc04a751ee510f154d935fba5e4fff477..2cb922b71da809507481b3a1c9411bc8f03074aa 100644 GIT binary patch delta 146 zcmZ1=vq5%(9g~syMu%x!oL}r2z<_7+c`kR(4^W=KW`6GNjFuPnLnMVAAT*4G@h?D? h!}t$i{K@-y%Hc+fOxEWOhx0@y*CX-7CZFdG1OS`%8A1R6 delta 38 ucmdlWyFg}w9h0HOMu%x!lb>-pY&PTGz&Kfrw_x%z-hjz$d;ycw_`CoF#thH^ diff --git a/gen/layouts/FloorPlan311-objects.json b/gen/layouts/FloorPlan311-objects.json index 9bad44b14..23f253ccd 100644 --- a/gen/layouts/FloorPlan311-objects.json +++ b/gen/layouts/FloorPlan311-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "Bowl", - "CellPhone", - "Desk", + "Laptop", + "Book", + "Television", "Chair", - "GarbageCan", - "RemoteControl", - "Window", "DeskLamp", + "CreditCard", + "Window", + "Bowl", "LightSwitch", + "RemoteControl", + "KeyChain", "Painting", - "Blinds", - "Pencil", - "LaundryHamper", - "Pen", - "Mirror", - "Laptop", + "Mug", + "Desk", "AlarmClock", - "Television", - "Bed", - "KeyChain", - "CounterTop", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "Bed", + "Pen", + "CounterTop", + "Mirror", + "Pencil", "CD", + "Floor", + "CellPhone", "ArmChair", - "Book", - "CreditCard", - "Mug" + "LaundryHamper", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan311-openable.json b/gen/layouts/FloorPlan311-openable.json index abf0dbc59..71b16ccce 100644 --- a/gen/layouts/FloorPlan311-openable.json +++ b/gen/layouts/FloorPlan311-openable.json @@ -1,7 +1,7 @@ { "ArmChair|+02.43|+00.01|-00.56": [ 1.5, - -0.25, + -0.75, 90, 30 ], @@ -19,7 +19,7 @@ ], "CounterTop|-00.89|+00.95|+04.35": [ -0.25, - 4.5, + 4.25, 270, 30 ], @@ -36,15 +36,9 @@ 30 ], "Drawer|+02.53|+00.58|+00.62": [ - 1.25, - 1.0, + 1.75, + 0.25, 90, - 0 - ], - "GarbageCan|-00.63|-00.01|+03.74": [ - -0.25, - 4.25, - 180, 30 ], "SideTable|+02.57|+00.01|-01.53": [ @@ -54,9 +48,9 @@ 30 ], "SideTable|+02.65|+00.01|+00.62": [ - 2.25, - 1.5, - 180, + 2.0, + 0.75, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan312-layout.npy b/gen/layouts/FloorPlan312-layout.npy index 046dddd40a4386079d453dddc608315958124623..b154d3d025147110a912147c954a35b5c8f3c5c9 100644 GIT binary patch delta 25 hcmZ3$vw(YoEt7@OMtgJC$$m@%lix9MOy0*T1OR0H2crN0 delta 113 zcmZ3$y?|$eEt93eMtgJCiSGm^$1!qDKE^08IgCkQaviHu00S6&v4_wfp!5$k{vR|x Lg9EC1CO97ehy@fx diff --git a/gen/layouts/FloorPlan312-objects.json b/gen/layouts/FloorPlan312-objects.json index 1b069fbfc..cb8d18fba 100644 --- a/gen/layouts/FloorPlan312-objects.json +++ b/gen/layouts/FloorPlan312-objects.json @@ -1,27 +1,27 @@ [ - "Floor", - "CellPhone", - "Desk", + "Laptop", + "Book", "Chair", - "GarbageCan", - "Window", - "Dumbbell", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", - "Shelf", - "Pencil", + "GarbageBag", + "KeyChain", "BasketBall", - "Pen", - "Mirror", - "Laptop", + "Desk", "AlarmClock", - "Bed", - "KeyChain", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "Dumbbell", + "Bed", + "Pen", + "Mirror", + "Pencil", "CD", - "GarbageBag", - "Book", - "CreditCard" + "Floor", + "CellPhone", + "Shelf" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan312-openable.json b/gen/layouts/FloorPlan312-openable.json index 7c1021aa9..a27564f80 100644 --- a/gen/layouts/FloorPlan312-openable.json +++ b/gen/layouts/FloorPlan312-openable.json @@ -13,20 +13,14 @@ ], "Drawer|+00.19|+00.16|-01.58": [ 0.75, - -0.75, + -1.0, 270, 30 ], "Drawer|+00.19|+00.46|-01.58": [ 0.75, - -1.0, - 180, - 30 - ], - "GarbageCan|+02.66|-00.02|+01.28": [ - 2.0, - 0.75, - 0, + -1.25, + 270, 30 ], "Shelf|+01.57|+00.17|-01.56": [ @@ -36,9 +30,9 @@ 30 ], "Shelf|+01.57|+00.42|-01.56": [ - 2.0, + 1.0, -0.5, - 270, + 90, 30 ], "Shelf|+01.57|+00.63|-01.56": [ @@ -49,7 +43,7 @@ ], "Shelf|+01.61|+00.95|-01.74": [ 1.5, - -1.0, + -0.75, 180, 0 ], diff --git a/gen/layouts/FloorPlan313-layout.npy b/gen/layouts/FloorPlan313-layout.npy index cfcc036169efe305575a6ab7a7812526aedb18d3..c96fd0054277301e8dac90ed7f307ca3f4cadfae 100644 GIT binary patch delta 23 bcmbQh{()_R9i#b1dv#{67xoNb@W37bQThe` delta 55 gcmeysHi3PD9i!z&dv#{52lfnL0Ha@^@jt-%09G>!tN;K2 diff --git a/gen/layouts/FloorPlan313-objects.json b/gen/layouts/FloorPlan313-objects.json index 9b3230e99..b5d129311 100644 --- a/gen/layouts/FloorPlan313-objects.json +++ b/gen/layouts/FloorPlan313-objects.json @@ -1,34 +1,34 @@ [ - "Floor", - "ShelvingUnit", - "CellPhone", - "Desk", + "Laptop", + "Book", "Chair", - "GarbageCan", - "HousePlant", - "Window", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", - "TennisRacket", + "ShelvingUnit", + "HousePlant", + "KeyChain", "Painting", - "Shelf", - "Blinds", - "BaseballBat", - "Box", - "Pencil", - "Pen", - "Mirror", - "Laptop", - "TissueBox", + "Mug", + "Desk", "AlarmClock", + "TissueBox", + "Pillow", "TeddyBear", - "Bed", - "KeyChain", "Drawer", + "GarbageCan", "SideTable", - "Pillow", + "TennisRacket", + "Bed", + "Pen", + "Mirror", + "BaseballBat", "CD", - "Book", - "CreditCard", - "Mug" + "Pencil", + "Floor", + "CellPhone", + "Shelf", + "Box", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan313-openable.json b/gen/layouts/FloorPlan313-openable.json index e1df3acf7..fa062d428 100644 --- a/gen/layouts/FloorPlan313-openable.json +++ b/gen/layouts/FloorPlan313-openable.json @@ -6,9 +6,9 @@ 30 ], "Desk|+00.63|+00.00|-01.56": [ - 0.25, - -1.0, - 180, + -0.75, + -1.5, + 90, 30 ], "Drawer|+00.27|+00.16|-01.43": [ diff --git a/gen/layouts/FloorPlan314-objects.json b/gen/layouts/FloorPlan314-objects.json index 3018cb198..06f16e188 100644 --- a/gen/layouts/FloorPlan314-objects.json +++ b/gen/layouts/FloorPlan314-objects.json @@ -1,27 +1,27 @@ [ - "Floor", - "CellPhone", - "Desk", + "Laptop", + "Book", "Chair", - "GarbageCan", - "Window", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", + "KeyChain", "Painting", - "Blinds", - "Box", - "Pencil", "BasketBall", - "Pen", - "Mirror", - "Laptop", + "Desk", "AlarmClock", - "Bed", - "KeyChain", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "Bed", + "Pen", + "Mirror", + "Pencil", "CD", - "Book", - "CreditCard" + "Floor", + "CellPhone", + "Box", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan314-openable.json b/gen/layouts/FloorPlan314-openable.json index 39594e85d..43714c04d 100644 --- a/gen/layouts/FloorPlan314-openable.json +++ b/gen/layouts/FloorPlan314-openable.json @@ -13,7 +13,7 @@ ], "Drawer|+02.12|+00.58|-00.49": [ 1.5, - -0.5, + -0.25, 90, 30 ], diff --git a/gen/layouts/FloorPlan315-layout.npy b/gen/layouts/FloorPlan315-layout.npy index a7b711517646680302ee4ca9fcf8617e685fc0ac..10b4597e6bfb8fa62e26704c2d3ac26569070809 100644 GIT binary patch delta 32 ocmcb>yMcFtEt93?LgFoAc1Et94BLz${><2X2 z7nAjw+BsncJ(#>6iFaYLK65)4OpbwJ@&@KMIQN46WCNBqWSuMsbAYC@B6uGruV>*Bn0d)_I{{W4D0gVs!I0H=m1*kbN{sT1ri^=h9;zlr8 MbovLH>OXKk0Fp0BN&o-= diff --git a/gen/layouts/FloorPlan317-objects.json b/gen/layouts/FloorPlan317-objects.json index 36591b42c..0ab922579 100644 --- a/gen/layouts/FloorPlan317-objects.json +++ b/gen/layouts/FloorPlan317-objects.json @@ -1,30 +1,30 @@ [ - "Floor", - "Cloth", - "Bowl", - "CellPhone", - "GarbageCan", - "Window", - "DeskLamp", - "LightSwitch", - "Blinds", - "Box", - "Pencil", - "LaundryHamper", - "Pen", - "Mirror", - "Safe", "Laptop", "Dresser", - "AlarmClock", - "TeddyBear", - "Bed", - "KeyChain", + "Book", + "Safe", + "DeskLamp", + "CreditCard", + "Window", "Poster", + "Bowl", + "LightSwitch", + "KeyChain", + "AlarmClock", "Drawer", - "SideTable", "Pillow", + "TeddyBear", + "GarbageCan", + "SideTable", + "Pen", + "Bed", + "Cloth", + "Mirror", + "Pencil", "CD", - "Book", - "CreditCard" + "Floor", + "CellPhone", + "LaundryHamper", + "Box", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan317-openable.json b/gen/layouts/FloorPlan317-openable.json index 3edb3a47f..a2647db66 100644 --- a/gen/layouts/FloorPlan317-openable.json +++ b/gen/layouts/FloorPlan317-openable.json @@ -1,13 +1,13 @@ { "Bed|+01.38|+00.00|+00.07": [ 1.5, - -1.0, - 0, + 1.0, + 180, 30 ], "Drawer|+00.41|+00.11|-01.63": [ - -0.25, -0.5, + -0.25, 90, 30 ], @@ -35,15 +35,9 @@ 90, 30 ], - "Drawer|+02.25|+00.47|+01.33": [ - 1.25, - 1.0, - 0, - 30 - ], "Drawer|-00.39|+00.11|-01.63": [ - -1.0, - -0.5, + -1.25, + -0.25, 90, 30 ], @@ -72,7 +66,7 @@ 30 ], "Dresser|+00.01|+00.00|-01.68": [ - 1.25, + 1.0, -1.25, 270, 30 @@ -83,12 +77,6 @@ 270, 30 ], - "LaundryHamper|-01.57|+00.00|-01.93": [ - -1.25, - -1.5, - 180, - 30 - ], "Safe|+01.64|+00.00|-02.04": [ 1.0, -1.25, diff --git a/gen/layouts/FloorPlan318-layout.npy b/gen/layouts/FloorPlan318-layout.npy index 3f87f4f1088c4f81cb2e8b2bf5b10d67e14f4dab..998979a6b0345090aaf7d62dee99b1c068d3b895 100644 GIT binary patch delta 45 tcmdnM^MGf99iz!cdvm7Ac}xzFE-82@a3&f>`^zyJn+>>)IV0{}W=3l#tW delta 30 mcmaFBvw>%V9i!n!dvm7AbxZ=2`ItF2&tuA9+APLu#RveC83<

v4L}f9i#b1dqI|oC-^vj*fW5^hspko;zlsugZ&Uu82RI-nm_W;re=CID3V B4Tt~$ diff --git a/gen/layouts/FloorPlan323-objects.json b/gen/layouts/FloorPlan323-objects.json index 4ea3adfce..d4113d81e 100644 --- a/gen/layouts/FloorPlan323-objects.json +++ b/gen/layouts/FloorPlan323-objects.json @@ -1,30 +1,30 @@ [ - "Floor", - "Sofa", - "Bowl", - "CellPhone", - "Desk", + "Laptop", + "Dresser", + "Book", + "Safe", "Chair", - "GarbageCan", - "Window", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", - "Blinds", - "Pencil", - "Pen", - "Mirror", - "Safe", - "Laptop", - "Dresser", - "AlarmClock", - "TeddyBear", - "Bed", + "Bowl", "KeyChain", + "Mug", + "Desk", + "AlarmClock", + "Sofa", "Drawer", - "SideTable", "Pillow", + "TeddyBear", + "GarbageCan", + "SideTable", + "Bed", + "Pen", + "Mirror", + "Pencil", "CD", - "Book", - "CreditCard", - "Mug" + "Floor", + "CellPhone", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan323-openable.json b/gen/layouts/FloorPlan323-openable.json index 5c3332013..e202bfd8c 100644 --- a/gen/layouts/FloorPlan323-openable.json +++ b/gen/layouts/FloorPlan323-openable.json @@ -1,13 +1,13 @@ { "Bed|-01.61|-00.03|-01.86": [ - -2.0, - -3.0, - 0, + -1.5, + -0.75, + 180, 30 ], "Desk|+02.32|-00.01|-03.22": [ - 1.5, - -2.75, + 2.0, + -2.5, 180, 30 ], @@ -19,13 +19,13 @@ ], "Drawer|+01.98|+00.49|-02.99": [ 1.25, - -2.75, + -2.5, 90, 30 ], "Drawer|+01.98|+00.73|-02.99": [ 1.25, - -2.75, + -2.5, 90, 30 ], @@ -41,20 +41,20 @@ 0, 30 ], - "Drawer|+02.64|+00.73|+01.51": [ - 2.0, - 1.0, - 0, - 30 - ], "Dresser|+02.68|+00.00|+01.51": [ 2.25, - 1.25, + 1.5, + 90, + 30 + ], + "GarbageCan|+01.34|+00.00|-03.38": [ + 1.0, + -3.0, 90, 30 ], "Safe|+02.72|+01.23|+01.78": [ - 2.0, + 2.25, 1.5, 90, 0 @@ -72,7 +72,7 @@ 30 ], "Sofa|+02.38|+00.01|-00.29": [ - 1.75, + 1.5, -0.25, 90, 30 diff --git a/gen/layouts/FloorPlan324-layout.npy b/gen/layouts/FloorPlan324-layout.npy index 986ad57e16ceebcc478744c300bfaf54e4e9a235..02f4fc67b619400618029e51b4123a4047667b80 100644 GIT binary patch delta 21 dcmaFBGl6Gn8BDfg;+V|G{Rsff CpCU&9 delta 102 zcmaDL-XJl-p3!8YgB#b2{S096XaB~AG?vNVSQ;kRu?kFI7k5z(c@;qjN$?I4+ yChudfn7j_i-Unpcaac^=2V}Q#I7~jrEU@_)#|K7ErUMXzI3};>GN1g7>lFas*det5 diff --git a/gen/layouts/FloorPlan325-objects.json b/gen/layouts/FloorPlan325-objects.json index 03567cdcd..e2ed22673 100644 --- a/gen/layouts/FloorPlan325-objects.json +++ b/gen/layouts/FloorPlan325-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "Cabinet", - "ShelvingUnit", - "CellPhone", - "GarbageCan", - "Window", + "Laptop", + "Dresser", + "Book", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", + "ShelvingUnit", + "KeyChain", "Painting", - "Shelf", - "Blinds", - "Pencil", - "Vase", - "Pen", - "Mirror", - "Laptop", - "Dresser", + "Cabinet", "AlarmClock", - "Bed", - "KeyChain", + "Vase", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "Bed", + "Pen", + "Mirror", + "Pencil", "CD", - "Book", - "CreditCard" + "Floor", + "CellPhone", + "Shelf", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan325-openable.json b/gen/layouts/FloorPlan325-openable.json index f235bc68b..b4a2b368d 100644 --- a/gen/layouts/FloorPlan325-openable.json +++ b/gen/layouts/FloorPlan325-openable.json @@ -30,32 +30,32 @@ 30 ], "Drawer|+01.46|+00.95|-01.70": [ - 1.0, - -1.25, + 1.75, + -0.75, 180, - 30 + 0 ], "Drawer|+01.98|+00.95|-01.70": [ 1.5, - -1.25, + -0.75, 180, - 30 + 0 ], "Drawer|+02.49|+00.95|-01.70": [ - 2.0, - -1.25, + 3.0, + -0.75, 180, - 30 + 0 ], "Drawer|+03.01|+00.95|-01.70": [ 3.5, - -1.25, + -0.75, 180, - 30 + 0 ], "Drawer|-00.16|+00.24|+03.17": [ -1.0, - 2.25, + 2.75, 90, 30 ], @@ -65,38 +65,56 @@ 0, 30 ], + "Drawer|-00.83|+00.22|+00.08": [ + 0.25, + -1.25, + 270, + 30 + ], "Drawer|-00.83|+00.22|+00.49": [ - 0.0, + 0.5, -1.0, 0, 30 ], - "Drawer|-00.83|+00.63|+00.08": [ - -0.5, + "Drawer|-00.83|+00.42|+00.08": [ + 0.25, -1.25, + 270, + 30 + ], + "Drawer|-00.83|+00.42|+00.49": [ + 0.5, + -1.0, 0, 30 ], + "Drawer|-00.83|+00.63|+00.08": [ + -0.25, + -0.25, + 270, + 30 + ], + "Drawer|-00.83|+00.63|+00.49": [ + 0.5, + 0.5, + 270, + 30 + ], "Dresser|+02.23|+00.05|-01.95": [ - 2.5, + 2.0, -1.25, 180, 30 ], "Dresser|-00.93|+00.05|-00.13": [ -0.25, - 0.25, + 0.0, 270, 30 ], - "GarbageCan|-00.98|+00.05|-01.17": [ - -0.75, - -1.75, - 0, - 30 - ], "Shelf|-00.16|+00.92|+03.16": [ - -0.25, + -0.5, 2.25, 0, 0 diff --git a/gen/layouts/FloorPlan326-layout.npy b/gen/layouts/FloorPlan326-layout.npy index adee6f0b886ad953a4fd89913116ac54f443f11e..30049bdd3b319f1680a3a3be3e13a90aa9d604f4 100644 GIT binary patch delta 21 dcmaFBdw_R>J)^-!hi6Qa&6pQ#e#ZQZ2>@J+2$%o> delta 25 hcmX@W`+#?XJ)_Y^hi6QT4;m;eAw4E_KB delta 45 ucmeys^?_?bpAgdl1~7QAA3`%7nAniE@tXtFo} diff --git a/gen/layouts/FloorPlan327-objects.json b/gen/layouts/FloorPlan327-objects.json index aa8c2f75f..632e5076d 100644 --- a/gen/layouts/FloorPlan327-objects.json +++ b/gen/layouts/FloorPlan327-objects.json @@ -1,29 +1,29 @@ [ - "Floor", - "Bowl", - "CellPhone", - "Desk", + "Laptop", + "Book", "Chair", - "GarbageCan", - "Window", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", - "Shelf", - "Blinds", - "BaseballBat", - "Pencil", + "Bowl", + "KeyChain", "BasketBall", - "Pen", - "Mirror", - "Laptop", + "Desk", "AlarmClock", - "Bed", - "KeyChain", "Drawer", - "SideTable", "Pillow", - "CD", + "GarbageCan", + "SideTable", + "Bed", + "Pen", + "Mirror", + "BaseballBat", "Boots", - "Book", - "CreditCard" + "Pencil", + "CD", + "Floor", + "CellPhone", + "Shelf", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan327-openable.json b/gen/layouts/FloorPlan327-openable.json index 5f6c46dbd..e49b076a3 100644 --- a/gen/layouts/FloorPlan327-openable.json +++ b/gen/layouts/FloorPlan327-openable.json @@ -6,7 +6,7 @@ 30 ], "Desk|+00.45|+00.00|-02.43": [ - -0.25, + 0.75, -1.75, 180, 30 @@ -47,28 +47,16 @@ 180, 30 ], - "Drawer|-01.31|+00.16|-02.05": [ - -0.75, - -2.0, - 270, - 30 - ], - "Drawer|-01.31|+00.46|-02.05": [ - -0.75, - -1.75, - 270, - 30 - ], "GarbageCan|-01.54|+00.01|+01.92": [ -1.0, - 1.25, + 1.5, 270, 30 ], "Shelf|+01.22|+00.86|-01.80": [ 0.75, - -1.0, - 180, + -1.75, + 90, 30 ], "Shelf|+01.26|+00.38|-00.26": [ @@ -87,7 +75,7 @@ 0.75, -0.25, 90, - 0 + 30 ], "Shelf|-01.58|+01.51|-02.03": [ -0.75, @@ -97,7 +85,7 @@ ], "SideTable|-01.44|00.00|-02.05": [ -0.75, - -2.25, + -1.75, 270, 30 ] diff --git a/gen/layouts/FloorPlan328-objects.json b/gen/layouts/FloorPlan328-objects.json index 6d2d850e3..fac5805a0 100644 --- a/gen/layouts/FloorPlan328-objects.json +++ b/gen/layouts/FloorPlan328-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "CellPhone", - "Desk", + "Laptop", + "Book", "Chair", - "GarbageCan", - "HousePlant", - "Window", - "Dumbbell", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", - "TennisRacket", - "Shelf", - "Blinds", - "Pencil", - "Pen", - "Mirror", - "Laptop", - "TissueBox", + "HousePlant", + "KeyChain", + "Mug", + "Desk", "AlarmClock", + "TissueBox", + "Pillow", "TeddyBear", - "Bed", - "KeyChain", "Drawer", + "GarbageCan", "SideTable", - "Pillow", + "TennisRacket", + "Dumbbell", + "Bed", + "Pen", + "Mirror", + "Pencil", "CD", - "Book", - "CreditCard", - "Mug" + "Floor", + "CellPhone", + "Shelf", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan329-objects.json b/gen/layouts/FloorPlan329-objects.json index 18631b524..a765901f6 100644 --- a/gen/layouts/FloorPlan329-objects.json +++ b/gen/layouts/FloorPlan329-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "CellPhone", - "Desk", - "GarbageCan", - "Window", + "Laptop", + "Book", "DeskLamp", + "CreditCard", + "Window", "LightSwitch", + "KeyChain", "Painting", - "Shelf", - "Blinds", - "BaseballBat", - "Box", - "Pencil", - "Pen", - "Mirror", - "Laptop", + "Mug", + "Desk", "AlarmClock", - "Bed", - "KeyChain", "Drawer", - "SideTable", "Pillow", + "GarbageCan", + "SideTable", + "Bed", + "Pen", + "Mirror", + "BaseballBat", + "Pencil", "CD", - "Book", - "CreditCard", - "Mug" + "Floor", + "CellPhone", + "Shelf", + "Box", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan329-openable.json b/gen/layouts/FloorPlan329-openable.json index 58cfb2a90..549094674 100644 --- a/gen/layouts/FloorPlan329-openable.json +++ b/gen/layouts/FloorPlan329-openable.json @@ -6,15 +6,15 @@ 30 ], "Desk|-00.28|00.00|+00.83": [ - 0.25, + -0.75, 0.25, 0, 30 ], "Drawer|+00.95|+00.17|-02.39": [ - 1.75, - -1.75, - 180, + 1.5, + -2.0, + 270, 30 ], "Drawer|+00.95|+00.46|-02.39": [ @@ -23,17 +23,23 @@ 270, 30 ], + "GarbageCan|+02.47|-00.03|+00.94": [ + 2.0, + 0.5, + 90, + 30 + ], "Shelf|-00.28|+00.10|+00.83": [ - -1.0, - 0.0, + 1.25, + 0.25, 0, 30 ], "Shelf|-00.28|+00.35|+00.83": [ - 0.75, - -0.5, + 1.5, + 0.5, 270, - 30 + 0 ], "SideTable|+00.95|+00.00|-02.46": [ 1.5, diff --git a/gen/layouts/FloorPlan330-layout.npy b/gen/layouts/FloorPlan330-layout.npy index 7c9623ef78b625856ae7454dba6cfab0f9782ebf..7a63bb699dd8cc91bd1229f78cf5b331ecdecbff 100644 GIT binary patch delta 24 gcmZ1=ctCK1J)_Y?hi8lrCW|xLGhW#2&KSuK0Bt-7GXMYp delta 20 ccmX>gxIl1%J)^-yhi8+`7!5X;F?z8B08C~EuK)l5 diff --git a/gen/layouts/FloorPlan330-objects.json b/gen/layouts/FloorPlan330-objects.json index 19282a12b..6051613c8 100644 --- a/gen/layouts/FloorPlan330-objects.json +++ b/gen/layouts/FloorPlan330-objects.json @@ -1,32 +1,32 @@ [ - "Floor", + "Laptop", + "Statue", + "Dresser", + "Book", + "DeskLamp", + "CreditCard", + "Window", + "LightSwitch", "Bowl", "ShelvingUnit", - "CellPhone", - "GarbageCan", "HousePlant", - "Window", - "DeskLamp", - "LightSwitch", + "KeyChain", "Painting", - "Shelf", - "Blinds", - "Pencil", - "Vase", - "Pen", - "Mirror", - "Laptop", - "Dresser", "AlarmClock", - "Statue", - "Bed", - "KeyChain", + "Vase", "Drawer", - "SideTable", "Pillow", - "CD", + "GarbageCan", + "SideTable", + "Bed", + "Pen", + "Mirror", "Boots", + "Pencil", + "CD", + "Floor", + "CellPhone", "ArmChair", - "Book", - "CreditCard" + "Shelf", + "Blinds" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan330-openable.json b/gen/layouts/FloorPlan330-openable.json index e9ae659db..fbc368675 100644 --- a/gen/layouts/FloorPlan330-openable.json +++ b/gen/layouts/FloorPlan330-openable.json @@ -6,9 +6,9 @@ 30 ], "Bed|+01.02|+00.00|-00.69": [ - -0.25, - -1.0, - 90, + 2.25, + -0.5, + 270, 30 ], "Drawer|+01.58|+00.16|+02.07": [ @@ -107,12 +107,6 @@ 270, 0 ], - "Shelf|-01.68|+01.38|-02.05": [ - -1.0, - -2.0, - 270, - 0 - ], "SideTable|+01.58|00.00|+02.14": [ 1.25, 1.75, diff --git a/gen/layouts/FloorPlan4-objects.json b/gen/layouts/FloorPlan4-objects.json index 56609053d..e8ee05bcd 100644 --- a/gen/layouts/FloorPlan4-objects.json +++ b/gen/layouts/FloorPlan4-objects.json @@ -1,42 +1,42 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "GarbageCan", - "Window", - "HousePlant", - "Spoon", - "LightSwitch", - "Pan", - "Ladle", "StoveKnob", - "StoveBurner", - "Pot", - "Tomato", - "Spatula", + "Faucet", "Fridge", - "DiningTable", - "Cup", + "PepperShaker", "SaltShaker", - "Microwave", - "Lettuce", + "Tomato", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Bowl", + "DishSponge", + "LightSwitch", + "HousePlant", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Ladle", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", "Knife", + "Spatula", + "Apple", "ButterKnife", - "Potato", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan4-openable.json b/gen/layouts/FloorPlan4-openable.json index b282aed21..b61a84d71 100644 --- a/gen/layouts/FloorPlan4-openable.json +++ b/gen/layouts/FloorPlan4-openable.json @@ -14,7 +14,7 @@ "CounterTop|-00.52|+01.16|+00.49": [ -1.0, 1.0, - 180, + 90, 30 ], "CounterTop|-02.28|+01.16|+00.38": [ @@ -75,7 +75,7 @@ -2.5, 2.75, 270, - 0 + 30 ], "GarbageCan|-03.70|+00.00|+02.01": [ -3.5, @@ -90,9 +90,9 @@ 30 ], "Sink|-01.39|+00.98|+00.44|SinkBasin": [ - -2.0, - 1.0, - 90, + -1.25, + 1.75, + 180, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan401-layout.npy b/gen/layouts/FloorPlan401-layout.npy index 8b12751de9fc2cc7006e2be12637ba7a3f50cda6..8e4a04103feacbfd316e141080638154d285734a 100644 GIT binary patch delta 29 lcmaFBdx2+yEt943L^MH4PEwiD4(L{UuiS^4Fzibv~)Mw`8IKTh~Y?JL-+8JML-p(?UF##gtFVOf8;Cuj(zZqBn diff --git a/gen/layouts/FloorPlan401-objects.json b/gen/layouts/FloorPlan401-objects.json index 227222960..9a61eeabb 100644 --- a/gen/layouts/FloorPlan401-objects.json +++ b/gen/layouts/FloorPlan401-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "HandTowel", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Faucet", + "BathtubBasin", + "Plunger", "Window", + "SinkBasin", + "DishSponge", "LightSwitch", - "Shelf", - "TowelHolder", "Bathtub", - "Towel", + "Sink", + "SprayBottle", "ShowerHead", - "SoapBar", - "PaperTowelRoll", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "SoapBottle", - "DishSponge", + "GarbageCan", "SideTable", + "SoapBar", + "HandTowel", + "TowelHolder", + "Cloth", + "Mirror", + "Floor", "ShowerCurtain", - "Plunger" + "Towel", + "ToiletPaper", + "SoapBottle", + "Shelf", + "ScrubBrush", + "PaperTowelRoll", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan401-openable.json b/gen/layouts/FloorPlan401-openable.json index 1abfdc6dc..bfe92af8f 100644 --- a/gen/layouts/FloorPlan401-openable.json +++ b/gen/layouts/FloorPlan401-openable.json @@ -1,8 +1,8 @@ { "Bathtub|-00.21|+00.36|+00.92|BathtubBasin": [ -1.25, - 2.0, - 180, + 1.75, + 90, 30 ], "GarbageCan|+00.05|00.00|+03.88": [ @@ -12,10 +12,10 @@ 30 ], "Shelf|-02.59|+00.78|+03.91": [ - -2.5, - 3.5, + -2.25, + 3.0, 0, - 30 + 0 ], "Shelf|-02.59|+01.03|+03.94": [ -2.5, @@ -48,8 +48,8 @@ 30 ], "Toilet|+00.06|+00.00|+03.10": [ - -0.5, - 3.75, + -0.75, + 3.5, 90, 30 ] diff --git a/gen/layouts/FloorPlan402-objects.json b/gen/layouts/FloorPlan402-objects.json index 8158fa47a..27031237e 100644 --- a/gen/layouts/FloorPlan402-objects.json +++ b/gen/layouts/FloorPlan402-objects.json @@ -1,33 +1,33 @@ [ - "Floor", - "HandTowel", - "Cabinet", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", - "Window", + "HandTowelHolder", "ShowerGlass", + "Faucet", + "BathtubBasin", + "Plunger", + "Window", + "SinkBasin", "LightSwitch", - "Shelf", - "TowelHolder", - "ShowerDoor", "Bathtub", - "Towel", + "Sink", + "Cabinet", + "SprayBottle", "ShowerHead", - "SoapBar", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", - "TissueBox", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "TissueBox", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", + "Mirror", + "Cloth", + "Floor", + "ShowerDoor", "SoapBottle", - "Plunger" + "Towel", + "ToiletPaper", + "Shelf", + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan403-layout.npy b/gen/layouts/FloorPlan403-layout.npy index ce52474729df0300f012d9137619d72a517a251d..50071edd0cc8cf7d828ff704ed437190a79a84e5 100644 GIT binary patch delta 50 zcmZqR{J=iJmdVs~qJ8#{XM^%#@@x(O4uu;Q diff --git a/gen/layouts/FloorPlan403-objects.json b/gen/layouts/FloorPlan403-objects.json index 92b8fb6a7..13af44d70 100644 --- a/gen/layouts/FloorPlan403-objects.json +++ b/gen/layouts/FloorPlan403-objects.json @@ -1,34 +1,34 @@ [ - "Floor", - "HandTowel", - "Cabinet", - "Cloth", - "ScrubBrush", - "SprayBottle", - "GarbageCan", - "Window", + "HandTowelHolder", "ShowerGlass", + "Faucet", + "BathtubBasin", + "Plunger", + "Window", + "SinkBasin", "LightSwitch", - "Shelf", - "TowelHolder", - "ShowerDoor", + "DishSponge", "Bathtub", - "Towel", + "Sink", + "Cabinet", + "SprayBottle", "ShowerHead", - "SoapBar", - "PaperTowelRoll", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", + "Mirror", + "Cloth", + "Floor", + "ShowerDoor", + "ToiletPaper", "SoapBottle", - "DishSponge", - "Plunger" + "Towel", + "Shelf", + "ScrubBrush", + "PaperTowelRoll", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan403-openable.json b/gen/layouts/FloorPlan403-openable.json index 97a59523b..81ff7df82 100644 --- a/gen/layouts/FloorPlan403-openable.json +++ b/gen/layouts/FloorPlan403-openable.json @@ -1,34 +1,22 @@ { - "Bathtub|-02.23|+00.29|+00.72|BathtubBasin": [ - -2.0, - 1.5, - 180, - 30 - ], "Cabinet|-00.34|+00.43|+02.87": [ - -1.25, - 2.0, + -1.0, + 2.25, 90, 30 ], "Cabinet|-01.36|+00.43|+02.87": [ - -0.5, - 2.0, - 270, + -1.75, + 2.25, + 90, 30 ], "Cabinet|-01.40|+00.43|+02.87": [ - -2.0, + -1.75, 2.25, 0, 30 ], - "Cabinet|-02.42|+00.43|+02.87": [ - -1.5, - 2.0, - 270, - 30 - ], "CounterTop|-01.36|+01.09|+03.15": [ -1.0, 2.5, @@ -36,15 +24,15 @@ 30 ], "GarbageCan|-00.06|00.00|+03.13": [ - 0.5, + 0.25, 2.5, - 270, + 0, 30 ], "Sink|-00.85|+00.95|+03.14|SinkBasin": [ - -1.25, + -0.25, 2.5, - 90, + 270, 30 ], "Sink|-01.94|+00.95|+03.14|SinkBasin": [ diff --git a/gen/layouts/FloorPlan404-objects.json b/gen/layouts/FloorPlan404-objects.json index 034f6579f..2f89127c6 100644 --- a/gen/layouts/FloorPlan404-objects.json +++ b/gen/layouts/FloorPlan404-objects.json @@ -1,29 +1,29 @@ [ - "Floor", - "HandTowel", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Faucet", + "BathtubBasin", + "Plunger", + "SinkBasin", "LightSwitch", - "Shelf", - "TowelHolder", "Bathtub", - "Towel", + "Sink", + "SprayBottle", "ShowerHead", - "SoapBar", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", - "TissueBox", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "SoapBottle", + "TissueBox", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", + "Cloth", + "Mirror", + "Floor", "ShowerCurtain", - "Plunger" + "ToiletPaper", + "SoapBottle", + "Towel", + "Shelf", + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan404-openable.json b/gen/layouts/FloorPlan404-openable.json index f2e58cbf0..6b3129c2f 100644 --- a/gen/layouts/FloorPlan404-openable.json +++ b/gen/layouts/FloorPlan404-openable.json @@ -18,10 +18,10 @@ 30 ], "Shelf|-01.17|+01.76|+02.16": [ - -2.5, - 1.75, - 90, - 30 + -0.75, + 0.75, + 0, + 0 ], "Sink|-01.13|00.00|-00.59|SinkBasin": [ -1.5, diff --git a/gen/layouts/FloorPlan405-objects.json b/gen/layouts/FloorPlan405-objects.json index f6dcb7f06..fb9aedb39 100644 --- a/gen/layouts/FloorPlan405-objects.json +++ b/gen/layouts/FloorPlan405-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "HandTowel", + "HandTowelHolder", + "Faucet", + "BathtubBasin", + "Plunger", + "SinkBasin", + "LightSwitch", + "Bathtub", + "Sink", "Cabinet", - "Cloth", - "ScrubBrush", "SprayBottle", + "ToiletPaperHanger", + "Toilet", "GarbageCan", - "LightSwitch", + "SoapBar", + "HandTowel", "TowelHolder", - "Bathtub", + "CounterTop", + "Mirror", + "Cloth", + "Floor", + "ShowerCurtain", "Towel", - "SoapBar", - "BathtubBasin", "ToiletPaper", - "ToiletPaperHanger", - "Mirror", - "Candle", - "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "CounterTop", "SoapBottle", - "ShowerCurtain", - "Plunger" + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan405-openable.json b/gen/layouts/FloorPlan405-openable.json index 386c17f10..e829b34e9 100644 --- a/gen/layouts/FloorPlan405-openable.json +++ b/gen/layouts/FloorPlan405-openable.json @@ -19,8 +19,8 @@ ], "Cabinet|-02.76|+00.45|+00.60": [ -2.0, - 1.0, - 180, + -0.25, + 0, 30 ], "Cabinet|-02.90|+02.05|+01.01": [ @@ -48,9 +48,9 @@ 30 ], "Toilet|-02.93|+00.00|+01.36": [ - -2.5, + -2.25, 0.75, - 0, + 270, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan406-objects.json b/gen/layouts/FloorPlan406-objects.json index 7f05545c3..bfd7ee0be 100644 --- a/gen/layouts/FloorPlan406-objects.json +++ b/gen/layouts/FloorPlan406-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "HandTowel", - "Cabinet", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Faucet", + "BathtubBasin", + "Plunger", "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", "Bathtub", - "Towel", - "SoapBar", - "BathtubBasin", - "ToiletPaper", + "Sink", + "Cabinet", + "SprayBottle", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", + "Mirror", + "Cloth", + "Floor", + "Towel", + "ToiletPaper", "SoapBottle", - "Plunger" + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan406-openable.json b/gen/layouts/FloorPlan406-openable.json index 479b20f27..5771e12b4 100644 --- a/gen/layouts/FloorPlan406-openable.json +++ b/gen/layouts/FloorPlan406-openable.json @@ -1,20 +1,8 @@ { - "Bathtub|-01.04|+00.16|+00.56|BathtubBasin": [ - -2.0, - 1.5, - 90, - 30 - ], - "Cabinet|+00.07|+00.37|+03.77": [ - -0.75, - 4.0, - 180, - 30 - ], "Cabinet|+00.07|+00.38|+02.05": [ -0.75, - 1.75, - 0, + 3.0, + 90, 30 ], "CounterTop|+00.49|+01.02|+03.09": [ @@ -28,11 +16,5 @@ 3.0, 90, 0 - ], - "Toilet|+00.38|+00.00|+04.47": [ - -0.25, - 4.0, - 90, - 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan407-objects.json b/gen/layouts/FloorPlan407-objects.json index a1cbff935..d85e2adde 100644 --- a/gen/layouts/FloorPlan407-objects.json +++ b/gen/layouts/FloorPlan407-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "HandTowel", - "Cabinet", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", - "Window", + "HandTowelHolder", "ShowerGlass", + "Faucet", + "BathtubBasin", + "Plunger", + "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", - "ShowerDoor", "Bathtub", - "Towel", + "Sink", + "Cabinet", + "SprayBottle", "ShowerHead", - "SoapBar", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", - "SoapBottle", + "Mirror", + "Cloth", + "Floor", "ShowerCurtain", - "Plunger" + "ShowerDoor", + "Towel", + "ToiletPaper", + "SoapBottle", + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan407-openable.json b/gen/layouts/FloorPlan407-openable.json index 67e57fac3..e7f8e434c 100644 --- a/gen/layouts/FloorPlan407-openable.json +++ b/gen/layouts/FloorPlan407-openable.json @@ -2,7 +2,7 @@ "Bathtub|+00.88|+00.39|-01.15|BathtubBasin": [ 0.0, -0.5, - 180, + 90, 30 ], "Cabinet|-00.07|+00.34|-01.33": [ @@ -12,20 +12,20 @@ 30 ], "Cabinet|-01.04|+00.34|-01.33": [ - -0.25, + -1.5, -0.5, - 270, + 90, 30 ], "Cabinet|-01.05|+00.34|-01.33": [ + -1.25, -0.75, - -0.5, - 270, + 180, 30 ], "Cabinet|-02.02|+00.34|-01.33": [ - -1.25, - -0.5, + -1.0, + -0.25, 270, 30 ], @@ -44,7 +44,7 @@ "Sink|-01.56|+00.81|-01.60|SinkBasin": [ -1.25, -1.0, - 270, + 180, 30 ], "Toilet|-01.61|00.00|+00.21": [ diff --git a/gen/layouts/FloorPlan408-layout.npy b/gen/layouts/FloorPlan408-layout.npy index 2e29bb70fc0d319fa63c7a739209a09d6fa65f2b..97a2514fc98772512785982fd1a708a0fb640592 100644 GIT binary patch delta 16 YcmaFBdVqC;9i!Ps`{|66pE14y05vcMoB#j- delta 35 icmX@W`hazU9izoY`{|5~FD4&n{3*Zy1`qZ_X?p@quH49i#C^dv+GB5BnLwfX4wsU$95zKY;TAM9K)c diff --git a/gen/layouts/FloorPlan411-objects.json b/gen/layouts/FloorPlan411-objects.json index 42add4d41..39bb86e9a 100644 --- a/gen/layouts/FloorPlan411-objects.json +++ b/gen/layouts/FloorPlan411-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "HandTowel", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", - "Window", + "HandTowelHolder", "ShowerGlass", + "Faucet", + "BathtubBasin", + "Plunger", + "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", - "ShowerDoor", "Bathtub", - "Towel", + "Sink", + "SprayBottle", "ShowerHead", - "SoapBar", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "Drawer", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", + "Mirror", + "Cloth", + "Floor", + "ShowerDoor", + "Towel", + "ToiletPaper", "SoapBottle", - "Drawer", - "Plunger" + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan411-openable.json b/gen/layouts/FloorPlan411-openable.json index 4c0b648b7..96017b5b6 100644 --- a/gen/layouts/FloorPlan411-openable.json +++ b/gen/layouts/FloorPlan411-openable.json @@ -1,6 +1,6 @@ { "Bathtub|-01.06|+00.30|+00.43|BathtubBasin": [ - -1.0, + -0.75, 1.25, 180, 30 @@ -12,14 +12,14 @@ 30 ], "CounterTop|-00.30|+00.16|+00.53": [ - -1.5, + -0.25, 1.5, 180, 30 ], "Drawer|+00.41|+00.32|+01.49": [ -1.0, - 1.75, + 2.0, 90, 0 ], @@ -42,7 +42,7 @@ 0 ], "GarbageCan|+00.71|-00.03|+03.11": [ - 0.25, + 0.5, 3.5, 180, 30 diff --git a/gen/layouts/FloorPlan412-layout.npy b/gen/layouts/FloorPlan412-layout.npy index 7a3dd43ba627e78f129cf949dbe40ac835157f96..1d3c8327df573213544b1cf76075351bfd9cf1d7 100644 GIT binary patch delta 20 ccmdnMHi2z|9i!ny`|Xq27!x*^G45gn07nr9vj6}9 delta 23 fcmbQhwt;Pe9i#C?`|XS$CO*$+{Ic1d@gySvYl#VH diff --git a/gen/layouts/FloorPlan412-objects.json b/gen/layouts/FloorPlan412-objects.json index 4287543f4..f1d9c8148 100644 --- a/gen/layouts/FloorPlan412-objects.json +++ b/gen/layouts/FloorPlan412-objects.json @@ -1,29 +1,29 @@ [ - "Floor", - "HandTowel", - "Cabinet", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", - "Window", + "HandTowelHolder", "ShowerGlass", + "Faucet", + "Plunger", + "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", - "ShowerDoor", - "Towel", + "Sink", + "Cabinet", + "SprayBottle", "ShowerHead", - "SoapBar", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", + "Mirror", + "Cloth", + "Floor", + "ShowerDoor", + "Towel", "SoapBottle", - "Plunger" + "ToiletPaper", + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan412-openable.json b/gen/layouts/FloorPlan412-openable.json index 9c645e894..ea22d2c8a 100644 --- a/gen/layouts/FloorPlan412-openable.json +++ b/gen/layouts/FloorPlan412-openable.json @@ -12,9 +12,9 @@ 30 ], "Cabinet|-03.17|+00.37|-01.40": [ - -2.25, - -1.0, - 180, + -2.5, + -1.5, + 270, 30 ], "Cabinet|-03.17|+00.37|-02.19": [ @@ -26,7 +26,7 @@ "CounterTop|-03.43|+00.88|-01.39": [ -2.75, -1.0, - 180, + 270, 30 ], "Sink|-03.39|+00.84|-00.93|SinkBasin": [ diff --git a/gen/layouts/FloorPlan413-layout.npy b/gen/layouts/FloorPlan413-layout.npy index 4e4bacfef632a3115b75e476f18975a9ad35947b..f0b4c4e16f9d38201b8ded70f5b76190fcbefdaf 100644 GIT binary patch delta 85 zcmeysae#Az9izoYdvPWv28PKVO!ovI*fW3un*)S?v00qipHb_@eh8NbD*OPAe*w-1 E0Q{j2?EnA( delta 32 kcmX@W`GI4C9i#C^dvT`8X-pS3hcP=aay{7300uk`0Iu=~+5i9m diff --git a/gen/layouts/FloorPlan413-objects.json b/gen/layouts/FloorPlan413-objects.json index 430ff084d..9de952152 100644 --- a/gen/layouts/FloorPlan413-objects.json +++ b/gen/layouts/FloorPlan413-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "HandTowel", - "Cabinet", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Dresser", + "Faucet", + "BathtubBasin", + "Plunger", "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", - "ShowerDoor", "Bathtub", - "Towel", + "Sink", + "Cabinet", + "SprayBottle", "ShowerHead", - "SoapBar", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", - "Dresser", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "Drawer", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", + "Mirror", + "Cloth", + "Floor", + "ShowerDoor", + "Towel", + "ToiletPaper", "SoapBottle", - "Drawer", - "Plunger" + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan413-openable.json b/gen/layouts/FloorPlan413-openable.json index cb7699dbf..528e315b4 100644 --- a/gen/layouts/FloorPlan413-openable.json +++ b/gen/layouts/FloorPlan413-openable.json @@ -1,7 +1,7 @@ { "Bathtub|-01.41|00.00|+00.56|BathtubBasin": [ - -1.0, - 1.25, + -0.75, + 1.0, 270, 30 ], @@ -31,31 +31,31 @@ ], "CounterTop|-01.80|+00.75|+03.12": [ -1.25, - 3.25, + 3.0, 270, 30 ], "Drawer|+00.20|+00.16|+03.81": [ -0.5, - 2.75, + 3.25, 90, 30 ], "Drawer|+00.20|+00.42|+03.81": [ 0.75, - 3.0, - 270, + 3.25, + 0, 30 ], "Drawer|+00.20|+00.68|+03.81": [ - -0.25, - 3.25, - 0, + -0.5, + 3.5, + 90, 30 ], "Drawer|+00.20|+00.94|+03.81": [ - -0.25, - 3.25, + -0.5, + 3.5, 90, 30 ], @@ -71,6 +71,18 @@ 0, 30 ], + "Sink|-01.83|+00.69|+02.78|SinkBasin": [ + -1.25, + 3.25, + 180, + 30 + ], + "Sink|-01.83|+00.69|+03.47|SinkBasin": [ + -1.25, + 3.0, + 0, + 30 + ], "Toilet|-01.57|00.00|+01.82": [ -1.25, 2.5, diff --git a/gen/layouts/FloorPlan414-layout.npy b/gen/layouts/FloorPlan414-layout.npy index 2bb6084fb4eef00393055bcc565d67b6883923a4..aa82fa1bb4208248476699ac51afd89bd2596dc5 100644 GIT binary patch delta 19 bcmZo*U%)oOj?rkMz5m2>D>k<=zG4IbL`w&H delta 97 zcmZ3$*1$f&j?rSGy}!`|dj>H0u^&Ri_+QZYAK?6n4cj;w4nTEn)@S_4C;-(8Rl?x_ E04e?yZvX%Q diff --git a/gen/layouts/FloorPlan414-objects.json b/gen/layouts/FloorPlan414-objects.json index f525ec1a7..f2c9895d0 100644 --- a/gen/layouts/FloorPlan414-objects.json +++ b/gen/layouts/FloorPlan414-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "HandTowel", - "Cabinet", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Faucet", + "BathtubBasin", + "Plunger", "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", + "DishSponge", "Bathtub", - "Towel", - "SoapBar", - "PaperTowelRoll", - "BathtubBasin", - "ToiletPaper", + "Sink", + "Cabinet", + "SprayBottle", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "Drawer", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", + "Mirror", + "Cloth", + "Floor", + "Towel", "SoapBottle", - "Drawer", - "DishSponge", - "Plunger" + "ToiletPaper", + "ScrubBrush", + "PaperTowelRoll", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan414-openable.json b/gen/layouts/FloorPlan414-openable.json index e806fa643..741767507 100644 --- a/gen/layouts/FloorPlan414-openable.json +++ b/gen/layouts/FloorPlan414-openable.json @@ -1,14 +1,14 @@ { "Bathtub|-00.44|+00.18|+01.58|BathtubBasin": [ - -1.0, - 2.25, + -1.5, + 2.0, 90, 30 ], "Cabinet|-02.41|+00.37|+01.59": [ - -1.75, - 2.25, - 180, + -1.5, + 1.25, + 0, 30 ], "Cabinet|-02.41|+00.37|+02.04": [ @@ -24,9 +24,9 @@ 30 ], "Cabinet|-02.41|+00.37|+02.91": [ - -1.75, - 2.75, - 270, + -1.5, + 2.5, + 0, 30 ], "Cabinet|-02.41|+00.37|+03.57": [ @@ -71,6 +71,12 @@ 270, 30 ], + "GarbageCan|-00.40|-00.03|+00.24": [ + -1.0, + 0.75, + 180, + 30 + ], "Sink|-02.72|+00.86|+02.23|SinkBasin": [ -2.0, 2.0, @@ -80,7 +86,7 @@ "Toilet|-02.58|+00.03|+00.66": [ -2.0, 1.25, - 270, + 180, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan415-layout.npy b/gen/layouts/FloorPlan415-layout.npy index cd5280c7c56be9af4ef48c9b2dccb3df6672a05c..8f3867bb9a6f746744b743316b16e92615b5d5e1 100644 GIT binary patch delta 29 lcmcb>{()_REt84)M0@{@^D-DWi!lW-PM*iaF}aRe2>_c832XoW delta 93 zcmeysc7c6@Et9G7M0}LQ2rp@me!x(^b delta 120 zcmaFB{()nHEt8q?MEmbd3=ESs7~g>?4kkYk<-xR%@xkQpOfLf%z~F^FgywR9&>!|g UXdWp40#qKxe}Kk^>F03(05R|sU;qFB diff --git a/gen/layouts/FloorPlan416-objects.json b/gen/layouts/FloorPlan416-objects.json index b2104cd90..b863f3cc8 100644 --- a/gen/layouts/FloorPlan416-objects.json +++ b/gen/layouts/FloorPlan416-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "HandTowel", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Faucet", + "Plunger", "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", - "ShowerDoor", - "Towel", + "Sink", + "SprayBottle", "ShowerHead", - "SoapBar", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", + "Drawer", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", "CounterTop", + "Mirror", + "Cloth", + "Floor", + "ShowerDoor", + "Towel", "SoapBottle", - "Drawer", - "Plunger" + "ToiletPaper", + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan416-openable.json b/gen/layouts/FloorPlan416-openable.json index cf7e3ed64..afd6d54d0 100644 --- a/gen/layouts/FloorPlan416-openable.json +++ b/gen/layouts/FloorPlan416-openable.json @@ -7,7 +7,7 @@ ], "Drawer|-01.34|+00.30|+02.13": [ -0.75, - 2.0, + 1.75, 270, 30 ], diff --git a/gen/layouts/FloorPlan417-objects.json b/gen/layouts/FloorPlan417-objects.json index d8c4b827c..5f9cd72c8 100644 --- a/gen/layouts/FloorPlan417-objects.json +++ b/gen/layouts/FloorPlan417-objects.json @@ -1,29 +1,29 @@ [ - "Floor", - "HandTowel", + "HandTowelHolder", + "ShowerGlass", + "Faucet", + "Plunger", + "Window", + "SinkBasin", + "LightSwitch", + "Sink", "Cabinet", - "Cloth", - "ScrubBrush", "SprayBottle", + "ShowerHead", + "ToiletPaperHanger", + "Toilet", "GarbageCan", - "Window", - "ShowerGlass", - "LightSwitch", + "SoapBar", + "HandTowel", "TowelHolder", + "CounterTop", + "Mirror", + "Cloth", + "Floor", "ShowerDoor", "Towel", - "ShowerHead", - "SoapBar", "ToiletPaper", - "ToiletPaperHanger", - "Mirror", - "Candle", - "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "CounterTop", "SoapBottle", - "Plunger" + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan417-openable.json b/gen/layouts/FloorPlan417-openable.json index 784881e15..111a6080f 100644 --- a/gen/layouts/FloorPlan417-openable.json +++ b/gen/layouts/FloorPlan417-openable.json @@ -1,14 +1,14 @@ { "Cabinet|-02.50|+00.40|-01.24": [ -1.75, - -0.5, - 180, + -1.5, + 0, 30 ], "Cabinet|-02.50|+00.40|-02.21": [ - -1.75, + -2.0, -1.5, - 180, + 270, 30 ], "Cabinet|-02.51|+00.43|-00.29": [ diff --git a/gen/layouts/FloorPlan418-layout.npy b/gen/layouts/FloorPlan418-layout.npy index 22902508b2a4de2071a940a9363ea9b38076e7cc..3e47df778f8071a73ded546848c342dde1b5a976 100644 GIT binary patch delta 39 icmcb>_JD1I9i!Psdv<0ih64;>@L)fL{sW~S><0kHs|k+) delta 23 bcmaFBc7bhz9i!<+dv<27Kl>TL;K6?P3G~D$ND< diff --git a/gen/layouts/FloorPlan422-objects.json b/gen/layouts/FloorPlan422-objects.json index e5d6b0303..e4a404325 100644 --- a/gen/layouts/FloorPlan422-objects.json +++ b/gen/layouts/FloorPlan422-objects.json @@ -1,33 +1,33 @@ [ - "Floor", - "HandTowel", - "Cabinet", - "SprayBottle", - "Cloth", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Faucet", + "BathtubBasin", + "Plunger", "Window", + "SinkBasin", "LightSwitch", - "Shelf", - "TowelHolder", "Bathtub", - "Towel", + "Sink", + "Cabinet", + "SprayBottle", "ShowerHead", - "SoapBar", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", - "TissueBox", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "CounterTop", - "SoapBottle", "Drawer", + "TissueBox", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", + "CounterTop", + "Mirror", + "Cloth", + "Floor", "ShowerCurtain", - "Plunger" + "ToiletPaper", + "SoapBottle", + "Towel", + "Shelf", + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan422-openable.json b/gen/layouts/FloorPlan422-openable.json index 2cd3b6f30..3da31098e 100644 --- a/gen/layouts/FloorPlan422-openable.json +++ b/gen/layouts/FloorPlan422-openable.json @@ -69,12 +69,12 @@ -1.25, 2.25, 270, - 30 + -30 ], "Sink|-01.93|+00.77|+00.33|SinkBasin": [ -2.5, 0.75, - 180, + 90, 30 ], "Toilet|-00.46|00.00|+02.26": [ diff --git a/gen/layouts/FloorPlan423-layout.npy b/gen/layouts/FloorPlan423-layout.npy index 6535129554d38c8088434c4e37b2363c738c8a2c..d85f2115b41423b356fe2292116cfad34b885d51 100644 GIT binary patch delta 20 ccmbQh@qvAU9i!<)`}U33CNOR;W17VX08-os$p8QV delta 32 lcmeysK7nI`9i#a~`*u#Y0}NpBVdMVkjEo;PyECn11OTQN3QGV0 diff --git a/gen/layouts/FloorPlan423-objects.json b/gen/layouts/FloorPlan423-objects.json index 4bffeb001..6699cdba6 100644 --- a/gen/layouts/FloorPlan423-objects.json +++ b/gen/layouts/FloorPlan423-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "HandTowel", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", - "Window", + "HandTowelHolder", "ShowerGlass", + "Faucet", + "BathtubBasin", + "Plunger", + "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", - "ShowerDoor", "Bathtub", - "Towel", + "Sink", + "SprayBottle", "ShowerHead", - "SoapBar", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "CounterTop", - "SoapBottle", "Drawer", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", + "CounterTop", + "Mirror", + "Cloth", + "Floor", "ShowerCurtain", - "Plunger" + "ShowerDoor", + "Towel", + "ToiletPaper", + "SoapBottle", + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan423-openable.json b/gen/layouts/FloorPlan423-openable.json index a982318c4..21ea750b4 100644 --- a/gen/layouts/FloorPlan423-openable.json +++ b/gen/layouts/FloorPlan423-openable.json @@ -6,10 +6,10 @@ 30 ], "CounterTop|-00.28|+00.79|+01.93": [ - -1.25, + -1.0, 2.25, 90, - 0 + 30 ], "CounterTop|-02.54|+00.81|+00.28": [ -1.75, diff --git a/gen/layouts/FloorPlan424-objects.json b/gen/layouts/FloorPlan424-objects.json index 408081d86..1f2303d68 100644 --- a/gen/layouts/FloorPlan424-objects.json +++ b/gen/layouts/FloorPlan424-objects.json @@ -1,28 +1,28 @@ [ - "Floor", - "HandTowel", + "HandTowelHolder", + "ShowerGlass", + "Faucet", + "Plunger", + "SinkBasin", + "LightSwitch", + "Sink", "Cabinet", "SprayBottle", - "Cloth", - "ScrubBrush", + "ShowerHead", + "ToiletPaperHanger", + "Toilet", "GarbageCan", - "ShowerGlass", - "LightSwitch", + "SoapBar", + "HandTowel", "TowelHolder", + "CounterTop", + "Mirror", + "Cloth", + "Floor", "ShowerDoor", "Towel", - "ShowerHead", - "SoapBar", "ToiletPaper", - "ToiletPaperHanger", - "Mirror", - "Candle", - "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "CounterTop", "SoapBottle", - "Plunger" + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan424-openable.json b/gen/layouts/FloorPlan424-openable.json index eeb737682..645647bca 100644 --- a/gen/layouts/FloorPlan424-openable.json +++ b/gen/layouts/FloorPlan424-openable.json @@ -1,8 +1,8 @@ { "Cabinet|-00.49|+00.41|+02.06": [ -1.25, - 2.75, - 180, + 1.75, + 0, 30 ], "Cabinet|-00.49|+00.41|+02.86": [ @@ -25,26 +25,32 @@ ], "CounterTop|-00.26|+00.93|+02.84": [ -0.75, - 3.25, + 2.5, 90, 30 ], + "GarbageCan|-02.16|00.00|+03.76": [ + -1.75, + 3.25, + 0, + 30 + ], "Sink|-00.30|+00.80|+02.42|SinkBasin": [ -0.75, - 2.75, - 90, + 2.0, + 0, 30 ], "Sink|-00.30|+00.80|+03.26|SinkBasin": [ -0.75, - 3.5, + 3.0, 90, 30 ], "Toilet|-00.54|+00.00|+01.49": [ - -0.75, - 2.0, - 180, + -1.0, + 2.25, + 90, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan425-layout.npy b/gen/layouts/FloorPlan425-layout.npy index 0d74f5836fe6deaf3da94fda3a70e34fec6e8d83..a966f44e54c18b5049044de741c61d322c271a71 100644 GIT binary patch delta 15 WcmbQh(!esoj?rYIz5B*#Rg3^7`vmm> delta 26 ecmZo*nZPo^j?r|Yy*t;J{S096$9`i&10w)utq0x! diff --git a/gen/layouts/FloorPlan425-objects.json b/gen/layouts/FloorPlan425-objects.json index 15a58cac8..b71fe3579 100644 --- a/gen/layouts/FloorPlan425-objects.json +++ b/gen/layouts/FloorPlan425-objects.json @@ -1,30 +1,30 @@ [ - "Floor", - "HandTowel", + "HandTowelHolder", + "ShowerGlass", + "Faucet", + "Plunger", + "Window", + "SinkBasin", + "LightSwitch", + "Sink", "Cabinet", "SprayBottle", - "Cloth", - "ScrubBrush", + "ShowerHead", + "ToiletPaperHanger", + "Toilet", + "TissueBox", "GarbageCan", - "Window", - "ShowerGlass", - "LightSwitch", + "SoapBar", + "HandTowel", "TowelHolder", + "CounterTop", + "Mirror", + "Cloth", + "Floor", "ShowerDoor", "Towel", - "ShowerHead", - "SoapBar", "ToiletPaper", - "ToiletPaperHanger", - "Mirror", - "Candle", - "TissueBox", - "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "CounterTop", "SoapBottle", - "Plunger" + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan425-openable.json b/gen/layouts/FloorPlan425-openable.json index 1ca48eec9..06bbee397 100644 --- a/gen/layouts/FloorPlan425-openable.json +++ b/gen/layouts/FloorPlan425-openable.json @@ -26,7 +26,7 @@ "CounterTop|-01.35|+00.97|+02.95": [ -1.0, 2.0, - 270, + 0, 30 ], "GarbageCan|+00.21|+00.00|+03.77": [ diff --git a/gen/layouts/FloorPlan426-objects.json b/gen/layouts/FloorPlan426-objects.json index ce3d8da93..3b5b0c114 100644 --- a/gen/layouts/FloorPlan426-objects.json +++ b/gen/layouts/FloorPlan426-objects.json @@ -1,31 +1,31 @@ [ - "Floor", - "HandTowel", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Faucet", + "BathtubBasin", + "Plunger", "Window", + "SinkBasin", "LightSwitch", - "TowelHolder", "Bathtub", - "Towel", + "Sink", + "SprayBottle", "ShowerHead", - "SoapBar", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", - "TissueBox", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "CounterTop", - "SoapBottle", "Drawer", + "TissueBox", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", + "CounterTop", + "Mirror", + "Cloth", + "Floor", "ShowerCurtain", - "Plunger" + "Towel", + "ToiletPaper", + "SoapBottle", + "ScrubBrush", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan426-openable.json b/gen/layouts/FloorPlan426-openable.json index c275c0497..c1f4edd71 100644 --- a/gen/layouts/FloorPlan426-openable.json +++ b/gen/layouts/FloorPlan426-openable.json @@ -60,9 +60,9 @@ 30 ], "Toilet|-01.84|+00.00|+02.50": [ - -1.5, - 2.0, - 0, + -1.25, + 1.75, + 270, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan427-layout.npy b/gen/layouts/FloorPlan427-layout.npy index 301ef4ace5bf9269c93654ede146888a4b184226..78286bb77b667bbcec62afd1092b54c87bccbc53 100644 GIT binary patch delta 48 rcmcb>{(yag9iz!cdvhjEwgU`c@L_X4lQ`q#Y0OpvP=Wmr`j0&TFBA(# delta 24 gcmaFBet~_09i#C^dvm7EZA=1;On>%I?qK!+0BQ{gSpWb4 diff --git a/gen/layouts/FloorPlan427-objects.json b/gen/layouts/FloorPlan427-objects.json index bd1f1385d..aacc2ad6a 100644 --- a/gen/layouts/FloorPlan427-objects.json +++ b/gen/layouts/FloorPlan427-objects.json @@ -1,32 +1,32 @@ [ - "Floor", - "HandTowel", - "Cloth", - "SprayBottle", - "ScrubBrush", - "GarbageCan", + "HandTowelHolder", + "Faucet", + "BathtubBasin", + "Plunger", + "SinkBasin", "LightSwitch", - "TowelHolder", + "DishSponge", "Bathtub", - "Towel", + "Sink", + "SprayBottle", "ShowerHead", - "SoapBar", - "PaperTowelRoll", - "BathtubBasin", - "ToiletPaper", "ToiletPaperHanger", - "Mirror", - "Candle", - "TissueBox", "Toilet", - "HandTowelHolder", - "Faucet", - "SinkBasin", - "Sink", - "CounterTop", - "SoapBottle", "Drawer", - "DishSponge", + "TissueBox", + "GarbageCan", + "SoapBar", + "HandTowel", + "TowelHolder", + "CounterTop", + "Mirror", + "Cloth", + "Floor", "ShowerCurtain", - "Plunger" + "Towel", + "ToiletPaper", + "SoapBottle", + "ScrubBrush", + "PaperTowelRoll", + "Candle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan427-openable.json b/gen/layouts/FloorPlan427-openable.json index 47408b527..5cbe082d7 100644 --- a/gen/layouts/FloorPlan427-openable.json +++ b/gen/layouts/FloorPlan427-openable.json @@ -1,8 +1,8 @@ { "Bathtub|-03.71|+00.34|+00.64|BathtubBasin": [ -2.75, - 0.0, - 0, + 1.0, + 270, 30 ], "CounterTop|-02.80|+00.00|-00.59": [ @@ -30,7 +30,7 @@ 30 ], "Drawer|-01.89|+00.53|-00.62": [ - -1.0, + -2.5, 0.75, 180, 0 @@ -42,8 +42,8 @@ 30 ], "Drawer|-02.34|+00.53|-00.62": [ - -1.5, - 0.75, + -2.75, + 1.0, 180, 0 ], @@ -61,14 +61,14 @@ ], "GarbageCan|-01.56|00.00|+01.91": [ -1.0, - 1.25, + 1.75, 270, 30 ], "Sink|-01.92|+00.44|+02.03|SinkBasin": [ -2.25, 1.5, - 90, + 0, 30 ], "Toilet|-00.72|+00.00|-00.31": [ diff --git a/gen/layouts/FloorPlan428-layout.npy b/gen/layouts/FloorPlan428-layout.npy index 4d05afd33ca78e48ea22de8363f5091fea6c55c9..0c26e75d4946aea3c1fb14ac01ba8043cc639973 100644 GIT binary patch delta 102 zcmaFB_JDnYEt9FqMEmbd3=ESs7~e6zn9R=94 N&@lc3H2w=X9{?1OPS?1~dQw delta 19 bcmbQhyMT9s9izoY`{^u<7d9VfImrkBLO%xf diff --git a/gen/layouts/FloorPlan5-objects.json b/gen/layouts/FloorPlan5-objects.json index cd94c7bcf..adb631393 100644 --- a/gen/layouts/FloorPlan5-objects.json +++ b/gen/layouts/FloorPlan5-objects.json @@ -1,47 +1,47 @@ [ - "Floor", - "Cabinet", - "Apple", + "Statue", + "Faucet", + "StoveKnob", + "Fridge", "Stool", - "Bowl", - "Toaster", - "CoffeeMachine", "PepperShaker", - "ShelvingUnit", - "GarbageCan", - "HousePlant", - "Spoon", - "LightSwitch", - "Pan", - "Shelf", - "Ladle", - "StoveKnob", - "Potato", - "Pot", - "PaperTowelRoll", + "SaltShaker", "Tomato", - "Spatula", - "Fridge", - "Vase", - "Kettle", "Cup", - "SaltShaker", - "Microwave", - "Lettuce", - "Statue", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", "SinkBasin", + "Lettuce", + "Bowl", + "LightSwitch", + "DishSponge", + "ShelvingUnit", + "HousePlant", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Vase", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Ladle", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", "Knife", - "Fork", + "Apple", + "Spatula", + "Shelf", + "PaperTowelRoll", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan5-openable.json b/gen/layouts/FloorPlan5-openable.json index a51ae872d..c4b6ea81e 100644 --- a/gen/layouts/FloorPlan5-openable.json +++ b/gen/layouts/FloorPlan5-openable.json @@ -6,15 +6,15 @@ 0 ], "Cabinet|+01.18|+02.02|-02.00": [ - 1.0, + 0.75, -1.25, 180, 0 ], "Cabinet|+01.39|+00.47|-01.06": [ 0.75, - -0.75, - 180, + -1.25, + 90, 30 ], "Cabinet|+01.74|+02.02|-02.00": [ @@ -24,12 +24,6 @@ 0 ], "Cabinet|+01.75|+02.02|-01.03": [ - 1.0, - -0.75, - 90, - 0 - ], - "Cabinet|+01.75|+02.02|-01.40": [ 1.0, -1.25, 90, @@ -48,8 +42,8 @@ 30 ], "Cabinet|-00.82|+00.47|-01.69": [ - -0.25, - -1.0, + 0.0, + -0.75, 270, 30 ], @@ -153,6 +147,6 @@ -0.5, -1.25, 180, - 0 + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan6-layout.npy b/gen/layouts/FloorPlan6-layout.npy index b70a48b18036b68d96182f4163e5569a28dee732..eb8f5923c6598a033abf4ed882d8bcd55e632ffa 100644 GIT binary patch delta 49 vcmca0&>%R$p3!2X!!~BFKl>TL;DY_+56oeVKQ^1Q$TPu385|Y|urUDuhBpn| delta 26 icmZn=ydW^ap3!up!#3v0Y%Bqr(^v$UHn*|;VgvwmMhJHR diff --git a/gen/layouts/FloorPlan6-objects.json b/gen/layouts/FloorPlan6-objects.json index 141b4cf76..d0a013c85 100644 --- a/gen/layouts/FloorPlan6-objects.json +++ b/gen/layouts/FloorPlan6-objects.json @@ -1,42 +1,42 @@ [ - "Floor", - "Cabinet", - "Apple", + "StoveKnob", + "Faucet", + "Fridge", "Stool", - "Bowl", - "Toaster", - "CoffeeMachine", "PepperShaker", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", - "StoveKnob", - "Potato", - "Pot", - "PaperTowelRoll", + "SaltShaker", "Tomato", - "Spatula", - "Fridge", - "Kettle", "Cup", - "SaltShaker", - "Microwave", - "Lettuce", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "Bowl", + "LightSwitch", + "DishSponge", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", "Knife", - "Fork", + "Apple", + "Spatula", + "PaperTowelRoll", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan6-openable.json b/gen/layouts/FloorPlan6-openable.json index dc3010ac6..4bcb104a9 100644 --- a/gen/layouts/FloorPlan6-openable.json +++ b/gen/layouts/FloorPlan6-openable.json @@ -18,9 +18,9 @@ 0 ], "Cabinet|-02.15|+00.40|+00.64": [ - -1.25, - 1.0, - 180, + -1.5, + 0.0, + 0, 30 ], "Cabinet|-02.15|+00.40|+00.70": [ @@ -84,8 +84,8 @@ 0 ], "Cabinet|-02.45|+02.15|-01.28": [ - -1.25, - -1.25, + -1.5, + -0.5, 270, 0 ], @@ -98,7 +98,7 @@ "CounterTop|+01.59|+00.95|+00.41": [ 1.0, 0.75, - 180, + 90, 30 ], "CounterTop|-00.36|+00.95|+01.09": [ @@ -109,32 +109,32 @@ ], "CounterTop|-01.49|+00.95|+01.32": [ -1.75, - 1.5, + 0.5, 270, 30 ], "Drawer|-02.28|+00.79|+00.44": [ - -1.5, - 0.0, - 0, + -1.75, + 0.75, + 270, 30 ], "Drawer|-02.28|+00.79|+00.90": [ - -1.5, - 1.25, - 180, + -1.75, + 0.5, + 270, 30 ], "Drawer|-02.28|+00.79|+01.37": [ - -1.5, - 1.75, - 180, + -1.75, + 1.0, + 270, 30 ], "Drawer|-02.28|+00.79|-00.03": [ - -1.5, - -0.5, - 0, + -1.75, + 0.5, + 270, 30 ], "Fridge|-02.48|+00.00|-00.78": [ @@ -145,19 +145,19 @@ ], "GarbageCan|+01.65|00.00|+00.68": [ 1.0, - 1.0, - 90, + 1.25, + 180, 30 ], "Microwave|-02.58|+00.90|+02.44": [ -1.75, - 2.25, + 2.5, 270, 0 ], "Sink|+01.38|+00.81|-01.27|SinkBasin": [ 0.75, - -1.0, + -0.75, 180, 30 ] diff --git a/gen/layouts/FloorPlan7-layout.npy b/gen/layouts/FloorPlan7-layout.npy index 938a6201cf86750436658431d174884a4186d647..17b04ef444e20b59a55d337e4b7bd3e6962f4de5 100644 GIT binary patch delta 54 zcmV-60LlN*A%G%~KLIqcKo$&>o&pGyW&;qD#smeBx(u-Z diff --git a/gen/layouts/FloorPlan7-objects.json b/gen/layouts/FloorPlan7-objects.json index 8a3576eed..438ecce61 100644 --- a/gen/layouts/FloorPlan7-objects.json +++ b/gen/layouts/FloorPlan7-objects.json @@ -1,50 +1,50 @@ [ - "Floor", - "Cabinet", - "Apple", + "Statue", + "Book", + "StoveKnob", + "Faucet", + "Fridge", "Stool", - "Toaster", - "CoffeeMachine", - "ShelvingUnit", + "Tomato", + "SaltShaker", "PepperShaker", "Chair", - "GarbageCan", - "Bowl", - "Window", - "WineBottle", - "HousePlant", - "Spoon", - "LightSwitch", - "Shelf", - "Pan", - "StoveKnob", - "Potato", - "Pot", - "Tomato", - "Spatula", - "Fridge", - "Vase", - "DiningTable", - "Kettle", "Cup", - "SaltShaker", - "Microwave", - "Lettuce", - "Statue", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "DishSponge", + "ShelvingUnit", + "Bowl", + "HousePlant", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Vase", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Microwave", + "Potato", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "WineBottle", + "Spatula", "Knife", + "Shelf", + "Apple", "ButterKnife", - "StoveBurner", - "Book", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan7-openable.json b/gen/layouts/FloorPlan7-openable.json index dbd72f4be..173d6aa29 100644 --- a/gen/layouts/FloorPlan7-openable.json +++ b/gen/layouts/FloorPlan7-openable.json @@ -1,8 +1,8 @@ { "Cabinet|+00.38|+00.37|-01.24": [ - 0.75, + -0.25, -0.5, - 270, + 90, 30 ], "Cabinet|+00.52|+02.01|-01.54": [ @@ -12,20 +12,14 @@ 0 ], "Cabinet|+00.78|+00.37|-01.24": [ - 1.0, + 0.0, -0.5, - 270, + 90, 30 ], - "Cabinet|+00.85|+02.26|-01.54": [ - 0.25, - -0.5, - 180, - 0 - ], "Cabinet|+01.45|+02.26|-01.54": [ - 0.75, - -0.5, + 1.0, + -0.75, 180, 0 ], @@ -66,15 +60,15 @@ 0 ], "Cabinet|-02.17|+02.01|-01.54": [ + -2.75, -1.0, - -0.75, - 270, + 90, 0 ], "Cabinet|-02.22|+00.37|-01.87": [ - -3.0, - -1.0, - 180, + -2.75, + -1.25, + 90, 30 ], "CounterTop|+01.65|+00.95|-01.53": [ @@ -84,9 +78,9 @@ 30 ], "CounterTop|-01.87|+00.95|-00.61": [ - -1.0, - -0.75, - 270, + -2.5, + 0.5, + 90, 30 ], "DiningTable|-02.66|+00.00|+03.21": [ @@ -97,37 +91,31 @@ ], "Drawer|+00.60|+00.68|-01.40": [ 1.0, - -0.25, - 180, - 0 - ], - "Drawer|+01.65|+00.68|-01.40": [ - 1.75, - -0.25, - 180, - 0 + -0.75, + 270, + 30 ], "Drawer|-01.64|+00.68|-00.93": [ - -0.75, + -1.0, -0.25, - 180, + 270, 30 ], "Drawer|-02.06|+00.68|-01.58": [ -3.25, - -1.0, + -1.25, 90, 0 ], "Fridge|-00.04|+00.00|+02.18": [ - 0.25, + 0.0, 1.25, 0, - 0 + 30 ], "GarbageCan|-00.87|00.00|+02.14": [ - -1.5, - 1.75, + -1.75, + 1.5, 0, 30 ], @@ -138,8 +126,14 @@ 0 ], "Shelf|+03.73|+00.55|+01.67": [ + 2.5, + 1.75, + 90, + 0 + ], + "Shelf|+03.73|+00.88|+01.67": [ 3.25, - 1.0, + 1.75, 90, 30 ], diff --git a/gen/layouts/FloorPlan8-layout.npy b/gen/layouts/FloorPlan8-layout.npy index a9ea51a597e635b1349a9d31473c81a7865e041e..f768a488c36e0b0a939b69a01e5488a6c8e1cd65 100644 GIT binary patch delta 29 lcmdlWc0qK49g~^qM2BsY#TX4HpJV2joX4oKc^hLDCjgke3CjQg delta 81 zcmca0xwSa4a9iz!c`{_)ZpD`IQPF7<%F!>ux6aaRH2|)k= diff --git a/gen/layouts/FloorPlan9-objects.json b/gen/layouts/FloorPlan9-objects.json index 15aa5a251..99e84c832 100644 --- a/gen/layouts/FloorPlan9-objects.json +++ b/gen/layouts/FloorPlan9-objects.json @@ -1,42 +1,42 @@ [ - "Floor", - "Cabinet", - "Apple", - "Toaster", - "CoffeeMachine", - "Bowl", - "PepperShaker", - "Chair", - "GarbageCan", - "Window", - "Spoon", - "LightSwitch", - "Pan", + "Faucet", "StoveKnob", - "Potato", - "Pot", - "Tomato", - "Spatula", "Fridge", - "Kettle", - "DiningTable", - "Cup", + "Tomato", "SaltShaker", - "Microwave", - "Lettuce", + "PepperShaker", + "Chair", + "Cup", + "Pan", "Egg", - "Faucet", + "StoveBurner", + "Plate", + "Bread", + "Window", "SinkBasin", + "Lettuce", + "LightSwitch", + "Bowl", + "DishSponge", + "DiningTable", "Sink", + "Mug", + "CoffeeMachine", + "Cabinet", + "Fork", + "Kettle", + "Drawer", + "GarbageCan", + "Spoon", + "Pot", "CounterTop", + "Potato", + "Microwave", + "Floor", "SoapBottle", - "Drawer", - "DishSponge", - "Bread", - "Fork", + "Apple", + "Spatula", "Knife", "ButterKnife", - "StoveBurner", - "Plate", - "Mug" + "Toaster" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan9-openable.json b/gen/layouts/FloorPlan9-openable.json index 3888a6b08..b7771fe02 100644 --- a/gen/layouts/FloorPlan9-openable.json +++ b/gen/layouts/FloorPlan9-openable.json @@ -17,14 +17,8 @@ 180, 0 ], - "Cabinet|+00.36|+02.01|-00.61": [ - 0.25, - 0.0, - 180, - 0 - ], "Cabinet|+00.97|+02.26|+01.31": [ - 0.25, + 1.25, 0.5, 0, 0 @@ -48,9 +42,9 @@ 0 ], "Cabinet|+01.03|+00.40|+01.00": [ - 1.75, + 0.5, 0.25, - 270, + 90, 30 ], "Cabinet|+01.03|+02.01|+01.31": [ @@ -60,9 +54,9 @@ 0 ], "Cabinet|+01.67|+00.40|-00.30": [ - 1.0, + 2.25, 0.5, - 90, + 270, 30 ], "Cabinet|+01.67|+02.01|+01.31": [ @@ -78,15 +72,15 @@ 30 ], "Cabinet|+01.68|+02.01|-00.61": [ - 1.25, + 1.75, 0.0, 180, 0 ], "Cabinet|+01.72|+00.40|+01.00": [ - 2.25, - 0.25, - 270, + 1.25, + 0.0, + 0, 30 ], "Cabinet|+01.72|+00.40|-00.30": [ @@ -96,13 +90,13 @@ 30 ], "Cabinet|+01.72|+02.01|-00.61": [ - 1.5, + 1.75, 0.0, 180, 0 ], "Cabinet|+01.73|+02.01|+01.31": [ - 1.5, + 2.25, 0.75, 0, 0 @@ -113,28 +107,16 @@ 90, 30 ], - "Cabinet|+02.33|+02.01|+01.31": [ - 2.25, - 0.75, - 0, - 0 - ], "Cabinet|+02.35|+00.40|-00.30": [ - 1.75, - 0.5, - 90, - 30 - ], - "Cabinet|+02.35|+02.01|-00.61": [ - 1.75, - 0.0, + 2.75, + 0.75, 180, - 0 + 30 ], "Cabinet|+02.37|+00.40|+01.00": [ - 3.0, - 0.25, - 270, + 2.0, + 0.0, + 0, 30 ], "Cabinet|+02.37|+02.01|+01.31": [ @@ -150,31 +132,25 @@ 30 ], "Cabinet|+02.99|+02.01|+01.31": [ - 3.0, + 2.5, 0.75, 0, 0 ], "Cabinet|-00.27|+00.40|+01.00": [ - 0.25, - 0.25, - 270, - 30 - ], - "Cabinet|-00.28|+02.01|-00.61": [ - 0.0, + -0.75, 0.0, - 180, - 0 + 90, + 30 ], "CounterTop|+01.36|+00.95|-00.60": [ - 1.25, + 1.5, 0.0, 180, 30 ], "CounterTop|+01.92|+00.95|+01.30": [ - 1.25, + 2.5, 0.75, 0, 30 @@ -204,10 +180,10 @@ 30 ], "Drawer|+01.52|+00.79|-00.30": [ - 1.25, - 0.25, - 90, - 30 + 2.25, + 0.75, + 180, + 0 ], "Drawer|+01.53|+00.79|+01.00": [ 1.0, @@ -234,10 +210,10 @@ 30 ], "Drawer|+02.21|+00.79|-00.30": [ - 1.5, - 0.75, - 180, - 0 + 2.5, + 0.25, + 270, + 30 ], "Drawer|+02.51|+00.79|+01.00": [ 2.0, diff --git a/gen/layouts/precompute_layout_locations.py b/gen/layouts/precompute_layout_locations.py index 1038166a0..a82bad6e7 100644 --- a/gen/layouts/precompute_layout_locations.py +++ b/gen/layouts/precompute_layout_locations.py @@ -3,8 +3,8 @@ import threading import time import sys -sys.path.append(os.path.join('/home/jiasenl/code/alfred')) -sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) +sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred')) +sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred', 'gen')) import cv2 import numpy as np @@ -111,11 +111,10 @@ def get_mask_of_obj(env, object_id): return None -def run(): +def run(thread_num): print(all_scene_numbers) # create env and agent - env = ThorEnv(build_path=constants.BUILD_PATH, - quality='Low') + env = ThorEnv(build_path=constants.BUILD_PATH, x_display='0.%d' %(thread_num % 8), quality='Low') while len(all_scene_numbers) > 0: lock.acquire() scene_num = all_scene_numbers.pop() @@ -274,8 +273,7 @@ def run(): # We can open the object, so try placing our small inventory obj inside. # If it can be placed inside and retrieved, then this is a safe point. action = {'action': 'PutObject', - 'objectId': inv_obj, - 'receptacleObjectId': obj['objectId'], + 'objectId': obj['objectId'], 'forceAction': True, 'placeStationary': True} if inv_obj: @@ -346,7 +344,7 @@ def run(): threads = [] for n in range(N_PROCS): - thread = threading.Thread(target=run) + thread = threading.Thread(target=run, args=(n,)) threads.append(thread) thread.start() time.sleep(1) diff --git a/gen/scripts/generate_trajectories.py b/gen/scripts/generate_trajectories.py index 68ef25981..a749cf669 100644 --- a/gen/scripts/generate_trajectories.py +++ b/gen/scripts/generate_trajectories.py @@ -1,7 +1,7 @@ import os import sys -sys.path.append(os.path.join('/home/jiasenl/code/alfred')) -sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) +sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred')) +sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred', 'gen')) import time import multiprocessing as mp @@ -387,7 +387,7 @@ def main(args, thread_num=0): print(thread_num) # settings - alfred_dataset_path = '/home/jiasenl/code/alfred/data/json_2.1.0/valid_seen' + alfred_dataset_path = '../data/json_2.1.0/train' constants.DATA_SAVE_PATH = args.save_path print("Force Unsave Data: %s" % str(args.force_unsave)) @@ -465,12 +465,19 @@ def main(args, thread_num=0): # main generation loop # keeps trying out new task tuples as trajectories either fail or suceed while True: + # if True: + # if True: # for _ in range(20): for ii, json_path in enumerate(glob.iglob(os.path.join(alfred_dataset_path, "**", "traj_data.json"), recursive=True)): if ii % args.num_threads == thread_num: + # if ii == 5: sampled_task = json_path.split('/')[-3].split('-') # sampled_task = next(task_sampler) + # print("===============") + # print(ii, json_path) print(sampled_task) # DEBUG + # print("===============") + if sampled_task is None: sys.exit("No valid tuples left to sample (all are known to fail or already have %d trajectories" % args.repeats_per_cond) @@ -735,7 +742,7 @@ def parallel_main(args): # params parser.add_argument("--repeats_per_cond", type=int, default=3) - parser.add_argument("--trials_before_fail", type=int, default=10) + parser.add_argument("--trials_before_fail", type=int, default=5) parser.add_argument("--async_load_every_n_samples", type=int, default=10) parser.add_argument('--gpu_id', type=int, default=0) diff --git a/gen/scripts/replay_checks.py b/gen/scripts/replay_checks.py index 636e1afcf..d97cbc666 100644 --- a/gen/scripts/replay_checks.py +++ b/gen/scripts/replay_checks.py @@ -2,8 +2,8 @@ import sys # sys.path.append(os.path.join(os.environ['ALFRED_ROOT'])) # sys.path.append(os.path.join(os.environ['ALFRED_ROOT'], 'gen')) -sys.path.append(os.path.join('/home/jiasenl/code/alfred')) -sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) +sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred')) +sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred', 'gen')) import argparse import json @@ -30,7 +30,7 @@ def parallel_replay_check(args): proc.join() def replay_check(args, thread_num=0): - env = ThorEnv(x_display='0.%d' %args.gpu_id) + env = ThorEnv(x_display='0.%d' %(thread_num % args.total_gpu)) # replay certificate filenames replay_certificate_filenames = ["replay.certificate.%d" % idx for idx in range(args.num_replays)] @@ -207,7 +207,7 @@ def replay_check(args, thread_num=0): parser.add_argument('--num_replays', type=int, default=1) parser.add_argument('--gpu_id', type=int, default=0) parser.add_argument('--total_gpu', type=int, default=8) - parser.add_argument('--num_threads', type=int, default=0) + parser.add_argument('--num_threads', type=int, default=8) args = parser.parse_args() if args.num_threads > 1: From a69396d4266a46a0d888ec92821f28280baf38e7 Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Fri, 5 Feb 2021 10:30:24 -0800 Subject: [PATCH 09/14] update floor plan --- gen/layouts/FloorPlan1-objects.json | 76 ++++++++++++------------- gen/layouts/FloorPlan10-objects.json | 72 +++++++++++------------ gen/layouts/FloorPlan10-openable.json | 4 +- gen/layouts/FloorPlan11-objects.json | 62 ++++++++++---------- gen/layouts/FloorPlan12-layout.npy | Bin 1376 -> 1312 bytes gen/layouts/FloorPlan12-objects.json | 56 +++++++++--------- gen/layouts/FloorPlan12-openable.json | 16 +++--- gen/layouts/FloorPlan13-objects.json | 62 ++++++++++---------- gen/layouts/FloorPlan13-openable.json | 2 +- gen/layouts/FloorPlan14-objects.json | 56 +++++++++--------- gen/layouts/FloorPlan15-objects.json | 66 ++++++++++----------- gen/layouts/FloorPlan16-objects.json | 68 +++++++++++----------- gen/layouts/FloorPlan17-objects.json | 70 +++++++++++------------ gen/layouts/FloorPlan18-objects.json | 72 +++++++++++------------ gen/layouts/FloorPlan19-objects.json | 56 +++++++++--------- gen/layouts/FloorPlan2-objects.json | 62 ++++++++++---------- gen/layouts/FloorPlan20-objects.json | 68 +++++++++++----------- gen/layouts/FloorPlan201-objects.json | 52 ++++++++--------- gen/layouts/FloorPlan202-objects.json | 36 ++++++------ gen/layouts/FloorPlan203-objects.json | 48 ++++++++-------- gen/layouts/FloorPlan204-objects.json | 44 +++++++------- gen/layouts/FloorPlan205-objects.json | 42 +++++++------- gen/layouts/FloorPlan206-objects.json | 36 ++++++------ gen/layouts/FloorPlan207-objects.json | 36 ++++++------ gen/layouts/FloorPlan208-objects.json | 36 ++++++------ gen/layouts/FloorPlan208-openable.json | 4 +- gen/layouts/FloorPlan209-objects.json | 42 +++++++------- gen/layouts/FloorPlan21-objects.json | 68 +++++++++++----------- gen/layouts/FloorPlan210-objects.json | 44 +++++++------- gen/layouts/FloorPlan211-objects.json | 42 +++++++------- gen/layouts/FloorPlan212-objects.json | 44 +++++++------- gen/layouts/FloorPlan212-openable.json | 2 +- gen/layouts/FloorPlan213-layout.npy | Bin 4736 -> 4752 bytes gen/layouts/FloorPlan213-objects.json | 38 ++++++------- gen/layouts/FloorPlan214-objects.json | 42 +++++++------- gen/layouts/FloorPlan215-objects.json | 42 +++++++------- gen/layouts/FloorPlan216-objects.json | 40 ++++++------- gen/layouts/FloorPlan217-objects.json | 42 +++++++------- gen/layouts/FloorPlan218-layout.npy | Bin 6384 -> 6400 bytes gen/layouts/FloorPlan218-objects.json | 46 +++++++-------- gen/layouts/FloorPlan218-openable.json | 6 +- gen/layouts/FloorPlan219-objects.json | 42 +++++++------- gen/layouts/FloorPlan22-objects.json | 60 +++++++++---------- gen/layouts/FloorPlan22-openable.json | 2 +- gen/layouts/FloorPlan220-objects.json | 44 +++++++------- gen/layouts/FloorPlan220-openable.json | 2 +- gen/layouts/FloorPlan221-objects.json | 40 ++++++------- gen/layouts/FloorPlan221-openable.json | 2 +- gen/layouts/FloorPlan222-objects.json | 36 ++++++------ gen/layouts/FloorPlan223-objects.json | 40 ++++++------- gen/layouts/FloorPlan224-objects.json | 44 +++++++------- gen/layouts/FloorPlan225-objects.json | 44 +++++++------- gen/layouts/FloorPlan226-objects.json | 34 +++++------ gen/layouts/FloorPlan226-openable.json | 4 +- gen/layouts/FloorPlan227-objects.json | 40 ++++++------- gen/layouts/FloorPlan228-objects.json | 36 ++++++------ gen/layouts/FloorPlan229-objects.json | 44 +++++++------- gen/layouts/FloorPlan23-objects.json | 68 +++++++++++----------- gen/layouts/FloorPlan230-objects.json | 46 +++++++-------- gen/layouts/FloorPlan24-objects.json | 60 +++++++++---------- gen/layouts/FloorPlan24-openable.json | 6 +- gen/layouts/FloorPlan25-objects.json | 58 +++++++++---------- gen/layouts/FloorPlan25-openable.json | 12 ++++ gen/layouts/FloorPlan26-objects.json | 56 +++++++++--------- gen/layouts/FloorPlan27-objects.json | 60 +++++++++---------- gen/layouts/FloorPlan28-objects.json | 62 ++++++++++---------- gen/layouts/FloorPlan29-objects.json | 54 +++++++++--------- gen/layouts/FloorPlan3-objects.json | 66 ++++++++++----------- gen/layouts/FloorPlan3-openable.json | 2 +- gen/layouts/FloorPlan30-objects.json | 64 ++++++++++----------- gen/layouts/FloorPlan301-objects.json | 46 +++++++-------- gen/layouts/FloorPlan301-openable.json | 6 +- gen/layouts/FloorPlan302-objects.json | 40 ++++++------- gen/layouts/FloorPlan303-layout.npy | Bin 1184 -> 1168 bytes gen/layouts/FloorPlan303-objects.json | 46 +++++++-------- gen/layouts/FloorPlan304-objects.json | 38 ++++++------- gen/layouts/FloorPlan305-objects.json | 42 +++++++------- gen/layouts/FloorPlan305-openable.json | 6 -- gen/layouts/FloorPlan306-objects.json | 34 +++++------ gen/layouts/FloorPlan307-objects.json | 46 +++++++-------- gen/layouts/FloorPlan308-objects.json | 40 ++++++------- gen/layouts/FloorPlan309-objects.json | 40 ++++++------- gen/layouts/FloorPlan310-objects.json | 38 ++++++------- gen/layouts/FloorPlan311-objects.json | 42 +++++++------- gen/layouts/FloorPlan312-objects.json | 32 +++++------ gen/layouts/FloorPlan313-objects.json | 42 +++++++------- gen/layouts/FloorPlan314-objects.json | 32 +++++------ gen/layouts/FloorPlan315-objects.json | 36 ++++++------ gen/layouts/FloorPlan315-openable.json | 4 +- gen/layouts/FloorPlan316-objects.json | 36 ++++++------ gen/layouts/FloorPlan317-objects.json | 38 ++++++------- gen/layouts/FloorPlan317-openable.json | 2 +- gen/layouts/FloorPlan318-objects.json | 38 ++++++------- gen/layouts/FloorPlan319-objects.json | 36 ++++++------ gen/layouts/FloorPlan320-objects.json | 38 ++++++------- gen/layouts/FloorPlan321-objects.json | 30 +++++----- gen/layouts/FloorPlan321-openable.json | 2 +- gen/layouts/FloorPlan322-objects.json | 38 ++++++------- gen/layouts/FloorPlan323-objects.json | 38 ++++++------- gen/layouts/FloorPlan324-objects.json | 40 ++++++------- gen/layouts/FloorPlan325-objects.json | 36 ++++++------ gen/layouts/FloorPlan326-objects.json | 48 ++++++++-------- gen/layouts/FloorPlan327-objects.json | 38 ++++++------- gen/layouts/FloorPlan328-objects.json | 38 ++++++------- gen/layouts/FloorPlan329-objects.json | 34 +++++------ gen/layouts/FloorPlan330-objects.json | 40 ++++++------- gen/layouts/FloorPlan330-openable.json | 4 +- gen/layouts/FloorPlan4-objects.json | 60 +++++++++---------- gen/layouts/FloorPlan401-objects.json | 44 +++++++------- gen/layouts/FloorPlan402-objects.json | 48 ++++++++-------- gen/layouts/FloorPlan403-objects.json | 48 ++++++++-------- gen/layouts/FloorPlan403-openable.json | 4 +- gen/layouts/FloorPlan404-objects.json | 40 ++++++------- gen/layouts/FloorPlan405-objects.json | 40 ++++++------- gen/layouts/FloorPlan406-objects.json | 40 ++++++------- gen/layouts/FloorPlan407-objects.json | 46 +++++++-------- gen/layouts/FloorPlan408-objects.json | 40 ++++++------- gen/layouts/FloorPlan409-objects.json | 40 ++++++------- gen/layouts/FloorPlan410-objects.json | 40 ++++++------- gen/layouts/FloorPlan411-objects.json | 44 +++++++------- gen/layouts/FloorPlan412-objects.json | 40 ++++++------- gen/layouts/FloorPlan413-objects.json | 46 +++++++-------- gen/layouts/FloorPlan414-objects.json | 44 +++++++------- gen/layouts/FloorPlan415-objects.json | 44 +++++++------- gen/layouts/FloorPlan416-objects.json | 38 ++++++------- gen/layouts/FloorPlan417-objects.json | 40 ++++++------- gen/layouts/FloorPlan418-objects.json | 40 ++++++------- gen/layouts/FloorPlan419-objects.json | 42 +++++++------- gen/layouts/FloorPlan420-objects.json | 40 ++++++------- gen/layouts/FloorPlan421-objects.json | 40 ++++++------- gen/layouts/FloorPlan422-layout.npy | Bin 672 -> 656 bytes gen/layouts/FloorPlan422-objects.json | 48 ++++++++-------- gen/layouts/FloorPlan423-objects.json | 46 +++++++-------- gen/layouts/FloorPlan424-objects.json | 40 ++++++------- gen/layouts/FloorPlan425-objects.json | 42 +++++++------- gen/layouts/FloorPlan426-objects.json | 44 +++++++------- gen/layouts/FloorPlan427-objects.json | 44 +++++++------- gen/layouts/FloorPlan428-objects.json | 38 ++++++------- gen/layouts/FloorPlan429-objects.json | 42 +++++++------- gen/layouts/FloorPlan430-objects.json | 50 ++++++++-------- gen/layouts/FloorPlan5-objects.json | 72 +++++++++++------------ gen/layouts/FloorPlan6-objects.json | 60 +++++++++---------- gen/layouts/FloorPlan7-objects.json | 72 +++++++++++------------ gen/layouts/FloorPlan7-openable.json | 8 +-- gen/layouts/FloorPlan8-objects.json | 68 +++++++++++----------- gen/layouts/FloorPlan9-objects.json | 60 +++++++++---------- gen/layouts/FloorPlan9-openable.json | 12 ++-- 147 files changed, 2856 insertions(+), 2850 deletions(-) diff --git a/gen/layouts/FloorPlan1-objects.json b/gen/layouts/FloorPlan1-objects.json index 5a6408670..91f2bbc07 100644 --- a/gen/layouts/FloorPlan1-objects.json +++ b/gen/layouts/FloorPlan1-objects.json @@ -1,51 +1,51 @@ [ - "Statue", - "StoveKnob", "Book", - "Faucet", - "Fridge", - "Stool", + "Bottle", + "Fork", + "Pot", + "SinkBasin", + "Spatula", + "Spoon", "Tomato", + "Bread", + "SoapBottle", + "Fridge", + "CoffeeMachine", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", - "CreditCard", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CreditCard", + "CounterTop", + "HousePlant", + "Vase", "Lettuce", - "Bowl", + "Shelf", + "ButterKnife", + "Cabinet", + "Statue", "DishSponge", - "LightSwitch", - "ShelvingUnit", - "HousePlant", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", - "Vase", - "Drawer", - "GarbageCan", - "Bottle", - "Spoon", - "Pot", - "CounterTop", "Microwave", - "Potato", - "Floor", - "SoapBottle", - "Knife", + "Cup", "WineBottle", - "Spatula", - "Shelf", - "Apple", + "StoveKnob", + "Stool", "PaperTowelRoll", - "ButterKnife", - "Toaster" + "Mug", + "Knife", + "Toaster", + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "Apple", + "Pan", + "Bowl", + "Kettle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan10-objects.json b/gen/layouts/FloorPlan10-objects.json index 9b323ad81..8958ed3f7 100644 --- a/gen/layouts/FloorPlan10-objects.json +++ b/gen/layouts/FloorPlan10-objects.json @@ -1,49 +1,49 @@ [ - "Statue", - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "Bottle", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Bread", + "CoffeeMachine", + "Fridge", + "SoapBottle", + "Floor", "SaltShaker", - "PepperShaker", - "Chair", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", - "CreditCard", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CreditCard", + "CounterTop", + "Vase", + "HousePlant", + "Chair", "Lettuce", - "LightSwitch", - "Bowl", + "Shelf", + "ButterKnife", + "Cabinet", + "Statue", "DishSponge", - "ShelvingUnit", - "HousePlant", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Vase", - "Drawer", - "GarbageCan", - "Bottle", - "Spoon", - "Pot", - "CounterTop", - "Potato", "Microwave", - "Floor", + "Cup", + "StoveKnob", "CellPhone", - "SoapBottle", + "PaperTowelRoll", + "Mug", "Knife", + "Toaster", + "GarbageCan", + "ShelvingUnit", + "LightSwitch", "Apple", - "Spatula", - "Shelf", - "PaperTowelRoll", - "ButterKnife", - "Toaster" + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan10-openable.json b/gen/layouts/FloorPlan10-openable.json index cc4cc6d3d..1fd33e81b 100644 --- a/gen/layouts/FloorPlan10-openable.json +++ b/gen/layouts/FloorPlan10-openable.json @@ -61,8 +61,8 @@ ], "Drawer|+00.64|+00.76|-00.65": [ 0.0, - -0.25, - 180, + -1.25, + 0, 30 ], "Fridge|+00.97|+00.00|+01.25": [ diff --git a/gen/layouts/FloorPlan11-objects.json b/gen/layouts/FloorPlan11-objects.json index 4a38f5d5a..6a711c3fc 100644 --- a/gen/layouts/FloorPlan11-objects.json +++ b/gen/layouts/FloorPlan11-objects.json @@ -1,43 +1,43 @@ [ - "StoveKnob", - "Faucet", - "Fridge", - "Stool", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Bread", + "SoapBottle", + "CoffeeMachine", + "Fridge", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "Bowl", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "DiningTable", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", "Microwave", - "Potato", - "Floor", - "SoapBottle", + "Cup", + "StoveKnob", + "Stool", + "PaperTowelRoll", + "DiningTable", + "Mug", "Knife", - "Spatula", + "Toaster", + "GarbageCan", + "LightSwitch", "Apple", - "PaperTowelRoll", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Kettle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan12-layout.npy b/gen/layouts/FloorPlan12-layout.npy index c21bff8a75e01e70d76e3690b894bbb116d89eec..1db4c78b1d7eb5f9ce15e13066be3f5d95ce1eaf 100644 GIT binary patch delta 57 zcmaFBwSa4a9iz!c`|FI8)tUGw=Q43lwquf*tk1*_WNQN10+aigI417{iunQA^O!g` J|6@vG0s!yW5Y+$x delta 76 zcmZ3$^?+-F9izoY`|FHcFYFn>;KKgNf=r^5eVI5X>oG}8UdO~SS)7R<$k&{_56D&n Wisb?6J|KM#NSiSUY+lDy!~_6DAQeXd diff --git a/gen/layouts/FloorPlan12-objects.json b/gen/layouts/FloorPlan12-objects.json index 502006e21..8df49a72f 100644 --- a/gen/layouts/FloorPlan12-objects.json +++ b/gen/layouts/FloorPlan12-objects.json @@ -1,40 +1,40 @@ [ - "StoveKnob", - "Faucet", - "Fridge", - "Stool", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Bread", + "SoapBottle", + "Fridge", + "CoffeeMachine", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "Bowl", + "ButterKnife", + "Cabinet", "DishSponge", - "LightSwitch", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", "Microwave", - "Potato", - "Floor", - "SoapBottle", + "Cup", + "StoveKnob", + "Stool", + "Mug", "Knife", - "Spatula", + "Toaster", + "GarbageCan", + "LightSwitch", "Apple", - "ButterKnife", - "Toaster" + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan12-openable.json b/gen/layouts/FloorPlan12-openable.json index a9acba248..a0512e19b 100644 --- a/gen/layouts/FloorPlan12-openable.json +++ b/gen/layouts/FloorPlan12-openable.json @@ -12,19 +12,19 @@ 30 ], "Cabinet|+01.22|+00.55|+00.59": [ - 0.75, - 0.0, - 90, + 0.5, + -0.5, + 0, 30 ], "Cabinet|+01.22|+01.39|+00.59": [ - 0.75, - 0.25, + 0.5, + 0.0, 90, - 30 + 0 ], "Cabinet|+01.22|+02.01|+00.59": [ - 0.75, + 0.5, 0.25, 90, 0 @@ -127,7 +127,7 @@ ], "Drawer|+01.37|+00.77|+02.39": [ 0.25, - 2.0, + 2.25, 90, 0 ], diff --git a/gen/layouts/FloorPlan13-objects.json b/gen/layouts/FloorPlan13-objects.json index 5a82c036d..ada4c772c 100644 --- a/gen/layouts/FloorPlan13-objects.json +++ b/gen/layouts/FloorPlan13-objects.json @@ -1,43 +1,43 @@ [ - "Faucet", - "StoveKnob", - "Fridge", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Curtains", + "Spoon", "Tomato", + "Bread", + "CoffeeMachine", + "SoapBottle", + "Fridge", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Faucet", + "Potato", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "Bowl", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", - "Pencil", "Microwave", - "Curtains", - "Floor", - "SoapBottle", - "Apple", - "Knife", + "Cup", + "Pencil", "WineBottle", - "Spatula", + "StoveKnob", "PaperTowelRoll", - "ButterKnife", - "Toaster" + "Mug", + "Knife", + "Toaster", + "GarbageCan", + "LightSwitch", + "Apple", + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan13-openable.json b/gen/layouts/FloorPlan13-openable.json index de9592ad8..2cd3d4af0 100644 --- a/gen/layouts/FloorPlan13-openable.json +++ b/gen/layouts/FloorPlan13-openable.json @@ -30,7 +30,7 @@ 0 ], "Cabinet|-01.54|+00.39|+02.09": [ - -1.5, + -2.25, 2.5, 180, 30 diff --git a/gen/layouts/FloorPlan14-objects.json b/gen/layouts/FloorPlan14-objects.json index 4aca7fe52..54395139a 100644 --- a/gen/layouts/FloorPlan14-objects.json +++ b/gen/layouts/FloorPlan14-objects.json @@ -1,40 +1,40 @@ [ - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "SoapBottle", + "Bread", + "CoffeeMachine", + "Fridge", + "Floor", "SaltShaker", - "PepperShaker", - "Chair", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", + "Chair", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", + "Plate", "Sink", + "Microwave", + "Cup", + "StoveKnob", "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", + "Knife", + "Toaster", "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", - "Microwave", - "Ladle", - "Floor", - "SoapBottle", + "LightSwitch", "Apple", - "Spatula", - "Knife", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Ladle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan15-objects.json b/gen/layouts/FloorPlan15-objects.json index 4aac3a362..6e1b7e25b 100644 --- a/gen/layouts/FloorPlan15-objects.json +++ b/gen/layouts/FloorPlan15-objects.json @@ -1,45 +1,45 @@ [ - "StoveKnob", - "Faucet", - "Fridge", - "Stool", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Blinds", + "Bread", + "CoffeeMachine", + "Fridge", + "SoapBottle", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "Blinds", - "LightSwitch", - "Bowl", + "ButterKnife", + "Cabinet", "DishSponge", - "DiningTable", - "GarbageBag", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", "Microwave", - "Floor", - "SoapBottle", - "Knife", + "GarbageBag", + "Cup", "WineBottle", - "Spatula", + "StoveKnob", + "Stool", + "DiningTable", + "Mug", + "Knife", + "Toaster", + "GarbageCan", + "LightSwitch", "Apple", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Kettle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan16-objects.json b/gen/layouts/FloorPlan16-objects.json index 654007116..1fcf0291c 100644 --- a/gen/layouts/FloorPlan16-objects.json +++ b/gen/layouts/FloorPlan16-objects.json @@ -1,46 +1,46 @@ [ - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "Bottle", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "SoapBottle", + "CoffeeMachine", + "Fridge", + "Bread", + "Floor", "SaltShaker", - "PepperShaker", - "Chair", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", + "HousePlant", + "Chair", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", - "HousePlant", - "DiningTable", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", - "GarbageCan", - "Bottle", - "Spoon", - "Pot", - "CounterTop", "Microwave", - "Potato", - "Ladle", - "Floor", - "SoapBottle", - "Knife", + "Cup", "WineBottle", - "Spatula", - "Apple", + "StoveKnob", "PaperTowelRoll", - "ButterKnife", - "Toaster" + "DiningTable", + "Mug", + "Knife", + "Toaster", + "GarbageCan", + "LightSwitch", + "Apple", + "Pan", + "Bowl", + "Ladle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan17-objects.json b/gen/layouts/FloorPlan17-objects.json index 6f5ddf588..0b3a5cfb3 100644 --- a/gen/layouts/FloorPlan17-objects.json +++ b/gen/layouts/FloorPlan17-objects.json @@ -1,47 +1,47 @@ [ - "StoveKnob", - "Faucet", - "Fridge", - "Stool", + "Fork", + "Bottle", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Bread", + "CoffeeMachine", + "Fridge", + "SoapBottle", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "Bowl", - "LightSwitch", + "Shelf", + "ButterKnife", + "Cabinet", "DishSponge", - "DiningTable", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "SprayBottle", - "Kettle", - "Drawer", - "GarbageCan", - "Bottle", - "Spoon", - "Pot", - "CounterTop", "Microwave", - "Potato", - "Floor", - "CellPhone", - "SoapBottle", + "Cup", "WineBottle", - "Spatula", - "Apple", + "StoveKnob", + "CellPhone", + "Stool", + "SprayBottle", + "DiningTable", + "Mug", "Knife", - "Shelf", - "ButterKnife", - "Toaster" + "Toaster", + "GarbageCan", + "LightSwitch", + "Apple", + "Pan", + "Bowl", + "Kettle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan18-objects.json b/gen/layouts/FloorPlan18-objects.json index d6f310549..178b0bf8c 100644 --- a/gen/layouts/FloorPlan18-objects.json +++ b/gen/layouts/FloorPlan18-objects.json @@ -1,48 +1,48 @@ [ - "StoveKnob", - "Faucet", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", + "Tomato", + "Blinds", + "Bread", + "CoffeeMachine", + "SoapBottle", "Fridge", - "Safe", - "PepperShaker", + "Floor", "SaltShaker", - "Tomato", - "Chair", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", + "HousePlant", + "Vase", + "Chair", "Lettuce", - "Blinds", - "Bowl", + "ButterKnife", + "Cabinet", "DishSponge", - "LightSwitch", - "HousePlant", - "DiningTable", - "GarbageBag", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", - "Vase", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", "Microwave", - "Potato", - "Floor", - "SoapBottle", + "GarbageBag", + "Cup", + "StoveKnob", + "PaperTowelRoll", + "DiningTable", + "Mug", "Knife", + "Toaster", + "GarbageCan", + "Safe", + "LightSwitch", "Apple", - "Spatula", - "PaperTowelRoll", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Kettle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan19-objects.json b/gen/layouts/FloorPlan19-objects.json index 671ecf546..888a013da 100644 --- a/gen/layouts/FloorPlan19-objects.json +++ b/gen/layouts/FloorPlan19-objects.json @@ -1,40 +1,40 @@ [ - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Bread", + "SoapBottle", + "CoffeeMachine", + "Fridge", + "Floor", "SaltShaker", + "StoveBurner", + "Egg", + "Drawer", "PepperShaker", + "Potato", + "Faucet", + "CounterTop", "Chair", - "Cup", - "Pan", - "Egg", - "StoveBurner", - "Plate", - "Bread", - "SinkBasin", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", - "DiningTable", + "Plate", "Sink", + "Microwave", + "Cup", + "StoveKnob", + "DiningTable", "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", + "Knife", + "Toaster", "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Microwave", - "Potato", - "Floor", - "SoapBottle", + "LightSwitch", "Apple", - "Spatula", - "Knife", - "ButterKnife", - "Toaster" + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan2-objects.json b/gen/layouts/FloorPlan2-objects.json index c189b6117..4f1975af6 100644 --- a/gen/layouts/FloorPlan2-objects.json +++ b/gen/layouts/FloorPlan2-objects.json @@ -1,43 +1,43 @@ [ - "StoveKnob", - "Faucet", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", + "Tomato", + "SoapBottle", + "CoffeeMachine", "Fridge", - "PepperShaker", + "Bread", + "Floor", "SaltShaker", - "Tomato", - "Chair", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", + "Chair", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", "Microwave", - "Potato", - "Ladle", - "Floor", + "Cup", + "StoveKnob", "CellPhone", - "SoapBottle", - "Apple", - "Spatula", + "Mug", "Knife", - "ButterKnife", - "Toaster" + "Toaster", + "GarbageCan", + "LightSwitch", + "Apple", + "Pan", + "Bowl", + "Kettle", + "Ladle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan20-objects.json b/gen/layouts/FloorPlan20-objects.json index 450c20fbb..a3898ac0d 100644 --- a/gen/layouts/FloorPlan20-objects.json +++ b/gen/layouts/FloorPlan20-objects.json @@ -1,46 +1,46 @@ [ - "StoveKnob", - "Faucet", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", + "Tomato", + "Bread", + "SoapBottle", "Fridge", - "Stool", - "PepperShaker", + "CoffeeMachine", + "Floor", "SaltShaker", - "Tomato", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", + "Vase", "Lettuce", - "Bowl", - "LightSwitch", + "Shelf", + "ButterKnife", + "Cabinet", "DishSponge", - "ShelvingUnit", - "DiningTable", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Vase", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", "Microwave", - "Ladle", - "Floor", - "SoapBottle", - "Apple", + "Cup", "WineBottle", - "Spatula", + "StoveKnob", + "Stool", + "DiningTable", + "Mug", "Knife", - "Shelf", - "ButterKnife", - "Toaster" + "Toaster", + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "Apple", + "Pan", + "Bowl", + "Ladle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan201-objects.json b/gen/layouts/FloorPlan201-objects.json index 4a816c79d..0321e5f1c 100644 --- a/gen/layouts/FloorPlan201-objects.json +++ b/gen/layouts/FloorPlan201-objects.json @@ -1,37 +1,37 @@ [ - "Laptop", - "Statue", "Book", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "Bowl", - "LightSwitch", - "HousePlant", + "Curtains", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "TVStand", + "Drawer", "RemoteControl", - "DiningTable", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", "Vase", - "Sofa", + "HousePlant", + "Chair", + "Shelf", "TissueBox", - "Pillow", - "Drawer", - "TVStand", - "GarbageCan", - "SideTable", - "FloorLamp", - "Pen", - "Newspaper", + "Statue", + "Sofa", + "Plate", + "Television", "Pencil", - "Curtains", - "Floor", + "Pen", + "Painting", + "DiningTable", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan202-objects.json b/gen/layouts/FloorPlan202-objects.json index 50854b4ba..af50c0220 100644 --- a/gen/layouts/FloorPlan202-objects.json +++ b/gen/layouts/FloorPlan202-objects.json @@ -1,26 +1,26 @@ [ - "Laptop", - "Statue", "Book", - "Television", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Pillow", + "Curtains", + "Laptop", + "Floor", + "SideTable", + "TVStand", "RemoteControl", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", + "HousePlant", + "Shelf", + "Statue", "Sofa", - "Pillow", - "TVStand", - "GarbageCan", - "SideTable", - "FloorLamp", - "Curtains", - "Floor", + "Television", + "Painting", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan203-objects.json b/gen/layouts/FloorPlan203-objects.json index 86fc0d40d..501d058cc 100644 --- a/gen/layouts/FloorPlan203-objects.json +++ b/gen/layouts/FloorPlan203-objects.json @@ -1,35 +1,35 @@ [ - "Laptop", "Book", - "Television", - "Chair", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "Bowl", - "LightSwitch", - "HousePlant", + "Pillow", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "DiningTable", - "WateringCan", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", "Vase", - "Sofa", - "TissueBox", - "Pillow", - "Drawer", - "GarbageCan", - "SideTable", + "HousePlant", + "Chair", "Ottoman", - "FloorLamp", - "Newspaper", - "Boots", + "TissueBox", + "Sofa", + "Plate", + "Television", "Pencil", - "Floor", "CellPhone", + "Painting", + "WateringCan", + "DiningTable", + "Box", "ArmChair", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable", + "Bowl", + "Boots" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan204-objects.json b/gen/layouts/FloorPlan204-objects.json index 52ced8948..b719faa27 100644 --- a/gen/layouts/FloorPlan204-objects.json +++ b/gen/layouts/FloorPlan204-objects.json @@ -1,31 +1,31 @@ [ - "Laptop", - "Statue", - "Television", - "Safe", - "Chair", + "Pillow", "DeskLamp", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Laptop", + "Floor", + "TVStand", + "Drawer", "RemoteControl", - "DiningTable", - "WateringCan", "KeyChain", - "Painting", - "Desk", + "Window", + "CreditCard", + "FloorLamp", + "HousePlant", "Vase", + "Chair", + "Shelf", + "Desk", + "Statue", "Sofa", - "Drawer", - "Pillow", - "TVStand", - "GarbageCan", - "FloorLamp", - "Floor", + "Television", "CellPhone", + "Painting", + "WateringCan", + "DiningTable", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "Safe", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan205-objects.json b/gen/layouts/FloorPlan205-objects.json index d1495d6c1..59e6c5afb 100644 --- a/gen/layouts/FloorPlan205-objects.json +++ b/gen/layouts/FloorPlan205-objects.json @@ -1,29 +1,29 @@ [ - "Laptop", - "Statue", - "Dresser", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Curtains", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "DiningTable", - "WateringCan", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", - "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", + "HousePlant", + "Chair", "Ottoman", - "FloorLamp", - "Curtains", - "Floor", + "Statue", + "Sofa", + "Television", + "Painting", + "WateringCan", + "DiningTable", + "Box", "ArmChair", - "Box" + "Dresser", + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan206-objects.json b/gen/layouts/FloorPlan206-objects.json index 4d40534fc..cec9755aa 100644 --- a/gen/layouts/FloorPlan206-objects.json +++ b/gen/layouts/FloorPlan206-objects.json @@ -1,26 +1,26 @@ [ + "Pillow", "Laptop", - "Statue", - "Television", - "CoffeeTable", - "CreditCard", - "Window", - "Bowl", - "LightSwitch", - "ShelvingUnit", - "HousePlant", + "Floor", + "TVStand", "RemoteControl", "KeyChain", - "Painting", - "Cabinet", + "Window", + "CreditCard", + "FloorLamp", "Vase", + "HousePlant", + "Shelf", + "Statue", + "Cabinet", "Sofa", - "Pillow", - "TVStand", - "GarbageCan", - "FloorLamp", - "Floor", + "Television", + "Painting", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "CoffeeTable", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan207-objects.json b/gen/layouts/FloorPlan207-objects.json index 114aadb48..ba803b872 100644 --- a/gen/layouts/FloorPlan207-objects.json +++ b/gen/layouts/FloorPlan207-objects.json @@ -1,27 +1,27 @@ [ + "Pillow", "Laptop", - "Statue", - "Television", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "ShelvingUnit", - "HousePlant", + "Floor", + "TVStand", + "SideTable", "RemoteControl", "KeyChain", - "Painting", - "Cabinet", + "Window", + "CreditCard", + "FloorLamp", "Watch", + "HousePlant", "Vase", + "Shelf", + "Cabinet", + "Statue", "Sofa", - "Pillow", - "TVStand", - "GarbageCan", - "SideTable", - "FloorLamp", - "Floor", + "Television", + "Painting", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan208-objects.json b/gen/layouts/FloorPlan208-objects.json index 00f2654ff..520b1e219 100644 --- a/gen/layouts/FloorPlan208-objects.json +++ b/gen/layouts/FloorPlan208-objects.json @@ -1,26 +1,26 @@ [ + "Pillow", "Laptop", - "Statue", - "Television", - "Chair", - "CreditCard", - "LightSwitch", - "HousePlant", + "Floor", + "TVStand", + "SideTable", + "Drawer", "RemoteControl", - "DiningTable", "KeyChain", - "Painting", + "CreditCard", + "FloorLamp", "Vase", - "Sofa", - "Drawer", - "Pillow", - "TVStand", - "GarbageCan", - "SideTable", + "HousePlant", + "Chair", "Ottoman", - "FloorLamp", - "Floor", - "ArmChair", "Shelf", - "Box" + "Statue", + "Sofa", + "Television", + "Painting", + "DiningTable", + "Box", + "ArmChair", + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan208-openable.json b/gen/layouts/FloorPlan208-openable.json index f5e9606c6..d259d0514 100644 --- a/gen/layouts/FloorPlan208-openable.json +++ b/gen/layouts/FloorPlan208-openable.json @@ -13,7 +13,7 @@ ], "Drawer|+01.76|+00.77|+01.09": [ 0.75, - 1.25, + 1.5, 90, 0 ], @@ -91,7 +91,7 @@ ], "TVStand|-02.24|00.00|+00.76": [ -1.5, - 0.75, + 1.0, 270, 30 ] diff --git a/gen/layouts/FloorPlan209-objects.json b/gen/layouts/FloorPlan209-objects.json index e34dc9b82..521953765 100644 --- a/gen/layouts/FloorPlan209-objects.json +++ b/gen/layouts/FloorPlan209-objects.json @@ -1,31 +1,31 @@ [ - "Laptop", - "Dresser", - "Statue", "Book", - "Television", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Pillow", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "WateringCan", "KeyChain", - "Painting", + "Mirror", + "CreditCard", + "Window", + "FloorLamp", "Watch", + "HousePlant", "Vase", + "Shelf", + "Statue", "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "FloorLamp", + "Television", "Pen", - "Newspaper", - "Mirror", - "Floor", + "Painting", + "WateringCan", + "Box", "ArmChair", - "Shelf", - "Box" + "Dresser", + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan21-objects.json b/gen/layouts/FloorPlan21-objects.json index 154ebb36f..28423178c 100644 --- a/gen/layouts/FloorPlan21-objects.json +++ b/gen/layouts/FloorPlan21-objects.json @@ -1,47 +1,47 @@ [ + "Fork", + "SinkBasin", + "Pot", + "Spatula", "AluminumFoil", - "StoveKnob", - "Faucet", + "Spoon", + "Tomato", + "Blinds", + "SoapBottle", + "CoffeeMachine", "Fridge", - "PepperShaker", + "Bread", + "Floor", + "SideTable", "SaltShaker", - "Tomato", - "Chair", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", + "Mirror", "Window", - "SinkBasin", + "CounterTop", + "Chair", "Lettuce", - "Blinds", - "DishSponge", - "LightSwitch", - "Bowl", - "DiningTable", + "Shelf", + "ButterKnife", + "Cabinet", "GarbageBag", + "Plate", "Sink", + "Microwave", + "DishSponge", + "Cup", + "StoveKnob", + "DiningTable", "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", + "Knife", + "Toaster", "GarbageCan", - "SideTable", - "Spoon", - "Pot", - "CounterTop", - "Mirror", - "Potato", - "Microwave", - "Floor", - "SoapBottle", + "LightSwitch", "Apple", - "Spatula", - "Knife", - "Shelf", - "ButterKnife", - "Toaster" + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan210-objects.json b/gen/layouts/FloorPlan210-objects.json index c4cb11bfd..6733f9ce8 100644 --- a/gen/layouts/FloorPlan210-objects.json +++ b/gen/layouts/FloorPlan210-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Dresser", - "Statue", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", - "RemoteControl", + "Curtains", "DogBed", - "WateringCan", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "Drawer", + "RemoteControl", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", - "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", + "HousePlant", + "Chair", "Ottoman", - "FloorLamp", - "Newspaper", - "Curtains", - "Floor", + "Statue", + "Sofa", + "Television", + "Painting", + "WateringCan", + "Box", "ArmChair", - "Box" + "Dresser", + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan211-objects.json b/gen/layouts/FloorPlan211-objects.json index 9ab966e36..9b31a0ba9 100644 --- a/gen/layouts/FloorPlan211-objects.json +++ b/gen/layouts/FloorPlan211-objects.json @@ -1,30 +1,30 @@ [ + "Pillow", + "Newspaper", "Laptop", - "Statue", - "Television", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "LightSwitch", - "ShelvingUnit", - "HousePlant", + "Floor", + "SideTable", + "TVStand", + "Drawer", "RemoteControl", - "DiningTable", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", + "HousePlant", "Vase", + "Shelf", + "Statue", "Sofa", - "Drawer", - "Pillow", - "TVStand", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Floor", + "Plate", + "Television", "CellPhone", + "Painting", + "DiningTable", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan212-objects.json b/gen/layouts/FloorPlan212-objects.json index 1b9273b3e..b2c1601c7 100644 --- a/gen/layouts/FloorPlan212-objects.json +++ b/gen/layouts/FloorPlan212-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Statue", - "Television", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", - "RemoteControl", - "WateringCan", - "KeyChain", - "Painting", - "Sofa", - "TissueBox", "Pillow", - "Drawer", + "Newspaper", + "Laptop", + "Floor", "TVStand", - "GarbageCan", "SideTable", + "Drawer", + "RemoteControl", + "KeyChain", + "Window", + "CreditCard", "FloorLamp", - "Pen", - "Newspaper", - "Boots", + "HousePlant", + "Shelf", + "TissueBox", + "Statue", + "Sofa", + "Television", "Pencil", - "Floor", + "Pen", + "Painting", + "WateringCan", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable", + "Boots" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan212-openable.json b/gen/layouts/FloorPlan212-openable.json index e62199150..05c25abe1 100644 --- a/gen/layouts/FloorPlan212-openable.json +++ b/gen/layouts/FloorPlan212-openable.json @@ -19,7 +19,7 @@ ], "Drawer|+03.88|+00.77|+00.86": [ 2.75, - 0.75, + 1.0, 90, 0 ], diff --git a/gen/layouts/FloorPlan213-layout.npy b/gen/layouts/FloorPlan213-layout.npy index 8272a745f57557996de621e9e77877029c252187..d23c0d631407156ee7b5fa22c51e8c8e27b14e2c 100644 GIT binary patch delta 20 ccmZorouE3wp3!on!&ELN2Gz~SxpuMx07GO3UjP6A delta 17 ZcmbQB+MqhYp3!2X!&I)#Pq|jJ0{}M+21ft@ diff --git a/gen/layouts/FloorPlan213-objects.json b/gen/layouts/FloorPlan213-objects.json index 6bc89a579..83233e4b2 100644 --- a/gen/layouts/FloorPlan213-objects.json +++ b/gen/layouts/FloorPlan213-objects.json @@ -1,27 +1,27 @@ [ - "Laptop", - "Dresser", - "Statue", "Book", - "Television", - "Chair", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Pillow", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", + "HousePlant", + "Chair", + "Shelf", + "Statue", "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "FloorLamp", - "Floor", + "Television", + "Painting", + "Box", "ArmChair", - "Shelf", - "Box" + "Dresser", + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan214-objects.json b/gen/layouts/FloorPlan214-objects.json index 6704f146d..47e24b78a 100644 --- a/gen/layouts/FloorPlan214-objects.json +++ b/gen/layouts/FloorPlan214-objects.json @@ -1,29 +1,29 @@ [ - "Laptop", - "Statue", - "Television", + "Pillow", "DeskLamp", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "Bowl", - "LightSwitch", - "HousePlant", + "Curtains", + "Newspaper", + "Laptop", + "Floor", + "SideTable", "RemoteControl", - "WateringCan", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Vase", + "HousePlant", + "Shelf", + "Statue", "Sofa", - "Pillow", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Curtains", - "Floor", + "Plate", + "Television", + "Painting", + "WateringCan", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan215-objects.json b/gen/layouts/FloorPlan215-objects.json index e0da53d1a..873382999 100644 --- a/gen/layouts/FloorPlan215-objects.json +++ b/gen/layouts/FloorPlan215-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Statue", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "Bowl", - "ShelvingUnit", - "HousePlant", + "Newspaper", + "Laptop", + "Floor", + "SideTable", "RemoteControl", - "WateringCan", "KeyChain", - "Painting", + "Mirror", + "CreditCard", + "Window", + "FloorLamp", "Watch", "Vase", + "HousePlant", + "Chair", + "Shelf", + "Statue", "Sofa", - "Pillow", + "Television", + "Painting", + "WateringCan", + "Box", "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Mirror", - "Floor", - "Shelf", - "Box" + "ShelvingUnit", + "LightSwitch", + "CoffeeTable", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan216-objects.json b/gen/layouts/FloorPlan216-objects.json index 688214e22..a3b69775c 100644 --- a/gen/layouts/FloorPlan216-objects.json +++ b/gen/layouts/FloorPlan216-objects.json @@ -1,28 +1,28 @@ [ - "Laptop", - "Statue", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "DiningTable", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", + "HousePlant", "Vase", - "Sofa", + "Chair", + "Shelf", "TissueBox", - "Pillow", - "Drawer", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Floor", + "Statue", + "Sofa", + "Television", + "Painting", + "DiningTable", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan217-objects.json b/gen/layouts/FloorPlan217-objects.json index c7149612c..2d79c1633 100644 --- a/gen/layouts/FloorPlan217-objects.json +++ b/gen/layouts/FloorPlan217-objects.json @@ -1,29 +1,29 @@ [ - "Laptop", - "Dresser", - "Statue", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Curtains", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "WateringCan", "KeyChain", - "Painting", - "Cabinet", + "Window", + "CreditCard", + "FloorLamp", "Watch", + "HousePlant", + "Chair", + "Cabinet", + "Statue", "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "FloorLamp", - "Curtains", - "Floor", + "Television", + "Painting", + "WateringCan", + "Box", "ArmChair", - "Box" + "Dresser", + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan218-layout.npy b/gen/layouts/FloorPlan218-layout.npy index ef1f13d432d08cd328e680e53d06eb46507e7022..43b4a4f9f53a2bfebe3ca8a381ed7d817cddc05e 100644 GIT binary patch delta 20 bcmexh*kCllp3!KdgBcgo1^dkzTpfG>O(_P` delta 17 YcmZoL`d~Q0p3!ilgBjQ6Hm)i@069(t(EtDd diff --git a/gen/layouts/FloorPlan218-objects.json b/gen/layouts/FloorPlan218-objects.json index 877b8a289..e709ead3e 100644 --- a/gen/layouts/FloorPlan218-objects.json +++ b/gen/layouts/FloorPlan218-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Statue", - "Dresser", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Curtains", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "DiningTable", - "WateringCan", "KeyChain", - "Painting", - "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", + "Window", + "CreditCard", "FloorLamp", - "Newspaper", - "Curtains", - "Floor", + "HousePlant", + "Chair", + "Statue", + "Sofa", + "Plate", + "Television", "CellPhone", - "Box" + "Painting", + "WateringCan", + "DiningTable", + "Box", + "Dresser", + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan218-openable.json b/gen/layouts/FloorPlan218-openable.json index 59674c3f5..eec0c2905 100644 --- a/gen/layouts/FloorPlan218-openable.json +++ b/gen/layouts/FloorPlan218-openable.json @@ -18,9 +18,9 @@ 30 ], "Drawer|+00.75|+00.23|+04.10": [ - -0.25, - 4.75, - 180, + 0.25, + 3.75, + 90, 30 ], "Drawer|+00.75|+00.67|+03.33": [ diff --git a/gen/layouts/FloorPlan219-objects.json b/gen/layouts/FloorPlan219-objects.json index 63458c6ba..731721f74 100644 --- a/gen/layouts/FloorPlan219-objects.json +++ b/gen/layouts/FloorPlan219-objects.json @@ -1,31 +1,31 @@ [ - "Laptop", - "Statue", - "Dresser", - "Television", - "Safe", + "Pillow", "DeskLamp", - "CreditCard", - "LightSwitch", - "ShelvingUnit", - "HousePlant", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", "KeyChain", - "Painting", - "Cabinet", + "CreditCard", + "FloorLamp", "Watch", "Vase", - "Sofa", + "HousePlant", + "Shelf", "TissueBox", - "Pillow", - "Drawer", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Floor", + "Statue", + "Cabinet", + "Sofa", + "Television", "CellPhone", + "Painting", + "Box", "ArmChair", - "Shelf", - "Box" + "Dresser", + "GarbageCan", + "Safe", + "LightSwitch", + "ShelvingUnit" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan22-objects.json b/gen/layouts/FloorPlan22-objects.json index 29492b1bf..1ae742d3d 100644 --- a/gen/layouts/FloorPlan22-objects.json +++ b/gen/layouts/FloorPlan22-objects.json @@ -1,42 +1,42 @@ [ - "StoveKnob", - "Faucet", - "Fridge", - "Stool", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Bread", + "SoapBottle", + "CoffeeMachine", + "Fridge", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", - "CreditCard", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CreditCard", + "CounterTop", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", + "Plate", "Sink", + "Microwave", + "Cup", + "StoveKnob", + "Stool", "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", - "Drawer", + "Knife", + "Toaster", "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", - "Microwave", - "Floor", - "SoapBottle", + "LightSwitch", "Apple", - "Spatula", - "Knife", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Kettle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan22-openable.json b/gen/layouts/FloorPlan22-openable.json index 24e262e4f..445026e53 100644 --- a/gen/layouts/FloorPlan22-openable.json +++ b/gen/layouts/FloorPlan22-openable.json @@ -81,7 +81,7 @@ -2.0, -0.5, 180, - 0 + -30 ], "Cabinet|-02.65|+02.01|+00.36": [ -2.0, diff --git a/gen/layouts/FloorPlan220-objects.json b/gen/layouts/FloorPlan220-objects.json index 29986daab..ff575708c 100644 --- a/gen/layouts/FloorPlan220-objects.json +++ b/gen/layouts/FloorPlan220-objects.json @@ -1,30 +1,30 @@ [ + "Pillow", "Laptop", - "Dresser", - "Statue", - "Television", - "Chair", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Candle", + "Floor", + "SideTable", + "TVStand", + "Drawer", "RemoteControl", - "DiningTable", "KeyChain", - "Painting", - "Box", + "Window", + "CreditCard", + "FloorLamp", "RoomDecor", - "Sofa", + "HousePlant", + "Chair", "TissueBox", - "Pillow", - "Drawer", - "TVStand", - "GarbageCan", - "SideTable", - "FloorLamp", - "Boots", - "Floor", + "Statue", + "Sofa", + "Television", + "Painting", + "DiningTable", + "Box", "ArmChair", - "Candle" + "Dresser", + "GarbageCan", + "LightSwitch", + "CoffeeTable", + "Boots" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan220-openable.json b/gen/layouts/FloorPlan220-openable.json index 56851e254..39f0b25e7 100644 --- a/gen/layouts/FloorPlan220-openable.json +++ b/gen/layouts/FloorPlan220-openable.json @@ -37,7 +37,7 @@ ], "Drawer|-00.31|+00.76|+03.61": [ -1.5, - 3.25, + 3.5, 90, 0 ], diff --git a/gen/layouts/FloorPlan221-objects.json b/gen/layouts/FloorPlan221-objects.json index 08d89088b..e0e55a4e7 100644 --- a/gen/layouts/FloorPlan221-objects.json +++ b/gen/layouts/FloorPlan221-objects.json @@ -1,29 +1,29 @@ [ + "Pillow", + "Curtains", "Laptop", - "Statue", - "Television", - "Stool", - "Chair", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "DiningTable", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Vase", + "HousePlant", + "Chair", + "Statue", "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "FloorLamp", + "Plate", + "Television", + "Stool", "Pen", - "Curtains", - "Floor", + "Painting", + "DiningTable", + "Box", "ArmChair", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan221-openable.json b/gen/layouts/FloorPlan221-openable.json index 616f56233..dd2cbc31c 100644 --- a/gen/layouts/FloorPlan221-openable.json +++ b/gen/layouts/FloorPlan221-openable.json @@ -24,7 +24,7 @@ 30 ], "Drawer|-00.03|+00.87|-02.49": [ - -0.5, + -0.25, -1.5, 180, 0 diff --git a/gen/layouts/FloorPlan222-objects.json b/gen/layouts/FloorPlan222-objects.json index 07683cc3a..5f25a7a69 100644 --- a/gen/layouts/FloorPlan222-objects.json +++ b/gen/layouts/FloorPlan222-objects.json @@ -1,26 +1,26 @@ [ + "Pillow", + "Curtains", + "Newspaper", "Laptop", - "Statue", - "Television", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Floor", + "SideTable", + "TVStand", + "Drawer", "RemoteControl", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", + "HousePlant", + "Statue", "Sofa", - "Drawer", - "Pillow", - "TVStand", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Curtains", - "Floor", + "Television", + "Painting", + "Box", "ArmChair", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan223-objects.json b/gen/layouts/FloorPlan223-objects.json index a959c9291..777ad9b78 100644 --- a/gen/layouts/FloorPlan223-objects.json +++ b/gen/layouts/FloorPlan223-objects.json @@ -1,28 +1,28 @@ [ + "Pillow", "Laptop", - "Statue", - "Television", - "Chair", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Candle", + "Floor", + "TVStand", + "SideTable", "RemoteControl", - "DiningTable", - "WateringCan", "KeyChain", - "Painting", - "Box", + "Window", + "CreditCard", + "FloorLamp", + "HousePlant", "Vase", + "Chair", + "Statue", "Sofa", - "Pillow", - "TVStand", - "GarbageCan", - "SideTable", - "FloorLamp", - "Floor", + "Plate", + "Television", + "Painting", + "WateringCan", + "DiningTable", + "Box", "ArmChair", - "Candle" + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan224-objects.json b/gen/layouts/FloorPlan224-objects.json index 78ef62967..b8eb4ebae 100644 --- a/gen/layouts/FloorPlan224-objects.json +++ b/gen/layouts/FloorPlan224-objects.json @@ -1,32 +1,32 @@ [ - "Laptop", - "Statue", - "Dresser", "Book", - "Television", - "Stool", - "Chair", + "Pillow", "DeskLamp", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", - "RemoteControl", "DogBed", - "WateringCan", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "Drawer", + "RemoteControl", "KeyChain", - "Painting", - "Cabinet", + "Window", + "CreditCard", + "FloorLamp", + "HousePlant", "Vase", + "Chair", + "Cabinet", + "Statue", "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Floor", + "Television", + "Stool", "CellPhone", + "Painting", + "WateringCan", + "Box", "ArmChair", - "Box" + "Dresser", + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan225-objects.json b/gen/layouts/FloorPlan225-objects.json index 84c0e80ad..8d63d3fa1 100644 --- a/gen/layouts/FloorPlan225-objects.json +++ b/gen/layouts/FloorPlan225-objects.json @@ -1,31 +1,31 @@ [ - "Laptop", - "Statue", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Curtains", + "Newspaper", + "Laptop", + "Floor", + "SideTable", + "TVStand", + "Drawer", "RemoteControl", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", "Vase", - "Sofa", + "HousePlant", + "Chair", + "Shelf", "TissueBox", - "Pillow", - "Drawer", - "TVStand", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Curtains", - "Floor", + "Statue", + "Sofa", + "Television", + "Painting", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan226-objects.json b/gen/layouts/FloorPlan226-objects.json index 45a225385..8dea65721 100644 --- a/gen/layouts/FloorPlan226-objects.json +++ b/gen/layouts/FloorPlan226-objects.json @@ -1,25 +1,25 @@ [ + "Pillow", + "Blinds", + "Newspaper", "Laptop", - "Statue", - "Television", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Floor", + "SideTable", + "Drawer", "RemoteControl", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", + "HousePlant", + "Statue", "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Floor", - "ArmChair", + "Television", + "Painting", "Box", - "Blinds" + "ArmChair", + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan226-openable.json b/gen/layouts/FloorPlan226-openable.json index 0bdd61e50..3a0e5fab9 100644 --- a/gen/layouts/FloorPlan226-openable.json +++ b/gen/layouts/FloorPlan226-openable.json @@ -48,9 +48,9 @@ 30 ], "Drawer|-00.72|+00.24|-00.56": [ + -1.0, -1.25, - -1.25, - 0, + 90, 30 ], "SideTable|+01.81|+00.00|+00.33": [ diff --git a/gen/layouts/FloorPlan227-objects.json b/gen/layouts/FloorPlan227-objects.json index 5cc0cdb20..d9743c275 100644 --- a/gen/layouts/FloorPlan227-objects.json +++ b/gen/layouts/FloorPlan227-objects.json @@ -1,28 +1,28 @@ [ + "Pillow", + "Newspaper", "Laptop", - "Statue", - "Television", - "Chair", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Floor", + "Drawer", "RemoteControl", - "DiningTable", "KeyChain", - "Painting", - "Cabinet", + "Window", + "CreditCard", + "FloorLamp", + "HousePlant", "Vase", + "Chair", + "Shelf", + "Cabinet", + "Statue", "Sofa", - "Drawer", - "Pillow", - "GarbageCan", - "FloorLamp", - "Newspaper", - "Floor", + "Plate", + "Television", + "Painting", + "DiningTable", + "Box", "ArmChair", - "Shelf", - "Box" + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan228-objects.json b/gen/layouts/FloorPlan228-objects.json index 39b76aaf7..14684f361 100644 --- a/gen/layouts/FloorPlan228-objects.json +++ b/gen/layouts/FloorPlan228-objects.json @@ -1,27 +1,27 @@ [ + "Pillow", + "Newspaper", "Laptop", - "Statue", - "Television", - "Chair", - "CoffeeTable", - "Plate", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "DiningTable", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", "Watch", "Vase", + "HousePlant", + "Chair", + "Statue", "Sofa", - "Drawer", - "Pillow", + "Plate", + "Television", + "Painting", + "DiningTable", + "Box", "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Floor", - "Box" + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan229-objects.json b/gen/layouts/FloorPlan229-objects.json index e462d76f1..ca58cee6a 100644 --- a/gen/layouts/FloorPlan229-objects.json +++ b/gen/layouts/FloorPlan229-objects.json @@ -1,32 +1,32 @@ [ - "Laptop", - "Statue", - "Dresser", "Book", - "Television", - "Chair", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", - "HousePlant", + "Pillow", + "Laptop", + "Floor", + "SideTable", + "Drawer", "RemoteControl", - "WateringCan", "KeyChain", - "Painting", + "Window", + "CreditCard", + "FloorLamp", + "HousePlant", + "Chair", "Desk", - "Sofa", "TissueBox", - "Pillow", - "Drawer", - "GarbageCan", - "SideTable", - "FloorLamp", - "Pen", - "Boots", + "Statue", + "Sofa", + "Television", "Pencil", - "Floor", "CellPhone", + "Pen", + "Painting", + "WateringCan", + "Box", "ArmChair", - "Box" + "Dresser", + "GarbageCan", + "LightSwitch", + "CoffeeTable", + "Boots" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan23-objects.json b/gen/layouts/FloorPlan23-objects.json index b2c9d75f2..ca22fa1ce 100644 --- a/gen/layouts/FloorPlan23-objects.json +++ b/gen/layouts/FloorPlan23-objects.json @@ -1,47 +1,47 @@ [ - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "Bottle", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Blinds", + "SoapBottle", + "CoffeeMachine", + "Fridge", + "Bread", + "Floor", "SaltShaker", - "PepperShaker", - "Chair", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", + "Chair", "Lettuce", - "Blinds", - "LightSwitch", + "Shelf", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", - "DiningTable", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", - "GarbageCan", - "Bottle", - "Spoon", - "Pot", - "Pen", - "CounterTop", "Microwave", + "Cup", "Pencil", - "Potato", - "Floor", - "SoapBottle", - "Apple", "WineBottle", - "Spatula", + "StoveKnob", + "Pen", + "DiningTable", + "Mug", "Knife", - "Shelf", - "ButterKnife", - "Toaster" + "Toaster", + "GarbageCan", + "LightSwitch", + "Apple", + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan230-objects.json b/gen/layouts/FloorPlan230-objects.json index c5c355bc6..d5d50fb36 100644 --- a/gen/layouts/FloorPlan230-objects.json +++ b/gen/layouts/FloorPlan230-objects.json @@ -1,32 +1,32 @@ [ - "Laptop", - "Statue", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CoffeeTable", - "Plate", + "Newspaper", + "Laptop", + "Candle", + "Floor", + "SideTable", + "RemoteControl", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", + "FloorLamp", + "Watch", + "RoomDecor", "HousePlant", - "RemoteControl", - "DiningTable", - "KeyChain", + "Chair", + "TissueBox", + "Statue", + "Sofa", + "Plate", + "Television", "Painting", + "DiningTable", "Box", - "RoomDecor", - "Watch", - "Sofa", - "TissueBox", - "Pillow", - "GarbageCan", - "SideTable", - "FloorLamp", - "Newspaper", - "Mirror", - "Boots", - "Floor", "ArmChair", - "Candle" + "GarbageCan", + "LightSwitch", + "CoffeeTable", + "Boots" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan24-objects.json b/gen/layouts/FloorPlan24-objects.json index 454817492..dadbb6ba9 100644 --- a/gen/layouts/FloorPlan24-objects.json +++ b/gen/layouts/FloorPlan24-objects.json @@ -1,42 +1,42 @@ [ - "StoveKnob", - "Faucet", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", + "Tomato", + "Bread", + "SoapBottle", + "CoffeeMachine", "Fridge", - "Stool", - "PepperShaker", + "Floor", "SaltShaker", - "Tomato", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", - "DiningTable", + "Plate", "Sink", + "Microwave", + "Cup", + "StoveKnob", + "Stool", + "PaperTowelRoll", + "DiningTable", "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", + "Knife", + "Toaster", "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Microwave", - "Potato", - "Floor", - "SoapBottle", + "LightSwitch", "Apple", - "Spatula", - "Knife", - "PaperTowelRoll", - "ButterKnife", - "Toaster" + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan24-openable.json b/gen/layouts/FloorPlan24-openable.json index df9716de1..7b72b3b67 100644 --- a/gen/layouts/FloorPlan24-openable.json +++ b/gen/layouts/FloorPlan24-openable.json @@ -102,9 +102,9 @@ 30 ], "Cabinet|-02.43|+00.44|+03.42": [ - -1.75, - 2.5, - 270, + -1.5, + 2.75, + 0, 30 ], "CounterTop|+00.86|+00.86|+00.98": [ diff --git a/gen/layouts/FloorPlan25-objects.json b/gen/layouts/FloorPlan25-objects.json index 8a28437e6..bade0e920 100644 --- a/gen/layouts/FloorPlan25-objects.json +++ b/gen/layouts/FloorPlan25-objects.json @@ -1,41 +1,41 @@ [ - "StoveKnob", - "Faucet", - "Fridge", - "Stool", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "SoapBottle", + "CoffeeMachine", + "Fridge", + "Bread", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", + "Plate", "Sink", + "Microwave", + "Cup", + "StoveKnob", + "Stool", "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", + "Knife", + "Toaster", "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Microwave", - "Potato", - "Ladle", - "Floor", - "SoapBottle", + "LightSwitch", "Apple", - "Spatula", - "Knife", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Ladle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan25-openable.json b/gen/layouts/FloorPlan25-openable.json index 24fd6fec7..1c47792de 100644 --- a/gen/layouts/FloorPlan25-openable.json +++ b/gen/layouts/FloorPlan25-openable.json @@ -53,6 +53,18 @@ 180, 30 ], + "Drawer|-00.40|+00.70|+00.91": [ + -1.5, + 1.0, + 90, + 0 + ], + "Drawer|-00.40|+00.70|+01.25": [ + -1.75, + 2.0, + 90, + 0 + ], "Drawer|-02.59|+00.70|+01.51": [ -1.75, 2.0, diff --git a/gen/layouts/FloorPlan26-objects.json b/gen/layouts/FloorPlan26-objects.json index a5ffe67ab..8c5e89782 100644 --- a/gen/layouts/FloorPlan26-objects.json +++ b/gen/layouts/FloorPlan26-objects.json @@ -1,40 +1,40 @@ [ - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Bread", + "CoffeeMachine", + "Fridge", + "SoapBottle", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", - "DiningTable", + "Plate", "Sink", + "Microwave", + "Cup", + "StoveKnob", + "DiningTable", "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", + "Knife", + "Toaster", "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", - "Microwave", - "Floor", - "SoapBottle", + "LightSwitch", "Apple", - "Spatula", - "Knife", - "ButterKnife", - "Toaster" + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan27-objects.json b/gen/layouts/FloorPlan27-objects.json index f5baa9ba8..98936e2ee 100644 --- a/gen/layouts/FloorPlan27-objects.json +++ b/gen/layouts/FloorPlan27-objects.json @@ -1,43 +1,43 @@ [ - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Curtains", + "Spoon", "Tomato", + "Bread", + "SoapBottle", + "Fridge", + "CoffeeMachine", + "Floor", "SaltShaker", + "StoveBurner", + "Egg", + "Drawer", "PepperShaker", + "Potato", + "Faucet", + "CounterTop", "Chair", - "Cup", - "Pan", - "Egg", - "StoveBurner", - "Plate", - "Bread", - "SinkBasin", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", - "DiningTable", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", "Microwave", - "Curtains", - "Floor", - "Ladle", - "SoapBottle", + "Cup", "WineBottle", - "Spatula", + "StoveKnob", + "DiningTable", + "Mug", "Knife", + "Toaster", + "GarbageCan", + "LightSwitch", "Apple", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Ladle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan28-objects.json b/gen/layouts/FloorPlan28-objects.json index 5ca013385..b48712391 100644 --- a/gen/layouts/FloorPlan28-objects.json +++ b/gen/layouts/FloorPlan28-objects.json @@ -1,43 +1,43 @@ [ - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Blinds", + "Bread", + "SoapBottle", + "CoffeeMachine", + "Fridge", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", + "SideTable", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", "Lettuce", - "Blinds", - "LightSwitch", + "Shelf", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", - "DiningTable", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", - "GarbageCan", - "SideTable", - "Spoon", - "Pot", - "CounterTop", - "Potato", "Microwave", - "Floor", - "SoapBottle", + "Cup", + "StoveKnob", + "DiningTable", + "Mug", "Knife", - "Spatula", + "Toaster", + "GarbageCan", + "LightSwitch", "Apple", - "Shelf", - "ButterKnife", - "Toaster" + "Pan", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan29-objects.json b/gen/layouts/FloorPlan29-objects.json index 77e22d406..5bc8c4f54 100644 --- a/gen/layouts/FloorPlan29-objects.json +++ b/gen/layouts/FloorPlan29-objects.json @@ -1,39 +1,39 @@ [ - "StoveKnob", - "Faucet", - "Fridge", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "SoapBottle", + "CoffeeMachine", + "Fridge", + "Bread", + "Floor", "SaltShaker", + "StoveBurner", + "Egg", "PepperShaker", + "Potato", + "Faucet", + "CounterTop", "Chair", - "Cup", - "Pan", - "Egg", - "StoveBurner", - "Plate", - "Bread", - "SinkBasin", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", + "Plate", "Sink", + "Microwave", + "Cup", + "StoveKnob", "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", + "Knife", + "Toaster", "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", - "Microwave", - "Floor", - "SoapBottle", + "LightSwitch", "Apple", - "Spatula", - "Knife", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Kettle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan3-objects.json b/gen/layouts/FloorPlan3-objects.json index 862f541df..eb87d0b0a 100644 --- a/gen/layouts/FloorPlan3-objects.json +++ b/gen/layouts/FloorPlan3-objects.json @@ -1,45 +1,45 @@ [ - "Faucet", - "StoveKnob", - "Fridge", - "Stool", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", "Tomato", + "Bread", + "SoapBottle", + "Fridge", + "CoffeeMachine", + "Floor", "SaltShaker", - "PepperShaker", - "Cup", - "Pan", - "Egg", + "SideTable", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Faucet", + "Potato", "Window", - "SinkBasin", + "CounterTop", + "HousePlant", "Lettuce", - "Bowl", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "HousePlant", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", - "Drawer", - "GarbageCan", - "SideTable", - "Spoon", - "Pot", - "CounterTop", - "Potato", "Microwave", - "Floor", - "SoapBottle", - "Knife", + "Cup", "WineBottle", - "Spatula", - "Apple", + "StoveKnob", + "Stool", "PaperTowelRoll", - "ButterKnife", - "Toaster" + "Mug", + "Knife", + "Toaster", + "GarbageCan", + "LightSwitch", + "Apple", + "Pan", + "Bowl", + "Kettle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan3-openable.json b/gen/layouts/FloorPlan3-openable.json index 1d586c647..e87490c9a 100644 --- a/gen/layouts/FloorPlan3-openable.json +++ b/gen/layouts/FloorPlan3-openable.json @@ -61,7 +61,7 @@ ], "Drawer|+00.65|+01.06|+01.02": [ -0.25, - 1.75, + 1.0, 90, 0 ], diff --git a/gen/layouts/FloorPlan30-objects.json b/gen/layouts/FloorPlan30-objects.json index 8ea7bd4ce..39a59b923 100644 --- a/gen/layouts/FloorPlan30-objects.json +++ b/gen/layouts/FloorPlan30-objects.json @@ -1,45 +1,45 @@ [ - "StoveKnob", - "Faucet", + "Fork", + "Bottle", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", + "Tomato", + "SoapBottle", + "CoffeeMachine", "Fridge", - "PepperShaker", + "Bread", + "Floor", "SaltShaker", - "Tomato", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", + "Mirror", "Window", - "SinkBasin", + "CounterTop", + "HousePlant", "Lettuce", - "LightSwitch", + "ButterKnife", + "Cabinet", "DishSponge", - "Bowl", - "HousePlant", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Kettle", - "Drawer", - "GarbageCan", - "Bottle", - "Spoon", - "Pot", - "CounterTop", - "Mirror", - "Potato", "Microwave", - "Ladle", - "Floor", + "Cup", + "StoveKnob", "CellPhone", - "SoapBottle", + "Mug", "Knife", - "Spatula", + "Toaster", + "GarbageCan", + "LightSwitch", "Apple", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Kettle", + "Ladle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan301-objects.json b/gen/layouts/FloorPlan301-objects.json index 28db1ee5a..bbd5ffa17 100644 --- a/gen/layouts/FloorPlan301-objects.json +++ b/gen/layouts/FloorPlan301-objects.json @@ -1,35 +1,35 @@ [ - "Laptop", - "Dresser", - "Statue", "Book", - "Chair", + "Pillow", "DeskLamp", - "CreditCard", - "Window", - "Bowl", - "LightSwitch", "DogBed", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "Drawer", "KeyChain", - "Mug", - "BasketBall", - "Desk", - "AlarmClock", + "Mirror", + "CreditCard", + "Window", "Watch", + "Chair", + "Shelf", + "Desk", "TissueBox", - "Pillow", - "Drawer", - "GarbageCan", "Bed", - "Pen", - "BaseballBat", - "Boots", - "Mirror", + "Statue", + "BasketBall", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", + "Pen", + "Mug", "Box", - "Blinds" + "Dresser", + "GarbageCan", + "LightSwitch", + "Bowl", + "Boots" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan301-openable.json b/gen/layouts/FloorPlan301-openable.json index 5acc2707a..24d81f909 100644 --- a/gen/layouts/FloorPlan301-openable.json +++ b/gen/layouts/FloorPlan301-openable.json @@ -54,9 +54,9 @@ 30 ], "Drawer|+02.82|+00.41|-01.18": [ - 2.0, - -0.5, - 180, + 2.5, + -0.25, + 90, 30 ], "Drawer|+02.82|+00.63|-01.18": [ diff --git a/gen/layouts/FloorPlan302-objects.json b/gen/layouts/FloorPlan302-objects.json index 2432e9467..fffcbe01c 100644 --- a/gen/layouts/FloorPlan302-objects.json +++ b/gen/layouts/FloorPlan302-objects.json @@ -1,31 +1,31 @@ [ - "Laptop", "Book", - "Safe", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "Bowl", "HousePlant", - "KeyChain", - "Painting", + "Chair", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "TeddyBear", - "GarbageCan", - "SideTable", - "TennisRacket", "Bed", - "Pen", - "Mirror", + "TeddyBear", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "Blinds" + "Pen", + "Painting", + "GarbageCan", + "Safe", + "LightSwitch", + "Bowl", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan303-layout.npy b/gen/layouts/FloorPlan303-layout.npy index 96e7f3315bb982a58567ccff8437ca83f66ccdc8..486b0356b0c3ee8b46af7af8a9dd36b5de09ae91 100644 GIT binary patch delta 25 hcmZ3$Ie~M69i!<+dv>PD>lg(l=P_|?&SNrS0svvS2J`>` delta 28 kcmbQhxqx$m9i!Psdv+$KANG?MFv?AiW8&Bx$7I9=0DP+m4gdfE diff --git a/gen/layouts/FloorPlan303-objects.json b/gen/layouts/FloorPlan303-objects.json index 21030db99..bdf804a5d 100644 --- a/gen/layouts/FloorPlan303-objects.json +++ b/gen/layouts/FloorPlan303-objects.json @@ -1,35 +1,35 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "Poster", - "LightSwitch", - "ShelvingUnit", - "GarbageBag", - "KeyChain", - "Mug", - "Desk", - "AlarmClock", "Vase", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "TennisRacket", - "Dumbbell", - "Pen", + "Chair", + "Shelf", + "Desk", "Bed", + "GarbageBag", "Cloth", - "BaseballBat", - "Mirror", - "CD", + "AlarmClock", "Pencil", - "Floor", "CellPhone", - "Shelf", + "Pen", + "Dumbbell", + "Poster", + "Mug", "Box", - "Blinds" + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan304-objects.json b/gen/layouts/FloorPlan304-objects.json index 56dfb4284..466deefa0 100644 --- a/gen/layouts/FloorPlan304-objects.json +++ b/gen/layouts/FloorPlan304-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Statue", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "LaundryHamper", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "Bowl", - "LightSwitch", - "KeyChain", - "Mug", - "BasketBall", + "Chair", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "Pen", + "Statue", "Bed", - "Mirror", + "BasketBall", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "LaundryHamper", + "Pen", + "Mug", "Box", - "Blinds" + "GarbageCan", + "LightSwitch", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan305-objects.json b/gen/layouts/FloorPlan305-objects.json index dc5cd6c17..649937bfc 100644 --- a/gen/layouts/FloorPlan305-objects.json +++ b/gen/layouts/FloorPlan305-objects.json @@ -1,32 +1,32 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "LaundryHamper", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "Poster", - "Bowl", - "LightSwitch", - "KeyChain", - "Mug", - "BasketBall", + "Chair", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", "Bed", - "Pen", - "Mirror", - "BaseballBat", + "BasketBall", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "LaundryHamper", + "Pen", + "Poster", + "Mug", "Box", - "Blinds" + "GarbageCan", + "LightSwitch", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan305-openable.json b/gen/layouts/FloorPlan305-openable.json index b97586499..6307164f9 100644 --- a/gen/layouts/FloorPlan305-openable.json +++ b/gen/layouts/FloorPlan305-openable.json @@ -29,12 +29,6 @@ 0, 30 ], - "Drawer|-00.10|+00.16|-01.62": [ - -0.75, - -1.25, - 90, - 30 - ], "Drawer|-00.10|+00.46|-01.62": [ -0.75, -1.25, diff --git a/gen/layouts/FloorPlan306-objects.json b/gen/layouts/FloorPlan306-objects.json index 4a1bfc49a..8a72037e1 100644 --- a/gen/layouts/FloorPlan306-objects.json +++ b/gen/layouts/FloorPlan306-objects.json @@ -1,27 +1,27 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "LaundryHamper", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "KeyChain", + "Chair", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "TeddyBear", - "GarbageCan", - "SideTable", - "Pen", "Bed", - "Mirror", + "TeddyBear", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "LaundryHamper", - "Blinds" + "Pen", + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan307-objects.json b/gen/layouts/FloorPlan307-objects.json index 78edf7b7d..e34e03568 100644 --- a/gen/layouts/FloorPlan307-objects.json +++ b/gen/layouts/FloorPlan307-objects.json @@ -1,34 +1,34 @@ [ - "Laptop", "Book", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CreditCard", - "Window", - "Poster", - "LightSwitch", - "ShelvingUnit", - "Bowl", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "LaundryHamper", + "Drawer", "RemoteControl", "KeyChain", - "Painting", + "Mirror", + "CreditCard", + "Window", + "Chair", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "TennisRacket", "Bed", - "Pen", "Cloth", - "Mirror", + "AlarmClock", + "Television", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "LaundryHamper", - "Blinds" + "Pen", + "Painting", + "Poster", + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "Bowl", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan308-objects.json b/gen/layouts/FloorPlan308-objects.json index 418d5a29f..ee1b055ef 100644 --- a/gen/layouts/FloorPlan308-objects.json +++ b/gen/layouts/FloorPlan308-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", "Book", - "Safe", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "LaundryHamper", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "Bowl", - "KeyChain", - "Mug", - "BasketBall", + "Chair", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", "Bed", - "Pen", - "BaseballBat", - "Mirror", - "CD", + "BasketBall", + "AlarmClock", "Pencil", - "Floor", "CellPhone", - "Shelf", - "LaundryHamper", - "Blinds" + "Pen", + "Mug", + "GarbageCan", + "Safe", + "LightSwitch", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan309-objects.json b/gen/layouts/FloorPlan309-objects.json index 47baf8cd9..7d972b856 100644 --- a/gen/layouts/FloorPlan309-objects.json +++ b/gen/layouts/FloorPlan309-objects.json @@ -1,33 +1,33 @@ [ - "Laptop", "Book", - "Television", - "Safe", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "LaundryHamper", + "Drawer", + "RemoteControl", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", "HousePlant", - "RemoteControl", - "KeyChain", - "Mug", + "Chair", "Desk", + "Bed", "Cabinet", - "AlarmClock", - "Drawer", - "Pillow", "TeddyBear", - "GarbageCan", - "SideTable", - "Bed", - "Pen", - "Mirror", + "AlarmClock", + "Television", "Pencil", - "CD", - "Floor", "CellPhone", + "Pen", + "Mug", "ArmChair", - "LaundryHamper", - "Blinds" + "GarbageCan", + "Safe", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan310-objects.json b/gen/layouts/FloorPlan310-objects.json index f9196d9d6..00bf05214 100644 --- a/gen/layouts/FloorPlan310-objects.json +++ b/gen/layouts/FloorPlan310-objects.json @@ -1,31 +1,31 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "Poster", - "LightSwitch", - "KeyChain", - "BasketBall", + "Chair", + "Shelf", "Desk", + "Bed", "Cabinet", + "BasketBall", "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "TennisRacket", - "Bed", - "Pen", - "Mirror", - "BaseballBat", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", + "Pen", + "Poster", "Box", - "Blinds" + "GarbageCan", + "LightSwitch", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan311-objects.json b/gen/layouts/FloorPlan311-objects.json index 23f253ccd..476eb40a1 100644 --- a/gen/layouts/FloorPlan311-objects.json +++ b/gen/layouts/FloorPlan311-objects.json @@ -1,32 +1,32 @@ [ - "Laptop", "Book", - "Television", - "Chair", + "Pillow", "DeskLamp", - "CreditCard", - "Window", - "Bowl", - "LightSwitch", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "LaundryHamper", + "Drawer", "RemoteControl", "KeyChain", - "Painting", - "Mug", + "Mirror", + "CreditCard", + "Window", + "CounterTop", + "Chair", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", "Bed", - "Pen", - "CounterTop", - "Mirror", + "AlarmClock", + "Television", "Pencil", - "CD", - "Floor", "CellPhone", + "Pen", + "Painting", + "Mug", "ArmChair", - "LaundryHamper", - "Blinds" + "GarbageCan", + "LightSwitch", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan312-objects.json b/gen/layouts/FloorPlan312-objects.json index cb8d18fba..a4f45a16f 100644 --- a/gen/layouts/FloorPlan312-objects.json +++ b/gen/layouts/FloorPlan312-objects.json @@ -1,27 +1,27 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", + "Chair", + "Shelf", + "Desk", + "Bed", "GarbageBag", - "KeyChain", "BasketBall", - "Desk", "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "Dumbbell", - "Bed", - "Pen", - "Mirror", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf" + "Pen", + "Dumbbell", + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan313-objects.json b/gen/layouts/FloorPlan313-objects.json index b5d129311..b5cad81ee 100644 --- a/gen/layouts/FloorPlan313-objects.json +++ b/gen/layouts/FloorPlan313-objects.json @@ -1,34 +1,34 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "ShelvingUnit", "HousePlant", - "KeyChain", - "Painting", - "Mug", + "Chair", + "Shelf", "Desk", - "AlarmClock", "TissueBox", - "Pillow", - "TeddyBear", - "Drawer", - "GarbageCan", - "SideTable", - "TennisRacket", "Bed", - "Pen", - "Mirror", - "BaseballBat", - "CD", + "TeddyBear", + "AlarmClock", "Pencil", - "Floor", "CellPhone", - "Shelf", + "Pen", + "Painting", + "Mug", "Box", - "Blinds" + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan314-objects.json b/gen/layouts/FloorPlan314-objects.json index 06f16e188..2ce2a9637 100644 --- a/gen/layouts/FloorPlan314-objects.json +++ b/gen/layouts/FloorPlan314-objects.json @@ -1,27 +1,27 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "KeyChain", - "Painting", - "BasketBall", + "Chair", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", "Bed", - "Pen", - "Mirror", + "BasketBall", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", + "Pen", + "Painting", "Box", - "Blinds" + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan315-objects.json b/gen/layouts/FloorPlan315-objects.json index f0b23ba35..2b3e14ec2 100644 --- a/gen/layouts/FloorPlan315-objects.json +++ b/gen/layouts/FloorPlan315-objects.json @@ -1,28 +1,28 @@ [ - "Laptop", - "Dresser", "Book", + "Pillow", "DeskLamp", - "CoffeeTable", - "CreditCard", - "Window", - "LightSwitch", + "Blinds", "TableTopDecor", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "Drawer", "KeyChain", - "Mug", + "Mirror", + "CreditCard", + "Window", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "TeddyBear", - "GarbageCan", "Bed", - "Pen", - "BaseballBat", - "Mirror", + "TeddyBear", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Blinds" + "Pen", + "Mug", + "Dresser", + "GarbageCan", + "LightSwitch", + "CoffeeTable" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan315-openable.json b/gen/layouts/FloorPlan315-openable.json index 0c98a12dd..65b6eef73 100644 --- a/gen/layouts/FloorPlan315-openable.json +++ b/gen/layouts/FloorPlan315-openable.json @@ -43,7 +43,7 @@ ], "Drawer|-03.61|+00.11|-04.06": [ -2.25, - -3.25, + -3.0, 180, 30 ], @@ -97,7 +97,7 @@ ], "Dresser|-03.65|+00.01|-03.66": [ -3.0, - -3.75, + -3.5, 270, 30 ], diff --git a/gen/layouts/FloorPlan316-objects.json b/gen/layouts/FloorPlan316-objects.json index 53e75cca6..de02c74ff 100644 --- a/gen/layouts/FloorPlan316-objects.json +++ b/gen/layouts/FloorPlan316-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "Bowl", "HousePlant", - "KeyChain", + "Chair", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", - "Desktop", "Bed", - "Pen", - "BaseballBat", - "Mirror", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", + "Pen", "Box", - "Blinds" + "GarbageCan", + "LightSwitch", + "Desktop", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan317-objects.json b/gen/layouts/FloorPlan317-objects.json index 0ab922579..3b1febea9 100644 --- a/gen/layouts/FloorPlan317-objects.json +++ b/gen/layouts/FloorPlan317-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Dresser", "Book", - "Safe", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "LaundryHamper", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "Poster", - "Bowl", - "LightSwitch", - "KeyChain", - "AlarmClock", - "Drawer", - "Pillow", - "TeddyBear", - "GarbageCan", - "SideTable", - "Pen", "Bed", "Cloth", - "Mirror", + "TeddyBear", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "LaundryHamper", + "Pen", + "Poster", "Box", - "Blinds" + "Dresser", + "GarbageCan", + "Safe", + "LightSwitch", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan317-openable.json b/gen/layouts/FloorPlan317-openable.json index a2647db66..8145411a3 100644 --- a/gen/layouts/FloorPlan317-openable.json +++ b/gen/layouts/FloorPlan317-openable.json @@ -42,7 +42,7 @@ 30 ], "Drawer|-00.39|+00.29|-01.63": [ - -1.0, + -1.25, -0.5, 90, 30 diff --git a/gen/layouts/FloorPlan318-objects.json b/gen/layouts/FloorPlan318-objects.json index 055c4d362..97fc549fe 100644 --- a/gen/layouts/FloorPlan318-objects.json +++ b/gen/layouts/FloorPlan318-objects.json @@ -1,31 +1,31 @@ [ - "Laptop", - "Dresser", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "KeyChain", - "Painting", - "Mug", + "Chair", + "Shelf", "Desk", "Cabinet", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "TennisRacket", - "Pen", "Bed", - "Mirror", - "CD", + "AlarmClock", "Pencil", - "Floor", "CellPhone", - "ArmChair", - "Shelf", + "Pen", + "Painting", + "Mug", "Box", - "Blinds" + "ArmChair", + "Dresser", + "GarbageCan", + "LightSwitch", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan319-objects.json b/gen/layouts/FloorPlan319-objects.json index 243439e7e..9bcd890c7 100644 --- a/gen/layouts/FloorPlan319-objects.json +++ b/gen/layouts/FloorPlan319-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Statue", - "Dresser", "Book", - "Stool", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "ShelvingUnit", "HousePlant", - "KeyChain", - "Painting", + "Shelf", + "Bed", + "Statue", "BasketBall", "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "Bed", - "Pen", - "Mirror", "Pencil", - "CD", - "Floor", + "Stool", "CellPhone", - "Shelf", + "Pen", + "Painting", "Box", - "Blinds" + "Dresser", + "GarbageCan", + "ShelvingUnit", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan320-objects.json b/gen/layouts/FloorPlan320-objects.json index 20f8ebf55..4d859fdd4 100644 --- a/gen/layouts/FloorPlan320-objects.json +++ b/gen/layouts/FloorPlan320-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", - "Footstool", + "Curtains", + "Laptop", + "CD", + "Floor", + "SideTable", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", + "Footstool", + "Chair", + "Shelf", + "Desk", + "Bed", "GarbageBag", - "KeyChain", "BasketBall", - "Desk", - "AlarmClock", - "Pillow", "TeddyBear", - "GarbageCan", - "SideTable", - "TennisRacket", - "Dumbbell", - "Bed", - "Pen", - "Mirror", + "AlarmClock", "Pencil", - "CD", - "Curtains", - "Floor", "CellPhone", - "Shelf" + "Pen", + "Dumbbell", + "GarbageCan", + "LightSwitch", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan321-objects.json b/gen/layouts/FloorPlan321-objects.json index c00513aa5..d8135a163 100644 --- a/gen/layouts/FloorPlan321-objects.json +++ b/gen/layouts/FloorPlan321-objects.json @@ -1,27 +1,27 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "KeyChain", - "Painting", + "Chair", "Desk", - "AlarmClock", "TissueBox", - "Pillow", - "Drawer", - "GarbageCan", - "SideTable", "Bed", - "Pen", - "Mirror", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", + "Pen", + "Painting", "ArmChair", - "Blinds" + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan321-openable.json b/gen/layouts/FloorPlan321-openable.json index af5be31f8..6efd3c144 100644 --- a/gen/layouts/FloorPlan321-openable.json +++ b/gen/layouts/FloorPlan321-openable.json @@ -25,7 +25,7 @@ ], "Drawer|+00.33|+00.62|-01.02": [ 1.5, - -1.0, + -1.75, 270, 0 ], diff --git a/gen/layouts/FloorPlan322-objects.json b/gen/layouts/FloorPlan322-objects.json index 7f00bf58e..e0bf50bc6 100644 --- a/gen/layouts/FloorPlan322-objects.json +++ b/gen/layouts/FloorPlan322-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Dresser", "Book", + "Pillow", "DeskLamp", + "Curtains", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "KeyChain", - "Painting", - "Mug", - "Cabinet", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", + "Shelf", "Bed", - "Pen", + "Cabinet", "Cloth", - "BaseballBat", - "Mirror", + "AlarmClock", "Pencil", - "CD", - "Curtains", - "Floor", "CellPhone", + "Pen", + "Painting", + "Mug", "ArmChair", - "Shelf" + "Dresser", + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan323-objects.json b/gen/layouts/FloorPlan323-objects.json index d4113d81e..cb8d9e8c6 100644 --- a/gen/layouts/FloorPlan323-objects.json +++ b/gen/layouts/FloorPlan323-objects.json @@ -1,30 +1,30 @@ [ - "Laptop", - "Dresser", "Book", - "Safe", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "Bowl", - "KeyChain", - "Mug", + "Chair", "Desk", - "AlarmClock", + "Bed", "Sofa", - "Drawer", - "Pillow", "TeddyBear", - "GarbageCan", - "SideTable", - "Bed", - "Pen", - "Mirror", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Blinds" + "Pen", + "Mug", + "Dresser", + "GarbageCan", + "Safe", + "LightSwitch", + "Bowl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan324-objects.json b/gen/layouts/FloorPlan324-objects.json index 4c9185ca3..391291bd3 100644 --- a/gen/layouts/FloorPlan324-objects.json +++ b/gen/layouts/FloorPlan324-objects.json @@ -1,29 +1,29 @@ [ - "Laptop", - "VacuumCleaner", - "Dresser", "Book", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "VacuumCleaner", + "Laptop", + "CD", + "Floor", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "ShelvingUnit", - "KeyChain", - "Painting", - "Mug", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "TennisRacket", + "Shelf", "Bed", - "Pen", - "Mirror", - "BaseballBat", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "Blinds" + "Pen", + "Painting", + "Mug", + "Dresser", + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan325-objects.json b/gen/layouts/FloorPlan325-objects.json index e2ed22673..acc75f744 100644 --- a/gen/layouts/FloorPlan325-objects.json +++ b/gen/layouts/FloorPlan325-objects.json @@ -1,28 +1,28 @@ [ - "Laptop", - "Dresser", "Book", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "ShelvingUnit", - "KeyChain", - "Painting", - "Cabinet", - "AlarmClock", "Vase", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", + "Shelf", "Bed", - "Pen", - "Mirror", + "Cabinet", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "Blinds" + "Pen", + "Painting", + "Dresser", + "GarbageCan", + "ShelvingUnit", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan326-objects.json b/gen/layouts/FloorPlan326-objects.json index 65d243eaa..4876d952b 100644 --- a/gen/layouts/FloorPlan326-objects.json +++ b/gen/layouts/FloorPlan326-objects.json @@ -1,35 +1,35 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "Poster", - "LightSwitch", - "Bowl", - "KeyChain", - "Mug", - "BasketBall", - "Desk", - "AlarmClock", "Watch", - "Drawer", - "Pillow", - "TeddyBear", - "GarbageCan", - "Desktop", - "SideTable", - "TennisRacket", + "Chair", + "Shelf", + "Desk", "Bed", - "Pen", "Cloth", - "BaseballBat", - "Mirror", + "BasketBall", + "TeddyBear", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "Blinds" + "Pen", + "Poster", + "Mug", + "GarbageCan", + "LightSwitch", + "Desktop", + "Bowl", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan327-objects.json b/gen/layouts/FloorPlan327-objects.json index 632e5076d..5f090b6b6 100644 --- a/gen/layouts/FloorPlan327-objects.json +++ b/gen/layouts/FloorPlan327-objects.json @@ -1,29 +1,29 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "Bowl", - "KeyChain", - "BasketBall", + "Chair", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", "Bed", - "Pen", - "Mirror", - "BaseballBat", - "Boots", + "BasketBall", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "Blinds" + "Pen", + "GarbageCan", + "LightSwitch", + "Bowl", + "Boots" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan328-objects.json b/gen/layouts/FloorPlan328-objects.json index fac5805a0..e6c20885f 100644 --- a/gen/layouts/FloorPlan328-objects.json +++ b/gen/layouts/FloorPlan328-objects.json @@ -1,31 +1,31 @@ [ - "Laptop", "Book", - "Chair", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", "HousePlant", - "KeyChain", - "Mug", + "Chair", + "Shelf", "Desk", - "AlarmClock", "TissueBox", - "Pillow", - "TeddyBear", - "Drawer", - "GarbageCan", - "SideTable", - "TennisRacket", - "Dumbbell", "Bed", - "Pen", - "Mirror", + "TeddyBear", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", - "Blinds" + "Pen", + "Dumbbell", + "Mug", + "GarbageCan", + "LightSwitch", + "TennisRacket" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan329-objects.json b/gen/layouts/FloorPlan329-objects.json index a765901f6..4540a6431 100644 --- a/gen/layouts/FloorPlan329-objects.json +++ b/gen/layouts/FloorPlan329-objects.json @@ -1,28 +1,28 @@ [ - "Laptop", "Book", + "Pillow", "DeskLamp", + "Blinds", + "BaseballBat", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "KeyChain", - "Painting", - "Mug", + "Shelf", "Desk", - "AlarmClock", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", "Bed", - "Pen", - "Mirror", - "BaseballBat", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", - "Shelf", + "Pen", + "Painting", + "Mug", "Box", - "Blinds" + "GarbageCan", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan330-objects.json b/gen/layouts/FloorPlan330-objects.json index 6051613c8..be30949db 100644 --- a/gen/layouts/FloorPlan330-objects.json +++ b/gen/layouts/FloorPlan330-objects.json @@ -1,32 +1,32 @@ [ - "Laptop", - "Statue", - "Dresser", "Book", + "Pillow", "DeskLamp", + "Blinds", + "Laptop", + "CD", + "Floor", + "SideTable", + "Drawer", + "KeyChain", + "Mirror", "CreditCard", "Window", - "LightSwitch", - "Bowl", - "ShelvingUnit", "HousePlant", - "KeyChain", - "Painting", - "AlarmClock", "Vase", - "Drawer", - "Pillow", - "GarbageCan", - "SideTable", + "Shelf", "Bed", - "Pen", - "Mirror", - "Boots", + "Statue", + "AlarmClock", "Pencil", - "CD", - "Floor", "CellPhone", + "Pen", + "Painting", "ArmChair", - "Shelf", - "Blinds" + "Dresser", + "GarbageCan", + "ShelvingUnit", + "LightSwitch", + "Bowl", + "Boots" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan330-openable.json b/gen/layouts/FloorPlan330-openable.json index fbc368675..f0af24595 100644 --- a/gen/layouts/FloorPlan330-openable.json +++ b/gen/layouts/FloorPlan330-openable.json @@ -48,8 +48,8 @@ 30 ], "Drawer|-01.63|+00.29|+00.24": [ - -0.5, - -0.5, + -1.0, + -1.0, 0, 30 ], diff --git a/gen/layouts/FloorPlan4-objects.json b/gen/layouts/FloorPlan4-objects.json index e8ee05bcd..746e4e8cb 100644 --- a/gen/layouts/FloorPlan4-objects.json +++ b/gen/layouts/FloorPlan4-objects.json @@ -1,42 +1,42 @@ [ - "StoveKnob", - "Faucet", + "Fork", + "SinkBasin", + "Pot", + "Spatula", + "Spoon", + "Tomato", + "Bread", + "SoapBottle", + "CoffeeMachine", "Fridge", - "PepperShaker", + "Floor", "SaltShaker", - "Tomato", - "Cup", - "Pan", - "Egg", "StoveBurner", - "Plate", - "Bread", + "Egg", + "Drawer", + "PepperShaker", + "Potato", + "Faucet", "Window", - "SinkBasin", + "CounterTop", + "HousePlant", "Lettuce", - "Bowl", + "ButterKnife", + "Cabinet", "DishSponge", - "LightSwitch", - "HousePlant", - "DiningTable", + "Plate", "Sink", - "Mug", - "CoffeeMachine", - "Cabinet", - "Fork", - "Drawer", - "GarbageCan", - "Spoon", - "Pot", - "CounterTop", - "Potato", "Microwave", - "Ladle", - "Floor", - "SoapBottle", + "Cup", + "StoveKnob", + "DiningTable", + "Mug", "Knife", - "Spatula", + "Toaster", + "GarbageCan", + "LightSwitch", "Apple", - "ButterKnife", - "Toaster" + "Pan", + "Bowl", + "Ladle" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan401-objects.json b/gen/layouts/FloorPlan401-objects.json index 9a61eeabb..ae5c3fcc9 100644 --- a/gen/layouts/FloorPlan401-objects.json +++ b/gen/layouts/FloorPlan401-objects.json @@ -1,32 +1,32 @@ [ - "HandTowelHolder", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "SideTable", + "HandTowel", "Faucet", - "BathtubBasin", - "Plunger", "Window", - "SinkBasin", + "Mirror", + "BathtubBasin", + "Shelf", + "HandTowelHolder", "DishSponge", - "LightSwitch", - "Bathtub", + "Cloth", "Sink", + "ShowerCurtain", + "ScrubBrush", + "ToiletPaperHanger", "SprayBottle", + "Plunger", + "SoapBar", + "PaperTowelRoll", "ShowerHead", - "ToiletPaperHanger", - "Toilet", + "Bathtub", "GarbageCan", - "SideTable", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "Cloth", - "Mirror", - "Floor", - "ShowerCurtain", - "Towel", - "ToiletPaper", - "SoapBottle", - "Shelf", - "ScrubBrush", - "PaperTowelRoll", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan402-objects.json b/gen/layouts/FloorPlan402-objects.json index 27031237e..5a777c388 100644 --- a/gen/layouts/FloorPlan402-objects.json +++ b/gen/layouts/FloorPlan402-objects.json @@ -1,33 +1,33 @@ [ - "HandTowelHolder", - "ShowerGlass", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", "Faucet", - "BathtubBasin", - "Plunger", + "Mirror", "Window", - "SinkBasin", - "LightSwitch", - "Bathtub", - "Sink", + "CounterTop", + "BathtubBasin", + "Shelf", + "TissueBox", "Cabinet", + "HandTowelHolder", + "Cloth", + "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "SoapBar", + "Plunger", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "TissueBox", + "Bathtub", + "ShowerGlass", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "SoapBottle", - "Towel", - "ToiletPaper", - "Shelf", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan403-objects.json b/gen/layouts/FloorPlan403-objects.json index 13af44d70..c9a00919c 100644 --- a/gen/layouts/FloorPlan403-objects.json +++ b/gen/layouts/FloorPlan403-objects.json @@ -1,34 +1,34 @@ [ - "HandTowelHolder", - "ShowerGlass", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", "Faucet", - "BathtubBasin", - "Plunger", "Window", - "SinkBasin", - "LightSwitch", + "Mirror", + "CounterTop", + "BathtubBasin", + "Shelf", + "Cabinet", + "HandTowelHolder", "DishSponge", - "Bathtub", + "Cloth", "Sink", - "Cabinet", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "Plunger", + "SoapBar", + "PaperTowelRoll", "ShowerHead", - "ToiletPaperHanger", - "Toilet", + "Bathtub", + "ShowerGlass", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "ToiletPaper", - "SoapBottle", - "Towel", - "Shelf", - "ScrubBrush", - "PaperTowelRoll", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan403-openable.json b/gen/layouts/FloorPlan403-openable.json index 81ff7df82..7af010ba8 100644 --- a/gen/layouts/FloorPlan403-openable.json +++ b/gen/layouts/FloorPlan403-openable.json @@ -1,8 +1,8 @@ { "Cabinet|-00.34|+00.43|+02.87": [ -1.0, - 2.25, - 90, + 2.0, + 0, 30 ], "Cabinet|-01.36|+00.43|+02.87": [ diff --git a/gen/layouts/FloorPlan404-objects.json b/gen/layouts/FloorPlan404-objects.json index 2f89127c6..c0a392410 100644 --- a/gen/layouts/FloorPlan404-objects.json +++ b/gen/layouts/FloorPlan404-objects.json @@ -1,29 +1,29 @@ [ - "HandTowelHolder", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", "Faucet", + "Mirror", "BathtubBasin", - "Plunger", - "SinkBasin", - "LightSwitch", - "Bathtub", + "Shelf", + "TissueBox", + "HandTowelHolder", + "Cloth", "Sink", + "ShowerCurtain", + "ScrubBrush", + "ToiletPaperHanger", "SprayBottle", + "Plunger", + "SoapBar", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "TissueBox", + "Bathtub", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "Cloth", - "Mirror", - "Floor", - "ShowerCurtain", - "ToiletPaper", - "SoapBottle", - "Towel", - "Shelf", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan405-objects.json b/gen/layouts/FloorPlan405-objects.json index fb9aedb39..a50fa6764 100644 --- a/gen/layouts/FloorPlan405-objects.json +++ b/gen/layouts/FloorPlan405-objects.json @@ -1,28 +1,28 @@ [ - "HandTowelHolder", - "Faucet", - "BathtubBasin", - "Plunger", "SinkBasin", - "LightSwitch", - "Bathtub", - "Sink", - "Cabinet", - "SprayBottle", - "ToiletPaperHanger", - "Toilet", - "GarbageCan", - "SoapBar", + "SoapBottle", + "Towel", + "Candle", + "Floor", "HandTowel", - "TowelHolder", - "CounterTop", + "Faucet", "Mirror", + "CounterTop", + "BathtubBasin", + "Cabinet", + "HandTowelHolder", "Cloth", - "Floor", + "Sink", "ShowerCurtain", - "Towel", - "ToiletPaper", - "SoapBottle", "ScrubBrush", - "Candle" + "ToiletPaperHanger", + "SprayBottle", + "SoapBar", + "Plunger", + "Bathtub", + "GarbageCan", + "LightSwitch", + "Toilet", + "TowelHolder", + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan406-objects.json b/gen/layouts/FloorPlan406-objects.json index bfd7ee0be..3f38e6c50 100644 --- a/gen/layouts/FloorPlan406-objects.json +++ b/gen/layouts/FloorPlan406-objects.json @@ -1,28 +1,28 @@ [ - "HandTowelHolder", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", "Faucet", - "BathtubBasin", - "Plunger", "Window", - "SinkBasin", - "LightSwitch", - "Bathtub", - "Sink", + "Mirror", + "CounterTop", + "BathtubBasin", "Cabinet", - "SprayBottle", + "HandTowelHolder", + "Cloth", + "Sink", + "ScrubBrush", "ToiletPaperHanger", - "Toilet", - "GarbageCan", + "SprayBottle", + "Plunger", "SoapBar", - "HandTowel", + "Bathtub", + "GarbageCan", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "Towel", - "ToiletPaper", - "SoapBottle", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan407-objects.json b/gen/layouts/FloorPlan407-objects.json index d85e2adde..ce1f44300 100644 --- a/gen/layouts/FloorPlan407-objects.json +++ b/gen/layouts/FloorPlan407-objects.json @@ -1,32 +1,32 @@ [ - "HandTowelHolder", - "ShowerGlass", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", "Faucet", - "BathtubBasin", - "Plunger", + "Mirror", "Window", - "SinkBasin", - "LightSwitch", - "Bathtub", - "Sink", + "CounterTop", + "BathtubBasin", "Cabinet", + "HandTowelHolder", + "Cloth", + "Sink", + "ShowerCurtain", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "SoapBar", + "Plunger", "ShowerHead", - "ToiletPaperHanger", - "Toilet", + "Bathtub", + "ShowerGlass", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerCurtain", - "ShowerDoor", - "Towel", - "ToiletPaper", - "SoapBottle", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan408-objects.json b/gen/layouts/FloorPlan408-objects.json index fb9aedb39..a50fa6764 100644 --- a/gen/layouts/FloorPlan408-objects.json +++ b/gen/layouts/FloorPlan408-objects.json @@ -1,28 +1,28 @@ [ - "HandTowelHolder", - "Faucet", - "BathtubBasin", - "Plunger", "SinkBasin", - "LightSwitch", - "Bathtub", - "Sink", - "Cabinet", - "SprayBottle", - "ToiletPaperHanger", - "Toilet", - "GarbageCan", - "SoapBar", + "SoapBottle", + "Towel", + "Candle", + "Floor", "HandTowel", - "TowelHolder", - "CounterTop", + "Faucet", "Mirror", + "CounterTop", + "BathtubBasin", + "Cabinet", + "HandTowelHolder", "Cloth", - "Floor", + "Sink", "ShowerCurtain", - "Towel", - "ToiletPaper", - "SoapBottle", "ScrubBrush", - "Candle" + "ToiletPaperHanger", + "SprayBottle", + "SoapBar", + "Plunger", + "Bathtub", + "GarbageCan", + "LightSwitch", + "Toilet", + "TowelHolder", + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan409-objects.json b/gen/layouts/FloorPlan409-objects.json index 36a244ea5..c0d612c5b 100644 --- a/gen/layouts/FloorPlan409-objects.json +++ b/gen/layouts/FloorPlan409-objects.json @@ -1,28 +1,28 @@ [ - "HandTowelHolder", - "ShowerGlass", - "Faucet", - "Plunger", "SinkBasin", - "LightSwitch", - "Sink", - "SprayBottle", - "ShowerHead", - "ToiletPaperHanger", - "Toilet", + "SoapBottle", + "Towel", + "Candle", + "Floor", "Drawer", - "GarbageCan", - "SoapBar", "HandTowel", - "TowelHolder", - "CounterTop", + "Faucet", "Mirror", + "CounterTop", + "HandTowelHolder", "Cloth", - "Floor", - "ShowerDoor", - "SoapBottle", - "Towel", - "ToiletPaper", + "Sink", "ScrubBrush", - "Candle" + "ToiletPaperHanger", + "ShowerDoor", + "SprayBottle", + "SoapBar", + "Plunger", + "ShowerHead", + "ShowerGlass", + "GarbageCan", + "LightSwitch", + "Toilet", + "TowelHolder", + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan410-objects.json b/gen/layouts/FloorPlan410-objects.json index d33026956..3b44a8005 100644 --- a/gen/layouts/FloorPlan410-objects.json +++ b/gen/layouts/FloorPlan410-objects.json @@ -1,29 +1,29 @@ [ - "HandTowelHolder", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "Drawer", + "HandTowel", "Faucet", + "Mirror", + "CounterTop", "BathtubBasin", - "Plunger", - "SinkBasin", - "LightSwitch", - "Bathtub", + "HandTowelHolder", + "Cloth", "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "Plunger", + "SoapBar", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "Drawer", + "Bathtub", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "ToiletPaper", - "Towel", - "SoapBottle", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan411-objects.json b/gen/layouts/FloorPlan411-objects.json index 39bb86e9a..30354884b 100644 --- a/gen/layouts/FloorPlan411-objects.json +++ b/gen/layouts/FloorPlan411-objects.json @@ -1,31 +1,31 @@ [ - "HandTowelHolder", - "ShowerGlass", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "Drawer", + "HandTowel", "Faucet", - "BathtubBasin", - "Plunger", "Window", - "SinkBasin", - "LightSwitch", - "Bathtub", + "Mirror", + "CounterTop", + "BathtubBasin", + "HandTowelHolder", + "Cloth", "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "SoapBar", + "Plunger", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "Drawer", + "Bathtub", + "ShowerGlass", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "Towel", - "ToiletPaper", - "SoapBottle", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan412-objects.json b/gen/layouts/FloorPlan412-objects.json index f1d9c8148..0ed92b9a0 100644 --- a/gen/layouts/FloorPlan412-objects.json +++ b/gen/layouts/FloorPlan412-objects.json @@ -1,29 +1,29 @@ [ - "HandTowelHolder", - "ShowerGlass", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", "Faucet", - "Plunger", "Window", - "SinkBasin", - "LightSwitch", - "Sink", + "Mirror", + "CounterTop", "Cabinet", + "HandTowelHolder", + "Cloth", + "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "Plunger", + "SoapBar", "ShowerHead", - "ToiletPaperHanger", - "Toilet", + "ShowerGlass", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "Towel", - "SoapBottle", - "ToiletPaper", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan413-objects.json b/gen/layouts/FloorPlan413-objects.json index 9de952152..7546c79f7 100644 --- a/gen/layouts/FloorPlan413-objects.json +++ b/gen/layouts/FloorPlan413-objects.json @@ -1,32 +1,32 @@ [ - "HandTowelHolder", - "Dresser", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", + "Drawer", "Faucet", - "BathtubBasin", - "Plunger", + "Mirror", "Window", - "SinkBasin", - "LightSwitch", - "Bathtub", - "Sink", + "CounterTop", + "BathtubBasin", "Cabinet", + "HandTowelHolder", + "Cloth", + "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "SoapBar", + "Plunger", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "Drawer", + "Bathtub", + "Dresser", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "Towel", - "ToiletPaper", - "SoapBottle", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan414-objects.json b/gen/layouts/FloorPlan414-objects.json index f2c9895d0..1de3b3bdc 100644 --- a/gen/layouts/FloorPlan414-objects.json +++ b/gen/layouts/FloorPlan414-objects.json @@ -1,31 +1,31 @@ [ - "HandTowelHolder", - "Faucet", - "BathtubBasin", - "Plunger", - "Window", "SinkBasin", - "LightSwitch", - "DishSponge", - "Bathtub", - "Sink", - "Cabinet", - "SprayBottle", - "ToiletPaperHanger", - "Toilet", + "SoapBottle", + "Towel", + "Candle", + "Floor", "Drawer", - "GarbageCan", - "SoapBar", "HandTowel", - "TowelHolder", - "CounterTop", + "Faucet", "Mirror", + "Window", + "CounterTop", + "BathtubBasin", + "Cabinet", + "HandTowelHolder", + "DishSponge", "Cloth", - "Floor", - "Towel", - "SoapBottle", - "ToiletPaper", + "Sink", "ScrubBrush", + "ToiletPaperHanger", + "SprayBottle", + "Plunger", + "SoapBar", "PaperTowelRoll", - "Candle" + "Bathtub", + "GarbageCan", + "LightSwitch", + "Toilet", + "TowelHolder", + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan415-objects.json b/gen/layouts/FloorPlan415-objects.json index f79d76a4b..514ab1387 100644 --- a/gen/layouts/FloorPlan415-objects.json +++ b/gen/layouts/FloorPlan415-objects.json @@ -1,31 +1,31 @@ [ - "HandTowelHolder", - "Dresser", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", + "Drawer", "Faucet", + "Mirror", + "CounterTop", "BathtubBasin", - "Plunger", - "SinkBasin", - "LightSwitch", - "Bathtub", + "Shelf", + "HandTowelHolder", + "Cloth", "Sink", + "ShowerCurtain", + "ScrubBrush", + "ToiletPaperHanger", "SprayBottle", + "SoapBar", + "Plunger", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "Drawer", + "Bathtub", + "Dresser", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerCurtain", - "ToiletPaper", - "Towel", - "SoapBottle", - "Shelf", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan416-objects.json b/gen/layouts/FloorPlan416-objects.json index b863f3cc8..2721f04bb 100644 --- a/gen/layouts/FloorPlan416-objects.json +++ b/gen/layouts/FloorPlan416-objects.json @@ -1,28 +1,28 @@ [ - "HandTowelHolder", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "Drawer", + "HandTowel", "Faucet", - "Plunger", + "Mirror", "Window", - "SinkBasin", - "LightSwitch", + "CounterTop", + "HandTowelHolder", + "Cloth", "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "Plunger", + "SoapBar", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "Drawer", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "Towel", - "SoapBottle", - "ToiletPaper", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan417-objects.json b/gen/layouts/FloorPlan417-objects.json index 5f9cd72c8..aca8c028a 100644 --- a/gen/layouts/FloorPlan417-objects.json +++ b/gen/layouts/FloorPlan417-objects.json @@ -1,29 +1,29 @@ [ - "HandTowelHolder", - "ShowerGlass", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", "Faucet", - "Plunger", + "Mirror", "Window", - "SinkBasin", - "LightSwitch", - "Sink", + "CounterTop", "Cabinet", + "HandTowelHolder", + "Cloth", + "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "SoapBar", + "Plunger", "ShowerHead", - "ToiletPaperHanger", - "Toilet", + "ShowerGlass", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "Towel", - "ToiletPaper", - "SoapBottle", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan418-objects.json b/gen/layouts/FloorPlan418-objects.json index 487f77cee..e27c8e6c5 100644 --- a/gen/layouts/FloorPlan418-objects.json +++ b/gen/layouts/FloorPlan418-objects.json @@ -1,29 +1,29 @@ [ - "HandTowelHolder", - "ShowerGlass", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "HandTowel", "Faucet", - "Plunger", + "Mirror", "Window", - "SinkBasin", - "LightSwitch", - "Sink", + "CounterTop", "Cabinet", + "HandTowelHolder", + "Cloth", + "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "Plunger", + "SoapBar", "ShowerHead", - "ToiletPaperHanger", - "Toilet", + "ShowerGlass", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "ToiletPaper", - "Towel", - "SoapBottle", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan419-objects.json b/gen/layouts/FloorPlan419-objects.json index 0818eb2c1..2fe128e8a 100644 --- a/gen/layouts/FloorPlan419-objects.json +++ b/gen/layouts/FloorPlan419-objects.json @@ -1,30 +1,30 @@ [ - "HandTowelHolder", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "SideTable", + "HandTowel", + "Drawer", "Faucet", + "Mirror", "BathtubBasin", - "Plunger", - "SinkBasin", - "LightSwitch", - "Bathtub", + "TissueBox", + "HandTowelHolder", + "Cloth", "Sink", + "ShowerCurtain", + "ScrubBrush", + "ToiletPaperHanger", "SprayBottle", + "SoapBar", + "Plunger", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "TissueBox", - "Drawer", + "Bathtub", "GarbageCan", - "SideTable", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "Cloth", - "Mirror", - "Floor", - "ShowerCurtain", - "ToiletPaper", - "Towel", - "SoapBottle", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan420-objects.json b/gen/layouts/FloorPlan420-objects.json index 4166a21dd..68d254ac6 100644 --- a/gen/layouts/FloorPlan420-objects.json +++ b/gen/layouts/FloorPlan420-objects.json @@ -1,29 +1,29 @@ [ - "HandTowelHolder", + "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "SideTable", + "Drawer", + "HandTowel", "Faucet", - "Plunger", + "Mirror", "Window", - "SinkBasin", - "LightSwitch", - "Bathtub", "HousePlant", + "HandTowelHolder", + "Cloth", "Sink", - "SprayBottle", + "ShowerCurtain", + "ScrubBrush", "ToiletPaperHanger", - "Toilet", - "Drawer", - "GarbageCan", - "SideTable", + "SprayBottle", + "Plunger", "SoapBar", - "HandTowel", + "Bathtub", + "GarbageCan", + "LightSwitch", + "Toilet", "TowelHolder", - "Cloth", - "Mirror", - "Floor", - "ShowerCurtain", - "Towel", - "SoapBottle", - "ToiletPaper", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan421-objects.json b/gen/layouts/FloorPlan421-objects.json index 6bc34f47c..4a770f91f 100644 --- a/gen/layouts/FloorPlan421-objects.json +++ b/gen/layouts/FloorPlan421-objects.json @@ -1,29 +1,29 @@ [ - "HandTowelHolder", - "ShowerGlass", - "Faucet", - "Plunger", "SinkBasin", + "SoapBottle", + "Towel", + "Candle", + "Floor", + "Drawer", + "HandTowel", + "Faucet", + "Mirror", + "CounterTop", + "HandTowelHolder", "DishSponge", - "LightSwitch", + "Cloth", "Sink", + "ScrubBrush", + "ToiletPaperHanger", + "ShowerDoor", "SprayBottle", + "SoapBar", + "Plunger", "ShowerHead", - "ToiletPaperHanger", - "Toilet", - "Drawer", + "ShowerGlass", "GarbageCan", - "SoapBar", - "HandTowel", + "LightSwitch", + "Toilet", "TowelHolder", - "CounterTop", - "Mirror", - "Cloth", - "Floor", - "ShowerDoor", - "ToiletPaper", - "SoapBottle", - "Towel", - "ScrubBrush", - "Candle" + "ToiletPaper" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan422-layout.npy b/gen/layouts/FloorPlan422-layout.npy index 0eca2e031d93a6a4976d4a116feace1f939de374..7225403b5120788e61737518f333c5c27c3312ed 100644 GIT binary patch delta 17 YcmZ3$I)Qb99i#C^dvV6iX^d8k04`qyng9R* delta 27 fcmbQhx`1_p9iz!cdvQiijspx}@MW_ Date: Fri, 5 Feb 2021 10:31:41 -0800 Subject: [PATCH 10/14] update generation --- gen/scripts/generate_trajectories.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/gen/scripts/generate_trajectories.py b/gen/scripts/generate_trajectories.py index a749cf669..f3a9ef33e 100644 --- a/gen/scripts/generate_trajectories.py +++ b/gen/scripts/generate_trajectories.py @@ -1,7 +1,7 @@ import os import sys -sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred')) -sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred', 'gen')) +sys.path.append(os.path.join('/Users/jiasenl/Code/alfred')) +sys.path.append(os.path.join('/Users/jiasenl/Code/alfred', 'gen')) import time import multiprocessing as mp @@ -469,8 +469,7 @@ def main(args, thread_num=0): # if True: # for _ in range(20): for ii, json_path in enumerate(glob.iglob(os.path.join(alfred_dataset_path, "**", "traj_data.json"), recursive=True)): - if ii % args.num_threads == thread_num: - # if ii == 5: + if ii % args.num_threads == thread_num and ii >= 3: sampled_task = json_path.split('/')[-3].split('-') # sampled_task = next(task_sampler) # print("===============") From c283dd1ee7d74b611fea546d99b8f443b97c6a92 Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Tue, 9 Feb 2021 01:51:24 -0800 Subject: [PATCH 11/14] update --- gen/layouts/FloorPlan1-layout.npy | Bin 2080 -> 2064 bytes gen/layouts/FloorPlan1-objects.json | 76 ++++++++-------- gen/layouts/FloorPlan1-openable.json | 44 ++++----- gen/layouts/FloorPlan10-layout.npy | Bin 3792 -> 3488 bytes gen/layouts/FloorPlan10-objects.json | 72 +++++++-------- gen/layouts/FloorPlan10-openable.json | 12 ++- gen/layouts/FloorPlan11-objects.json | 62 ++++++------- gen/layouts/FloorPlan12-layout.npy | Bin 1312 -> 1808 bytes gen/layouts/FloorPlan12-objects.json | 58 ++++++------ gen/layouts/FloorPlan12-openable.json | 100 +++++++++++++++------ gen/layouts/FloorPlan13-objects.json | 64 ++++++------- gen/layouts/FloorPlan14-layout.npy | Bin 1984 -> 1968 bytes gen/layouts/FloorPlan14-objects.json | 56 ++++++------ gen/layouts/FloorPlan14-openable.json | 12 +++ gen/layouts/FloorPlan15-objects.json | 66 +++++++------- gen/layouts/FloorPlan16-objects.json | 68 +++++++------- gen/layouts/FloorPlan17-objects.json | 68 +++++++------- gen/layouts/FloorPlan18-objects.json | 72 +++++++-------- gen/layouts/FloorPlan19-layout.npy | Bin 1280 -> 1184 bytes gen/layouts/FloorPlan19-objects.json | 58 ++++++------ gen/layouts/FloorPlan19-openable.json | 46 +++++++--- gen/layouts/FloorPlan2-objects.json | 62 ++++++------- gen/layouts/FloorPlan20-objects.json | 66 +++++++------- gen/layouts/FloorPlan201-objects.json | 50 +++++------ gen/layouts/FloorPlan202-objects.json | 32 +++---- gen/layouts/FloorPlan203-objects.json | 44 ++++----- gen/layouts/FloorPlan204-objects.json | 40 ++++----- gen/layouts/FloorPlan205-objects.json | 34 +++---- gen/layouts/FloorPlan206-objects.json | 30 +++---- gen/layouts/FloorPlan207-objects.json | 30 +++---- gen/layouts/FloorPlan208-objects.json | 32 +++---- gen/layouts/FloorPlan208-openable.json | 2 +- gen/layouts/FloorPlan209-objects.json | 40 ++++----- gen/layouts/FloorPlan21-objects.json | 68 +++++++------- gen/layouts/FloorPlan210-objects.json | 38 ++++---- gen/layouts/FloorPlan211-objects.json | 34 +++---- gen/layouts/FloorPlan212-objects.json | 40 ++++----- gen/layouts/FloorPlan213-layout.npy | Bin 4752 -> 4736 bytes gen/layouts/FloorPlan213-objects.json | 32 +++---- gen/layouts/FloorPlan214-objects.json | 38 ++++---- gen/layouts/FloorPlan215-objects.json | 40 ++++----- gen/layouts/FloorPlan216-objects.json | 36 ++++---- gen/layouts/FloorPlan217-objects.json | 34 +++---- gen/layouts/FloorPlan218-objects.json | 38 ++++---- gen/layouts/FloorPlan219-objects.json | 40 ++++----- gen/layouts/FloorPlan219-openable.json | 2 +- gen/layouts/FloorPlan22-objects.json | 60 ++++++------- gen/layouts/FloorPlan220-objects.json | 36 ++++---- gen/layouts/FloorPlan221-objects.json | 36 ++++---- gen/layouts/FloorPlan221-openable.json | 2 +- gen/layouts/FloorPlan222-objects.json | 32 +++---- gen/layouts/FloorPlan223-objects.json | 34 +++---- gen/layouts/FloorPlan224-objects.json | 42 ++++----- gen/layouts/FloorPlan225-objects.json | 44 ++++----- gen/layouts/FloorPlan226-objects.json | 28 +++--- gen/layouts/FloorPlan227-objects.json | 34 +++---- gen/layouts/FloorPlan228-objects.json | 34 +++---- gen/layouts/FloorPlan229-objects.json | 40 ++++----- gen/layouts/FloorPlan23-objects.json | 70 +++++++-------- gen/layouts/FloorPlan230-objects.json | 42 ++++----- gen/layouts/FloorPlan24-objects.json | 60 ++++++------- gen/layouts/FloorPlan25-objects.json | 60 ++++++------- gen/layouts/FloorPlan25-openable.json | 14 +-- gen/layouts/FloorPlan26-objects.json | 56 ++++++------ gen/layouts/FloorPlan27-objects.json | 64 ++++++------- gen/layouts/FloorPlan28-objects.json | 60 ++++++------- gen/layouts/FloorPlan29-objects.json | 54 +++++------ gen/layouts/FloorPlan3-objects.json | 68 +++++++------- gen/layouts/FloorPlan3-openable.json | 2 +- gen/layouts/FloorPlan30-objects.json | 68 +++++++------- gen/layouts/FloorPlan301-objects.json | 54 +++++------ gen/layouts/FloorPlan301-openable.json | 6 +- gen/layouts/FloorPlan302-objects.json | 38 ++++---- gen/layouts/FloorPlan303-objects.json | 44 ++++----- gen/layouts/FloorPlan304-objects.json | 42 ++++----- gen/layouts/FloorPlan305-objects.json | 44 ++++----- gen/layouts/FloorPlan305-openable.json | 6 ++ gen/layouts/FloorPlan306-objects.json | 36 ++++---- gen/layouts/FloorPlan307-objects.json | 42 ++++----- gen/layouts/FloorPlan308-objects.json | 42 ++++----- gen/layouts/FloorPlan309-objects.json | 42 ++++----- gen/layouts/FloorPlan310-objects.json | 42 ++++----- gen/layouts/FloorPlan311-objects.json | 38 ++++---- gen/layouts/FloorPlan312-objects.json | 38 ++++---- gen/layouts/FloorPlan313-objects.json | 42 ++++----- gen/layouts/FloorPlan314-objects.json | 36 ++++---- gen/layouts/FloorPlan315-objects.json | 34 +++---- gen/layouts/FloorPlan315-openable.json | 4 +- gen/layouts/FloorPlan316-objects.json | 40 ++++----- gen/layouts/FloorPlan317-objects.json | 36 ++++---- gen/layouts/FloorPlan318-objects.json | 38 ++++---- gen/layouts/FloorPlan319-objects.json | 42 ++++----- gen/layouts/FloorPlan320-objects.json | 40 ++++----- gen/layouts/FloorPlan321-objects.json | 34 +++---- gen/layouts/FloorPlan322-objects.json | 36 ++++---- gen/layouts/FloorPlan323-objects.json | 36 ++++---- gen/layouts/FloorPlan324-objects.json | 36 ++++---- gen/layouts/FloorPlan325-objects.json | 36 ++++---- gen/layouts/FloorPlan326-objects.json | 46 +++++----- gen/layouts/FloorPlan327-objects.json | 38 ++++---- gen/layouts/FloorPlan328-objects.json | 38 ++++---- gen/layouts/FloorPlan329-objects.json | 36 ++++---- gen/layouts/FloorPlan330-objects.json | 38 ++++---- gen/layouts/FloorPlan330-openable.json | 2 +- gen/layouts/FloorPlan4-objects.json | 60 ++++++------- gen/layouts/FloorPlan401-objects.json | 42 ++++----- gen/layouts/FloorPlan402-objects.json | 44 ++++----- gen/layouts/FloorPlan403-objects.json | 46 +++++----- gen/layouts/FloorPlan404-objects.json | 38 ++++---- gen/layouts/FloorPlan405-objects.json | 38 ++++---- gen/layouts/FloorPlan406-objects.json | 38 ++++---- gen/layouts/FloorPlan406-openable.json | 6 ++ gen/layouts/FloorPlan407-objects.json | 42 ++++----- gen/layouts/FloorPlan408-objects.json | 38 ++++---- gen/layouts/FloorPlan409-objects.json | 36 ++++---- gen/layouts/FloorPlan410-objects.json | 36 ++++---- gen/layouts/FloorPlan411-objects.json | 40 ++++----- gen/layouts/FloorPlan412-objects.json | 40 ++++----- gen/layouts/FloorPlan413-objects.json | 40 ++++----- gen/layouts/FloorPlan414-objects.json | 44 ++++----- gen/layouts/FloorPlan415-objects.json | 40 ++++----- gen/layouts/FloorPlan416-objects.json | 36 ++++---- gen/layouts/FloorPlan417-objects.json | 40 ++++----- gen/layouts/FloorPlan418-objects.json | 40 ++++----- gen/layouts/FloorPlan419-objects.json | 40 ++++----- gen/layouts/FloorPlan420-objects.json | 38 ++++---- gen/layouts/FloorPlan421-objects.json | 36 ++++---- gen/layouts/FloorPlan422-objects.json | 46 +++++----- gen/layouts/FloorPlan423-objects.json | 42 ++++----- gen/layouts/FloorPlan424-objects.json | 38 ++++---- gen/layouts/FloorPlan425-objects.json | 42 ++++----- gen/layouts/FloorPlan426-objects.json | 42 ++++----- gen/layouts/FloorPlan427-objects.json | 44 ++++----- gen/layouts/FloorPlan428-objects.json | 38 ++++---- gen/layouts/FloorPlan429-objects.json | 38 ++++---- gen/layouts/FloorPlan430-objects.json | 48 +++++----- gen/layouts/FloorPlan5-objects.json | 70 +++++++-------- gen/layouts/FloorPlan6-objects.json | 62 ++++++------- gen/layouts/FloorPlan6-openable.json | 32 +++---- gen/layouts/FloorPlan7-objects.json | 74 +++++++-------- gen/layouts/FloorPlan8-objects.json | 68 +++++++------- gen/layouts/FloorPlan9-objects.json | 60 ++++++------- gen/layouts/precompute_layout_locations.py | 12 +-- gen/scripts/generate_trajectories.py | 16 ++-- gen/scripts/replay_checks.py | 8 +- 145 files changed, 2919 insertions(+), 2837 deletions(-) diff --git a/gen/layouts/FloorPlan1-layout.npy b/gen/layouts/FloorPlan1-layout.npy index 0156294ff76dfd673229e233c9f15bd3c5c9d530..e0b79dc9648e7fa917896a30c388eed0e30f7721 100644 GIT binary patch delta 17 YcmZ1=FhO8~J)_}92Qik-X)L>#0WiM>Hvj+t delta 21 dcmbOrus~pfJ)_Y^2Qik(eM|zI!&r7P0{}w_2cU1^7?iwy{5NvQqS+3^0X+=rYB`pl+#)B(u|+(X3eDj*}oV+ z&g=F5{9*iDuf2bCIIN1}gQ|Eh{`u^s-=|w_);_Px;5K;kbxOW(&%^oPF1Qc=3|=iZ zJ#(3d&BNwl^YAkFc@=Cv@B8rHeBN8l8CUb#Z}Z>7=4JD;dD*;dUN$eAm)&nJ_p|%i z{p@~rKkHldS)cV;pRGD^)w8e1daM`Eaa{H6>#?5i+{3=(xa!&0v#-Z`>>S5cugkw< zJ=SAA)?>Xs^jMGeSdZKM|KN9OKGtJB)?>Y|Fdyr&9_z7Q8ksDw*?QjVu^#Jf=kvLi lSdaBskM(v&>CeM@tjBt+w;Ot_$9k;CdV|no=h^we=o`G&`{V!s delta 92 zcmbQhw}5McEt9#)L(J)`MF2e*yWwAcYF(gh;` delta 22 ecmdnMe}I32J)_w~2REiK`zIe@65H6P#0~&o?Fcjg diff --git a/gen/layouts/FloorPlan14-objects.json b/gen/layouts/FloorPlan14-objects.json index 54395139a..772ebeaa8 100644 --- a/gen/layouts/FloorPlan14-objects.json +++ b/gen/layouts/FloorPlan14-objects.json @@ -1,40 +1,40 @@ [ + "StoveBurner", + "Faucet", + "Egg", + "Plate", + "StoveKnob", "Fork", - "SinkBasin", + "Pan", + "PepperShaker", + "Apple", + "CoffeeMachine", + "Tomato", + "Window", + "Bowl", + "GarbageCan", + "Knife", + "ButterKnife", + "SaltShaker", "Pot", - "Spatula", + "Fridge", + "Microwave", + "Lettuce", + "SinkBasin", "Spoon", - "Tomato", "SoapBottle", + "Toaster", + "Cabinet", + "Cup", + "Ladle", "Bread", - "CoffeeMachine", - "Fridge", + "Sink", "Floor", - "SaltShaker", - "StoveBurner", - "Egg", - "PepperShaker", "Potato", - "Faucet", - "Window", + "Mug", "CounterTop", + "Spatula", "Chair", - "Lettuce", - "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", - "Microwave", - "Cup", - "StoveKnob", - "Mug", - "Knife", - "Toaster", - "GarbageCan", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Ladle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan14-openable.json b/gen/layouts/FloorPlan14-openable.json index 1d053c8cc..82d41ba10 100644 --- a/gen/layouts/FloorPlan14-openable.json +++ b/gen/layouts/FloorPlan14-openable.json @@ -29,12 +29,24 @@ 90, 0 ], + "Cabinet|+01.66|+02.30|+01.31": [ + 1.0, + 0.25, + 0, + 0 + ], "CounterTop|+00.99|+00.95|+01.02": [ 1.0, 0.0, 0, 30 ], + "CounterTop|+00.99|+00.95|-01.52": [ + 1.0, + -0.75, + 180, + 30 + ], "Fridge|-00.53|+00.00|-01.55": [ -0.5, -0.5, diff --git a/gen/layouts/FloorPlan15-objects.json b/gen/layouts/FloorPlan15-objects.json index 6e1b7e25b..fdaa2916f 100644 --- a/gen/layouts/FloorPlan15-objects.json +++ b/gen/layouts/FloorPlan15-objects.json @@ -1,45 +1,45 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Blinds", - "Bread", - "CoffeeMachine", - "Fridge", - "SoapBottle", - "Floor", - "SaltShaker", "StoveBurner", + "Stool", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Blinds", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", + "GarbageBag", "Window", - "CounterTop", - "Lettuce", + "Bowl", + "Knife", + "GarbageCan", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", + "WineBottle", "Microwave", - "GarbageBag", + "Lettuce", + "Kettle", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "WineBottle", - "StoveKnob", - "Stool", + "Drawer", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan16-objects.json b/gen/layouts/FloorPlan16-objects.json index 1fcf0291c..afbb7fbed 100644 --- a/gen/layouts/FloorPlan16-objects.json +++ b/gen/layouts/FloorPlan16-objects.json @@ -1,46 +1,46 @@ [ - "Fork", - "Bottle", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Bread", - "Floor", - "SaltShaker", + "PaperTowelRoll", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "HousePlant", - "Chair", - "Lettuce", + "Bowl", + "Knife", + "GarbageCan", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", + "WineBottle", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "WineBottle", - "StoveKnob", - "PaperTowelRoll", + "Drawer", + "Ladle", + "Bread", + "Sink", "DiningTable", + "Floor", + "HousePlant", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", + "Chair", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Ladle" + "Bottle", + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan17-objects.json b/gen/layouts/FloorPlan17-objects.json index 0b3a5cfb3..59bd03a52 100644 --- a/gen/layouts/FloorPlan17-objects.json +++ b/gen/layouts/FloorPlan17-objects.json @@ -1,47 +1,47 @@ [ - "Fork", - "Bottle", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "CoffeeMachine", - "Fridge", - "SoapBottle", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", + "Stool", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", "PepperShaker", - "Potato", - "Faucet", + "Pan", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Lettuce", - "Shelf", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", - "Microwave", - "Cup", + "Pot", + "SaltShaker", + "Fridge", "WineBottle", - "StoveKnob", + "Microwave", + "Lettuce", + "Kettle", "CellPhone", - "Stool", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", + "Cup", + "Drawer", "SprayBottle", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", + "Shelf", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "Bottle", + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan18-objects.json b/gen/layouts/FloorPlan18-objects.json index 178b0bf8c..5705e7593 100644 --- a/gen/layouts/FloorPlan18-objects.json +++ b/gen/layouts/FloorPlan18-objects.json @@ -1,48 +1,48 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Blinds", - "Bread", - "CoffeeMachine", - "SoapBottle", - "Fridge", - "Floor", - "SaltShaker", + "PaperTowelRoll", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Blinds", "PepperShaker", - "Potato", - "Faucet", + "Pan", + "Apple", + "CoffeeMachine", + "Tomato", + "GarbageBag", "Window", - "CounterTop", - "HousePlant", - "Vase", - "Chair", - "Lettuce", + "Bowl", + "Knife", + "GarbageCan", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "SaltShaker", + "Pot", + "Fridge", "Microwave", - "GarbageBag", + "Lettuce", + "Kettle", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", - "PaperTowelRoll", + "Drawer", + "Bread", + "Sink", "DiningTable", - "Mug", - "Knife", - "Toaster", - "GarbageCan", + "Floor", + "HousePlant", + "Potato", "Safe", + "Vase", + "Mug", + "CounterTop", + "Spatula", + "Chair", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan19-layout.npy b/gen/layouts/FloorPlan19-layout.npy index fb49451ff7d677d93039d6abf68e0c9c5288fd2a..6121069ce040f3b36d9794307c475c402963168b 100644 GIT binary patch delta 24 gcmZqRTEIEMmdVU)qP_dXWdWPT7#A>4zQ&>j0Aj}o5dZ)H delta 102 zcmZ3$*}yfymdV^`qP@Em%K-*3;DXXjaQ?)GFiDs!2bwI$#`DXWCI9RPYh}0qrGLQq Ilk-^&0n?2W*Z=?k diff --git a/gen/layouts/FloorPlan19-objects.json b/gen/layouts/FloorPlan19-objects.json index 888a013da..4eed748ca 100644 --- a/gen/layouts/FloorPlan19-objects.json +++ b/gen/layouts/FloorPlan19-objects.json @@ -1,40 +1,40 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", - "CounterTop", - "Chair", - "Lettuce", + "Apple", + "CoffeeMachine", + "Tomato", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", + "Drawer", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", + "Chair", "LightSwitch", - "Apple", - "Pan", - "Bowl" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan19-openable.json b/gen/layouts/FloorPlan19-openable.json index 9abccce67..72eb01e1b 100644 --- a/gen/layouts/FloorPlan19-openable.json +++ b/gen/layouts/FloorPlan19-openable.json @@ -7,7 +7,7 @@ ], "Cabinet|-00.23|+01.80|-00.45": [ -1.0, - -0.75, + -1.0, 90, 0 ], @@ -17,6 +17,18 @@ 90, 0 ], + "Cabinet|-00.24|+02.10|-01.77": [ + -1.0, + -2.5, + 90, + 0 + ], + "Cabinet|-00.24|+02.10|-02.71": [ + -1.0, + -2.5, + 90, + 0 + ], "Cabinet|-00.58|+00.39|-00.45": [ -1.0, -1.25, @@ -72,10 +84,10 @@ 30 ], "Cabinet|-02.81|+01.81|-03.76": [ - -2.5, - -3.25, + -2.25, + -2.75, 180, - 0 + 30 ], "Cabinet|-03.02|+02.10|-01.74": [ -2.25, @@ -90,10 +102,10 @@ 0 ], "Cabinet|-03.23|+01.80|-03.34": [ - -2.5, - -3.0, + -2.25, + -2.75, 270, - 0 + -30 ], "CounterTop|-00.27|+00.95|-01.09": [ -1.25, @@ -102,7 +114,7 @@ 0 ], "CounterTop|-01.79|+00.95|-03.80": [ - -2.5, + -1.75, -3.25, 180, 30 @@ -115,7 +127,7 @@ ], "Drawer|-00.45|+00.80|-00.76": [ -1.5, - -0.25, + -1.25, 90, 0 ], @@ -131,6 +143,18 @@ 90, 0 ], + "Drawer|-00.45|+00.80|-03.35": [ + -1.0, + -3.0, + 180, + 30 + ], + "Drawer|-03.10|+00.80|-02.97": [ + -2.25, + -2.5, + 180, + 30 + ], "Fridge|-03.19|+00.00|-02.19": [ -2.25, -2.25, @@ -150,9 +174,9 @@ 0 ], "Sink|-01.79|+00.90|-03.75|SinkBasin": [ - -2.25, + -1.25, -3.25, - 90, + 270, 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan2-objects.json b/gen/layouts/FloorPlan2-objects.json index 4f1975af6..f258c83f7 100644 --- a/gen/layouts/FloorPlan2-objects.json +++ b/gen/layouts/FloorPlan2-objects.json @@ -1,43 +1,43 @@ [ + "StoveBurner", + "Faucet", + "Egg", + "Plate", + "StoveKnob", "Fork", - "SinkBasin", + "Pan", + "PepperShaker", + "Apple", + "CoffeeMachine", + "Tomato", + "Window", + "Bowl", + "GarbageCan", + "Knife", + "ButterKnife", "Pot", - "Spatula", + "SaltShaker", + "Fridge", + "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", + "CellPhone", "Spoon", - "Tomato", "SoapBottle", - "CoffeeMachine", - "Fridge", + "Toaster", + "Cabinet", + "Cup", + "Drawer", + "Ladle", "Bread", + "Sink", "Floor", - "SaltShaker", - "StoveBurner", - "Egg", - "Drawer", - "PepperShaker", "Potato", - "Faucet", - "Window", + "Mug", "CounterTop", + "Spatula", "Chair", - "Lettuce", - "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", - "Microwave", - "Cup", - "StoveKnob", - "CellPhone", - "Mug", - "Knife", - "Toaster", - "GarbageCan", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle", - "Ladle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan20-objects.json b/gen/layouts/FloorPlan20-objects.json index a3898ac0d..71aa50970 100644 --- a/gen/layouts/FloorPlan20-objects.json +++ b/gen/layouts/FloorPlan20-objects.json @@ -1,46 +1,46 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "SoapBottle", - "Fridge", - "CoffeeMachine", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", + "Stool", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", "PepperShaker", - "Potato", - "Faucet", + "Pan", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Vase", - "Lettuce", - "Shelf", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "SaltShaker", + "Pot", + "Fridge", + "WineBottle", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "WineBottle", - "StoveKnob", - "Stool", + "Drawer", + "Ladle", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", + "Vase", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", "ShelvingUnit", + "Spatula", + "Shelf", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Ladle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan201-objects.json b/gen/layouts/FloorPlan201-objects.json index 0321e5f1c..a2ddaff25 100644 --- a/gen/layouts/FloorPlan201-objects.json +++ b/gen/layouts/FloorPlan201-objects.json @@ -1,37 +1,37 @@ [ - "Book", - "Pillow", - "DeskLamp", + "FloorLamp", "Curtains", - "Newspaper", - "Laptop", - "Floor", + "Plate", + "Pillow", + "Box", + "Statue", + "Sofa", + "Pencil", "SideTable", - "TVStand", - "Drawer", - "RemoteControl", "KeyChain", - "Window", - "CreditCard", - "FloorLamp", "Watch", - "Vase", - "HousePlant", - "Chair", - "Shelf", - "TissueBox", - "Statue", - "Sofa", - "Plate", "Television", - "Pencil", + "Window", + "Bowl", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "TVStand", + "DeskLamp", + "Drawer", + "LightSwitch", "Painting", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", - "LightSwitch", "CoffeeTable", - "Bowl" + "TissueBox", + "Shelf", + "Chair", + "Newspaper", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan202-objects.json b/gen/layouts/FloorPlan202-objects.json index af50c0220..3b3128b7e 100644 --- a/gen/layouts/FloorPlan202-objects.json +++ b/gen/layouts/FloorPlan202-objects.json @@ -1,26 +1,26 @@ [ - "Book", - "Pillow", + "FloorLamp", "Curtains", - "Laptop", - "Floor", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "TVStand", - "RemoteControl", "KeyChain", - "Window", - "CreditCard", - "FloorLamp", "Watch", - "HousePlant", - "Shelf", - "Statue", - "Sofa", "Television", + "Window", + "GarbageCan", + "CreditCard", + "Book", + "TVStand", "Painting", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", - "GarbageCan", + "CoffeeTable", + "Shelf", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan203-objects.json b/gen/layouts/FloorPlan203-objects.json index 501d058cc..94beee8ee 100644 --- a/gen/layouts/FloorPlan203-objects.json +++ b/gen/layouts/FloorPlan203-objects.json @@ -1,35 +1,35 @@ [ - "Book", + "FloorLamp", + "Plate", "Pillow", - "Newspaper", - "Laptop", - "Floor", + "Box", + "Boots", + "Sofa", + "Pencil", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Watch", + "Television", "Window", + "Bowl", + "GarbageCan", "CreditCard", - "FloorLamp", - "Watch", - "Vase", - "HousePlant", - "Chair", + "Book", + "WateringCan", "Ottoman", - "TissueBox", - "Sofa", - "Plate", - "Television", - "Pencil", "CellPhone", + "Drawer", "Painting", - "WateringCan", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", - "LightSwitch", "CoffeeTable", - "Bowl", - "Boots" + "TissueBox", + "Newspaper", + "Chair", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan204-objects.json b/gen/layouts/FloorPlan204-objects.json index b719faa27..9dfe73b4f 100644 --- a/gen/layouts/FloorPlan204-objects.json +++ b/gen/layouts/FloorPlan204-objects.json @@ -1,31 +1,31 @@ [ - "Pillow", - "DeskLamp", - "Laptop", - "Floor", - "TVStand", - "Drawer", - "RemoteControl", - "KeyChain", - "Window", - "CreditCard", "FloorLamp", - "HousePlant", - "Vase", - "Chair", - "Shelf", - "Desk", + "Pillow", + "Box", "Statue", "Sofa", + "KeyChain", "Television", + "Window", + "GarbageCan", + "CreditCard", + "WateringCan", "CellPhone", + "TVStand", + "DeskLamp", + "Drawer", + "Desk", "Painting", - "WateringCan", "DiningTable", - "Box", - "ArmChair", - "GarbageCan", + "Floor", + "HousePlant", "Safe", + "Laptop", + "Vase", + "ArmChair", + "CoffeeTable", + "Shelf", + "Chair", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan205-objects.json b/gen/layouts/FloorPlan205-objects.json index 59e6c5afb..c6a4bfc6e 100644 --- a/gen/layouts/FloorPlan205-objects.json +++ b/gen/layouts/FloorPlan205-objects.json @@ -1,29 +1,29 @@ [ - "Pillow", - "DeskLamp", + "FloorLamp", "Curtains", - "Laptop", - "Floor", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Watch", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "Watch", - "HousePlant", - "Chair", + "WateringCan", "Ottoman", - "Statue", - "Sofa", - "Television", + "DeskLamp", + "Drawer", "Painting", - "WateringCan", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", "Dresser", - "GarbageCan", - "LightSwitch" + "Chair", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan206-objects.json b/gen/layouts/FloorPlan206-objects.json index cec9755aa..3fd08680a 100644 --- a/gen/layouts/FloorPlan206-objects.json +++ b/gen/layouts/FloorPlan206-objects.json @@ -1,26 +1,26 @@ [ + "FloorLamp", "Pillow", - "Laptop", - "Floor", - "TVStand", - "RemoteControl", + "Box", + "Statue", + "Sofa", "KeyChain", + "Television", "Window", + "Bowl", + "GarbageCan", "CreditCard", - "FloorLamp", - "Vase", - "HousePlant", - "Shelf", - "Statue", + "TVStand", "Cabinet", - "Sofa", - "Television", "Painting", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", "ShelvingUnit", - "LightSwitch", "CoffeeTable", - "Bowl" + "Shelf", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan207-objects.json b/gen/layouts/FloorPlan207-objects.json index ba803b872..96571469e 100644 --- a/gen/layouts/FloorPlan207-objects.json +++ b/gen/layouts/FloorPlan207-objects.json @@ -1,27 +1,27 @@ [ + "FloorLamp", "Pillow", - "Laptop", - "Floor", - "TVStand", + "Box", + "Statue", + "Sofa", "SideTable", - "RemoteControl", "KeyChain", + "Watch", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "Watch", - "HousePlant", - "Vase", - "Shelf", + "TVStand", "Cabinet", - "Statue", - "Sofa", - "Television", "Painting", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", "ShelvingUnit", + "CoffeeTable", + "Shelf", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan208-objects.json b/gen/layouts/FloorPlan208-objects.json index 520b1e219..0bee20c25 100644 --- a/gen/layouts/FloorPlan208-objects.json +++ b/gen/layouts/FloorPlan208-objects.json @@ -1,26 +1,26 @@ [ + "FloorLamp", "Pillow", - "Laptop", - "Floor", - "TVStand", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Television", + "GarbageCan", "CreditCard", - "FloorLamp", - "Vase", - "HousePlant", - "Chair", "Ottoman", - "Shelf", - "Statue", - "Sofa", - "Television", + "TVStand", + "Drawer", "Painting", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", - "LightSwitch" + "Shelf", + "Chair", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan208-openable.json b/gen/layouts/FloorPlan208-openable.json index d259d0514..ef1237543 100644 --- a/gen/layouts/FloorPlan208-openable.json +++ b/gen/layouts/FloorPlan208-openable.json @@ -13,7 +13,7 @@ ], "Drawer|+01.76|+00.77|+01.09": [ 0.75, - 1.5, + 1.25, 90, 0 ], diff --git a/gen/layouts/FloorPlan209-objects.json b/gen/layouts/FloorPlan209-objects.json index 521953765..de861c186 100644 --- a/gen/layouts/FloorPlan209-objects.json +++ b/gen/layouts/FloorPlan209-objects.json @@ -1,31 +1,31 @@ [ - "Book", + "FloorLamp", "Pillow", - "Newspaper", - "Laptop", - "Floor", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", - "Mirror", - "CreditCard", - "Window", - "FloorLamp", "Watch", - "HousePlant", - "Vase", - "Shelf", - "Statue", - "Sofa", "Television", + "Window", + "GarbageCan", "Pen", - "Painting", + "CreditCard", + "Book", "WateringCan", - "Box", - "ArmChair", "Dresser", - "GarbageCan", + "Drawer", + "Mirror", + "Painting", + "Floor", + "HousePlant", + "Laptop", + "Vase", + "ArmChair", + "CoffeeTable", + "Shelf", + "Newspaper", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan21-objects.json b/gen/layouts/FloorPlan21-objects.json index 28423178c..745690924 100644 --- a/gen/layouts/FloorPlan21-objects.json +++ b/gen/layouts/FloorPlan21-objects.json @@ -1,47 +1,47 @@ [ + "StoveBurner", + "Faucet", + "Egg", + "Plate", + "StoveKnob", "Fork", - "SinkBasin", - "Pot", - "Spatula", - "AluminumFoil", - "Spoon", - "Tomato", "Blinds", - "SoapBottle", + "Pan", + "PepperShaker", + "Apple", "CoffeeMachine", - "Fridge", - "Bread", - "Floor", "SideTable", - "SaltShaker", - "StoveBurner", - "Egg", - "Drawer", - "PepperShaker", - "Potato", - "Faucet", - "Mirror", + "Tomato", + "GarbageBag", "Window", - "CounterTop", - "Chair", - "Lettuce", - "Shelf", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "GarbageBag", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", "Microwave", - "DishSponge", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", + "Drawer", + "Mirror", + "Bread", + "Sink", "DiningTable", + "Floor", + "AluminumFoil", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", + "Shelf", + "Chair", "LightSwitch", - "Apple", - "Pan", - "Bowl" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan210-objects.json b/gen/layouts/FloorPlan210-objects.json index 6733f9ce8..bae18ef7d 100644 --- a/gen/layouts/FloorPlan210-objects.json +++ b/gen/layouts/FloorPlan210-objects.json @@ -1,30 +1,30 @@ [ - "Pillow", - "DeskLamp", + "FloorLamp", "Curtains", - "DogBed", - "Newspaper", - "Laptop", - "Floor", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Watch", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "Watch", - "HousePlant", - "Chair", + "WateringCan", "Ottoman", - "Statue", - "Sofa", - "Television", + "DeskLamp", + "Drawer", + "LightSwitch", "Painting", - "WateringCan", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", "Dresser", - "GarbageCan", - "LightSwitch" + "Chair", + "DogBed", + "Newspaper", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan211-objects.json b/gen/layouts/FloorPlan211-objects.json index 9b31a0ba9..1b5494a15 100644 --- a/gen/layouts/FloorPlan211-objects.json +++ b/gen/layouts/FloorPlan211-objects.json @@ -1,30 +1,30 @@ [ + "FloorLamp", + "Plate", "Pillow", - "Newspaper", - "Laptop", - "Floor", + "Box", + "Statue", + "Sofa", "SideTable", - "TVStand", - "Drawer", - "RemoteControl", "KeyChain", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "HousePlant", - "Vase", - "Shelf", - "Statue", - "Sofa", - "Plate", - "Television", "CellPhone", + "TVStand", + "Drawer", "Painting", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", "ShelvingUnit", + "CoffeeTable", + "Shelf", + "Newspaper", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan212-objects.json b/gen/layouts/FloorPlan212-objects.json index b2c1601c7..12ac01b0e 100644 --- a/gen/layouts/FloorPlan212-objects.json +++ b/gen/layouts/FloorPlan212-objects.json @@ -1,30 +1,30 @@ [ + "FloorLamp", "Pillow", - "Newspaper", - "Laptop", - "Floor", - "TVStand", + "Box", + "Boots", + "Sofa", + "Statue", + "Pencil", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", - "Window", - "CreditCard", - "FloorLamp", - "HousePlant", - "Shelf", - "TissueBox", - "Statue", - "Sofa", "Television", - "Pencil", + "Window", + "GarbageCan", "Pen", - "Painting", + "CreditCard", "WateringCan", - "Box", - "ArmChair", - "GarbageCan", + "TVStand", + "Drawer", "LightSwitch", + "Painting", + "Floor", + "HousePlant", + "Laptop", + "ArmChair", "CoffeeTable", - "Boots" + "TissueBox", + "Shelf", + "Newspaper", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan213-layout.npy b/gen/layouts/FloorPlan213-layout.npy index d23c0d631407156ee7b5fa22c51e8c8e27b14e2c..8272a745f57557996de621e9e77877029c252187 100644 GIT binary patch delta 17 ZcmbQB+MqhYp3!2X!&I)#Pq|jJ0{}M+21ft@ delta 20 ccmZorouE3wp3!on!&ELN2Gz~SxpuMx07GO3UjP6A diff --git a/gen/layouts/FloorPlan213-objects.json b/gen/layouts/FloorPlan213-objects.json index 83233e4b2..56f6f2380 100644 --- a/gen/layouts/FloorPlan213-objects.json +++ b/gen/layouts/FloorPlan213-objects.json @@ -1,27 +1,27 @@ [ - "Book", + "FloorLamp", "Pillow", - "Laptop", - "Floor", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", - "Window", - "CreditCard", - "FloorLamp", "Watch", - "HousePlant", - "Chair", - "Shelf", - "Statue", - "Sofa", "Television", + "Window", + "GarbageCan", + "CreditCard", + "Book", + "Drawer", "Painting", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", + "CoffeeTable", + "Shelf", "Dresser", - "GarbageCan", + "Chair", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan214-objects.json b/gen/layouts/FloorPlan214-objects.json index 47e24b78a..49a7ed935 100644 --- a/gen/layouts/FloorPlan214-objects.json +++ b/gen/layouts/FloorPlan214-objects.json @@ -1,29 +1,29 @@ [ - "Pillow", - "DeskLamp", + "FloorLamp", "Curtains", - "Newspaper", - "Laptop", - "Floor", + "Plate", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "RemoteControl", "KeyChain", + "Television", "Window", + "Bowl", + "GarbageCan", "CreditCard", - "FloorLamp", - "Vase", - "HousePlant", - "Shelf", - "Statue", - "Sofa", - "Plate", - "Television", - "Painting", "WateringCan", - "Box", + "DeskLamp", + "Painting", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", - "LightSwitch", "CoffeeTable", - "Bowl" + "Shelf", + "Newspaper", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan215-objects.json b/gen/layouts/FloorPlan215-objects.json index 873382999..60b621433 100644 --- a/gen/layouts/FloorPlan215-objects.json +++ b/gen/layouts/FloorPlan215-objects.json @@ -1,30 +1,30 @@ [ + "FloorLamp", "Pillow", - "DeskLamp", - "Newspaper", - "Laptop", - "Floor", + "Statue", + "Box", + "Sofa", "SideTable", - "RemoteControl", "KeyChain", - "Mirror", - "CreditCard", - "Window", - "FloorLamp", "Watch", - "Vase", - "HousePlant", - "Chair", - "Shelf", - "Statue", - "Sofa", "Television", - "Painting", - "WateringCan", - "Box", + "Window", + "Bowl", "GarbageCan", + "CreditCard", + "WateringCan", + "DeskLamp", + "Mirror", + "Painting", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ShelvingUnit", - "LightSwitch", "CoffeeTable", - "Bowl" + "Shelf", + "Newspaper", + "Chair", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan216-objects.json b/gen/layouts/FloorPlan216-objects.json index a3b69775c..3fc8606c0 100644 --- a/gen/layouts/FloorPlan216-objects.json +++ b/gen/layouts/FloorPlan216-objects.json @@ -1,28 +1,28 @@ [ + "FloorLamp", "Pillow", - "DeskLamp", - "Newspaper", - "Laptop", - "Floor", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "HousePlant", - "Vase", - "Chair", - "Shelf", - "TissueBox", - "Statue", - "Sofa", - "Television", + "DeskLamp", + "Drawer", "Painting", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", - "LightSwitch" + "TissueBox", + "Newspaper", + "Shelf", + "Chair", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan217-objects.json b/gen/layouts/FloorPlan217-objects.json index 2d79c1633..fab11eadd 100644 --- a/gen/layouts/FloorPlan217-objects.json +++ b/gen/layouts/FloorPlan217-objects.json @@ -1,29 +1,29 @@ [ - "Pillow", - "DeskLamp", + "FloorLamp", "Curtains", - "Laptop", - "Floor", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Watch", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "Watch", - "HousePlant", - "Chair", + "WateringCan", "Cabinet", - "Statue", - "Sofa", - "Television", + "DeskLamp", + "Drawer", "Painting", - "WateringCan", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", + "CoffeeTable", "Dresser", - "GarbageCan", + "Chair", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan218-objects.json b/gen/layouts/FloorPlan218-objects.json index e709ead3e..b52cc7c18 100644 --- a/gen/layouts/FloorPlan218-objects.json +++ b/gen/layouts/FloorPlan218-objects.json @@ -1,30 +1,30 @@ [ - "Pillow", - "DeskLamp", + "FloorLamp", "Curtains", - "Newspaper", - "Laptop", - "Floor", + "Plate", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "HousePlant", - "Chair", - "Statue", - "Sofa", - "Plate", - "Television", + "WateringCan", "CellPhone", + "Dresser", + "DeskLamp", + "Drawer", "Painting", - "WateringCan", "DiningTable", - "Box", - "Dresser", - "GarbageCan", + "Floor", + "HousePlant", + "Laptop", + "CoffeeTable", + "Newspaper", + "Chair", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan219-objects.json b/gen/layouts/FloorPlan219-objects.json index 731721f74..770f701c6 100644 --- a/gen/layouts/FloorPlan219-objects.json +++ b/gen/layouts/FloorPlan219-objects.json @@ -1,31 +1,31 @@ [ + "FloorLamp", "Pillow", - "DeskLamp", - "Newspaper", - "Laptop", - "Floor", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", - "CreditCard", - "FloorLamp", "Watch", - "Vase", - "HousePlant", - "Shelf", - "TissueBox", - "Statue", - "Cabinet", - "Sofa", "Television", + "GarbageCan", + "CreditCard", + "Newspaper", "CellPhone", - "Painting", - "Box", - "ArmChair", + "Cabinet", "Dresser", - "GarbageCan", + "DeskLamp", + "Drawer", + "Painting", + "Floor", + "HousePlant", "Safe", + "Laptop", + "Vase", + "ArmChair", + "ShelvingUnit", + "TissueBox", + "Shelf", "LightSwitch", - "ShelvingUnit" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan219-openable.json b/gen/layouts/FloorPlan219-openable.json index ae869b8fb..6daba59dd 100644 --- a/gen/layouts/FloorPlan219-openable.json +++ b/gen/layouts/FloorPlan219-openable.json @@ -96,7 +96,7 @@ 0 ], "Shelf|-01.22|+00.27|+00.26": [ - -1.75, + -1.5, 1.0, 180, 30 diff --git a/gen/layouts/FloorPlan22-objects.json b/gen/layouts/FloorPlan22-objects.json index 1ae742d3d..51552ba88 100644 --- a/gen/layouts/FloorPlan22-objects.json +++ b/gen/layouts/FloorPlan22-objects.json @@ -1,42 +1,42 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Floor", - "SaltShaker", "StoveBurner", + "Stool", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", "Window", + "Bowl", + "GarbageCan", + "Knife", "CreditCard", - "CounterTop", - "Lettuce", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "SaltShaker", + "Pot", + "Fridge", "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", - "Stool", + "Drawer", + "Bread", + "Sink", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan220-objects.json b/gen/layouts/FloorPlan220-objects.json index ff575708c..4ade16795 100644 --- a/gen/layouts/FloorPlan220-objects.json +++ b/gen/layouts/FloorPlan220-objects.json @@ -1,30 +1,30 @@ [ - "Pillow", - "Laptop", + "FloorLamp", "Candle", - "Floor", + "Pillow", + "Box", + "Boots", + "Sofa", + "Statue", "SideTable", - "TVStand", - "Drawer", - "RemoteControl", "KeyChain", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "RoomDecor", - "HousePlant", - "Chair", - "TissueBox", - "Statue", - "Sofa", - "Television", + "TVStand", + "Drawer", "Painting", + "RoomDecor", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", + "CoffeeTable", + "TissueBox", "Dresser", - "GarbageCan", + "Chair", "LightSwitch", - "CoffeeTable", - "Boots" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan221-objects.json b/gen/layouts/FloorPlan221-objects.json index e0e55a4e7..0c292118a 100644 --- a/gen/layouts/FloorPlan221-objects.json +++ b/gen/layouts/FloorPlan221-objects.json @@ -1,29 +1,29 @@ [ - "Pillow", - "Curtains", - "Laptop", - "Floor", - "SideTable", - "Drawer", - "RemoteControl", - "KeyChain", - "Window", - "CreditCard", "FloorLamp", - "Vase", - "HousePlant", - "Chair", + "Stool", + "Curtains", + "Plate", + "Pillow", + "Box", "Statue", "Sofa", - "Plate", + "SideTable", + "KeyChain", "Television", - "Stool", + "Window", + "GarbageCan", "Pen", + "CreditCard", + "Drawer", "Painting", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", + "CoffeeTable", + "Chair", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan221-openable.json b/gen/layouts/FloorPlan221-openable.json index dd2cbc31c..616f56233 100644 --- a/gen/layouts/FloorPlan221-openable.json +++ b/gen/layouts/FloorPlan221-openable.json @@ -24,7 +24,7 @@ 30 ], "Drawer|-00.03|+00.87|-02.49": [ - -0.25, + -0.5, -1.5, 180, 0 diff --git a/gen/layouts/FloorPlan222-objects.json b/gen/layouts/FloorPlan222-objects.json index 5f25a7a69..3b4888f48 100644 --- a/gen/layouts/FloorPlan222-objects.json +++ b/gen/layouts/FloorPlan222-objects.json @@ -1,26 +1,26 @@ [ - "Pillow", + "FloorLamp", "Curtains", - "Newspaper", - "Laptop", - "Floor", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "TVStand", - "Drawer", - "RemoteControl", "KeyChain", - "Window", - "CreditCard", - "FloorLamp", "Watch", - "HousePlant", - "Statue", - "Sofa", "Television", + "Window", + "GarbageCan", + "CreditCard", + "TVStand", + "Drawer", "Painting", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", - "GarbageCan", + "CoffeeTable", + "Newspaper", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan223-objects.json b/gen/layouts/FloorPlan223-objects.json index 777ad9b78..e7796955d 100644 --- a/gen/layouts/FloorPlan223-objects.json +++ b/gen/layouts/FloorPlan223-objects.json @@ -1,28 +1,28 @@ [ - "Pillow", - "Laptop", + "FloorLamp", + "Plate", "Candle", - "Floor", - "TVStand", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "RemoteControl", "KeyChain", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "HousePlant", - "Vase", - "Chair", - "Statue", - "Sofa", - "Plate", - "Television", - "Painting", "WateringCan", + "TVStand", + "Painting", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", + "CoffeeTable", + "Chair", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan224-objects.json b/gen/layouts/FloorPlan224-objects.json index b8eb4ebae..c848824cf 100644 --- a/gen/layouts/FloorPlan224-objects.json +++ b/gen/layouts/FloorPlan224-objects.json @@ -1,32 +1,32 @@ [ - "Book", + "FloorLamp", + "Stool", "Pillow", - "DeskLamp", - "DogBed", - "Newspaper", - "Laptop", - "Floor", + "Statue", + "Box", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "HousePlant", - "Vase", - "Chair", - "Cabinet", - "Statue", - "Sofa", - "Television", - "Stool", + "Book", + "WateringCan", "CellPhone", + "Cabinet", + "DeskLamp", + "Drawer", + "LightSwitch", "Painting", - "WateringCan", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", "Dresser", - "GarbageCan", - "LightSwitch" + "Chair", + "DogBed", + "Newspaper", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan225-objects.json b/gen/layouts/FloorPlan225-objects.json index 8d63d3fa1..56cce5761 100644 --- a/gen/layouts/FloorPlan225-objects.json +++ b/gen/layouts/FloorPlan225-objects.json @@ -1,31 +1,31 @@ [ - "Pillow", - "DeskLamp", + "FloorLamp", "Curtains", - "Newspaper", - "Laptop", - "Floor", + "Pillow", + "Box", + "Statue", + "Sofa", "SideTable", - "TVStand", - "Drawer", - "RemoteControl", "KeyChain", - "Window", - "CreditCard", - "FloorLamp", "Watch", - "Vase", - "HousePlant", - "Chair", - "Shelf", - "TissueBox", - "Statue", - "Sofa", "Television", - "Painting", - "Box", - "ArmChair", + "Window", "GarbageCan", + "CreditCard", + "TVStand", + "DeskLamp", + "Drawer", "LightSwitch", - "CoffeeTable" + "Painting", + "Floor", + "HousePlant", + "Laptop", + "Vase", + "ArmChair", + "CoffeeTable", + "TissueBox", + "Shelf", + "Chair", + "Newspaper", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan226-objects.json b/gen/layouts/FloorPlan226-objects.json index 8dea65721..955390880 100644 --- a/gen/layouts/FloorPlan226-objects.json +++ b/gen/layouts/FloorPlan226-objects.json @@ -1,25 +1,25 @@ [ + "FloorLamp", "Pillow", + "Box", + "Statue", + "Sofa", "Blinds", - "Newspaper", - "Laptop", - "Floor", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", - "Window", - "CreditCard", - "FloorLamp", "Watch", - "HousePlant", - "Statue", - "Sofa", "Television", + "Window", + "GarbageCan", + "CreditCard", + "Drawer", "Painting", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", - "GarbageCan", + "CoffeeTable", + "Newspaper", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan227-objects.json b/gen/layouts/FloorPlan227-objects.json index d9743c275..f87968d27 100644 --- a/gen/layouts/FloorPlan227-objects.json +++ b/gen/layouts/FloorPlan227-objects.json @@ -1,28 +1,28 @@ [ + "FloorLamp", + "Plate", "Pillow", - "Newspaper", - "Laptop", - "Floor", - "Drawer", - "RemoteControl", + "Box", + "Statue", + "Sofa", "KeyChain", + "Television", "Window", + "GarbageCan", "CreditCard", - "FloorLamp", - "HousePlant", - "Vase", - "Chair", - "Shelf", "Cabinet", - "Statue", - "Sofa", - "Plate", - "Television", + "Drawer", "Painting", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", + "Vase", "ArmChair", - "GarbageCan", + "CoffeeTable", + "Shelf", + "Newspaper", + "Chair", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan228-objects.json b/gen/layouts/FloorPlan228-objects.json index 14684f361..aac91e8d2 100644 --- a/gen/layouts/FloorPlan228-objects.json +++ b/gen/layouts/FloorPlan228-objects.json @@ -1,27 +1,27 @@ [ + "FloorLamp", + "Plate", "Pillow", - "Newspaper", - "Laptop", - "Floor", + "Box", + "Statue", + "Sofa", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", - "Window", - "CreditCard", - "FloorLamp", "Watch", - "Vase", - "HousePlant", - "Chair", - "Statue", - "Sofa", - "Plate", "Television", + "Window", + "GarbageCan", + "CreditCard", + "Drawer", "Painting", "DiningTable", - "Box", - "GarbageCan", + "Floor", + "HousePlant", + "Laptop", + "Vase", + "CoffeeTable", + "Newspaper", + "Chair", "LightSwitch", - "CoffeeTable" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan229-objects.json b/gen/layouts/FloorPlan229-objects.json index ca58cee6a..2aca56e1f 100644 --- a/gen/layouts/FloorPlan229-objects.json +++ b/gen/layouts/FloorPlan229-objects.json @@ -1,32 +1,32 @@ [ - "Book", + "FloorLamp", "Pillow", - "Laptop", - "Floor", + "Box", + "Boots", + "Sofa", + "Statue", + "Pencil", "SideTable", - "Drawer", - "RemoteControl", "KeyChain", + "Television", "Window", + "GarbageCan", + "Pen", "CreditCard", - "FloorLamp", - "HousePlant", - "Chair", - "Desk", - "TissueBox", - "Statue", - "Sofa", - "Television", - "Pencil", + "Book", + "WateringCan", "CellPhone", - "Pen", + "Drawer", + "Desk", "Painting", - "WateringCan", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", + "CoffeeTable", + "TissueBox", "Dresser", - "GarbageCan", + "Chair", "LightSwitch", - "CoffeeTable", - "Boots" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan23-objects.json b/gen/layouts/FloorPlan23-objects.json index ca22fa1ce..f21beb23b 100644 --- a/gen/layouts/FloorPlan23-objects.json +++ b/gen/layouts/FloorPlan23-objects.json @@ -1,47 +1,47 @@ [ - "Fork", - "Bottle", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Blinds", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Bread", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Blinds", + "Pencil", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Chair", - "Lettuce", - "Shelf", + "Bowl", + "GarbageCan", + "Knife", + "Pen", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", + "WineBottle", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "Pencil", - "WineBottle", - "StoveKnob", - "Pen", + "Drawer", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", + "Shelf", + "Chair", "LightSwitch", - "Apple", - "Pan", - "Bowl" + "Bottle", + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan230-objects.json b/gen/layouts/FloorPlan230-objects.json index d5d50fb36..7ddc799b5 100644 --- a/gen/layouts/FloorPlan230-objects.json +++ b/gen/layouts/FloorPlan230-objects.json @@ -1,32 +1,32 @@ [ - "Pillow", - "DeskLamp", - "Newspaper", - "Laptop", + "FloorLamp", + "Plate", "Candle", - "Floor", + "Pillow", + "Box", + "Boots", + "Statue", + "Sofa", "SideTable", - "RemoteControl", "KeyChain", - "Mirror", - "CreditCard", - "Window", - "FloorLamp", "Watch", - "RoomDecor", - "HousePlant", - "Chair", - "TissueBox", - "Statue", - "Sofa", - "Plate", "Television", + "Window", + "GarbageCan", + "CreditCard", + "DeskLamp", + "Mirror", "Painting", + "RoomDecor", "DiningTable", - "Box", + "Floor", + "HousePlant", + "Laptop", "ArmChair", - "GarbageCan", - "LightSwitch", "CoffeeTable", - "Boots" + "TissueBox", + "Newspaper", + "Chair", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan24-objects.json b/gen/layouts/FloorPlan24-objects.json index dadbb6ba9..8e672f02f 100644 --- a/gen/layouts/FloorPlan24-objects.json +++ b/gen/layouts/FloorPlan24-objects.json @@ -1,42 +1,42 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Floor", - "SaltShaker", + "PaperTowelRoll", "StoveBurner", + "Stool", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Lettuce", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", - "Stool", - "PaperTowelRoll", + "Drawer", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan25-objects.json b/gen/layouts/FloorPlan25-objects.json index bade0e920..5b347b322 100644 --- a/gen/layouts/FloorPlan25-objects.json +++ b/gen/layouts/FloorPlan25-objects.json @@ -1,41 +1,41 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Bread", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", + "Stool", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Lettuce", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", - "Stool", + "Drawer", + "Ladle", + "Bread", + "Sink", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Ladle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan25-openable.json b/gen/layouts/FloorPlan25-openable.json index 1c47792de..fd64b1b5e 100644 --- a/gen/layouts/FloorPlan25-openable.json +++ b/gen/layouts/FloorPlan25-openable.json @@ -54,16 +54,10 @@ 30 ], "Drawer|-00.40|+00.70|+00.91": [ - -1.5, - 1.0, - 90, - 0 - ], - "Drawer|-00.40|+00.70|+01.25": [ - -1.75, - 2.0, - 90, - 0 + -1.0, + 1.25, + 180, + 30 ], "Drawer|-02.59|+00.70|+01.51": [ -1.75, diff --git a/gen/layouts/FloorPlan26-objects.json b/gen/layouts/FloorPlan26-objects.json index 8c5e89782..25823e8f5 100644 --- a/gen/layouts/FloorPlan26-objects.json +++ b/gen/layouts/FloorPlan26-objects.json @@ -1,40 +1,40 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "CoffeeMachine", - "Fridge", - "SoapBottle", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", "PepperShaker", - "Potato", - "Faucet", + "Pan", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Lettuce", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "SaltShaker", + "Pot", + "Fridge", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", + "Drawer", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan27-objects.json b/gen/layouts/FloorPlan27-objects.json index 98936e2ee..3b62eb5e3 100644 --- a/gen/layouts/FloorPlan27-objects.json +++ b/gen/layouts/FloorPlan27-objects.json @@ -1,43 +1,43 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Curtains", - "Spoon", - "Tomato", - "Bread", - "SoapBottle", - "Fridge", - "CoffeeMachine", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Curtains", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", - "CounterTop", - "Chair", - "Lettuce", + "Apple", + "CoffeeMachine", + "Tomato", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "SaltShaker", + "Pot", + "Fridge", + "WineBottle", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "WineBottle", - "StoveKnob", + "Drawer", + "Ladle", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", + "Chair", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Ladle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan28-objects.json b/gen/layouts/FloorPlan28-objects.json index b48712391..7abe48eea 100644 --- a/gen/layouts/FloorPlan28-objects.json +++ b/gen/layouts/FloorPlan28-objects.json @@ -1,43 +1,43 @@ [ + "StoveBurner", + "Faucet", + "Egg", + "Plate", + "StoveKnob", "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", "Blinds", - "Bread", - "SoapBottle", + "Pan", + "PepperShaker", + "Apple", "CoffeeMachine", - "Fridge", - "Floor", - "SaltShaker", "SideTable", - "StoveBurner", - "Egg", - "Drawer", - "PepperShaker", - "Potato", - "Faucet", + "Tomato", "Window", - "CounterTop", - "Lettuce", - "Shelf", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", + "Drawer", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", + "Shelf", "LightSwitch", - "Apple", - "Pan", - "Bowl" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan29-objects.json b/gen/layouts/FloorPlan29-objects.json index 5bc8c4f54..017eb7373 100644 --- a/gen/layouts/FloorPlan29-objects.json +++ b/gen/layouts/FloorPlan29-objects.json @@ -1,39 +1,39 @@ [ + "StoveBurner", + "Faucet", + "Egg", + "Plate", + "StoveKnob", "Fork", - "SinkBasin", + "Pan", + "PepperShaker", + "Apple", + "CoffeeMachine", + "Tomato", + "Bowl", + "GarbageCan", + "Knife", + "ButterKnife", + "SaltShaker", "Pot", - "Spatula", + "Fridge", + "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", "Spoon", - "Tomato", "SoapBottle", - "CoffeeMachine", - "Fridge", + "Toaster", + "Cabinet", + "Cup", "Bread", + "Sink", "Floor", - "SaltShaker", - "StoveBurner", - "Egg", - "PepperShaker", "Potato", - "Faucet", + "Mug", "CounterTop", + "Spatula", "Chair", - "Lettuce", - "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", - "Microwave", - "Cup", - "StoveKnob", - "Mug", - "Knife", - "Toaster", - "GarbageCan", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan3-objects.json b/gen/layouts/FloorPlan3-objects.json index eb87d0b0a..0f770854d 100644 --- a/gen/layouts/FloorPlan3-objects.json +++ b/gen/layouts/FloorPlan3-objects.json @@ -1,45 +1,45 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "SoapBottle", - "Fridge", - "CoffeeMachine", - "Floor", - "SaltShaker", - "SideTable", + "PaperTowelRoll", "StoveBurner", + "Faucet", + "Stool", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Faucet", - "Potato", + "Apple", + "CoffeeMachine", + "SideTable", + "Tomato", "Window", - "CounterTop", - "HousePlant", - "Lettuce", + "Bowl", + "Knife", + "GarbageCan", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", + "WineBottle", "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "WineBottle", - "StoveKnob", - "Stool", - "PaperTowelRoll", + "Drawer", + "Bread", + "Sink", + "Floor", + "HousePlant", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan3-openable.json b/gen/layouts/FloorPlan3-openable.json index e87490c9a..1d586c647 100644 --- a/gen/layouts/FloorPlan3-openable.json +++ b/gen/layouts/FloorPlan3-openable.json @@ -61,7 +61,7 @@ ], "Drawer|+00.65|+01.06|+01.02": [ -0.25, - 1.0, + 1.75, 90, 0 ], diff --git a/gen/layouts/FloorPlan30-objects.json b/gen/layouts/FloorPlan30-objects.json index 39a59b923..03562e5d5 100644 --- a/gen/layouts/FloorPlan30-objects.json +++ b/gen/layouts/FloorPlan30-objects.json @@ -1,45 +1,45 @@ [ - "Fork", - "Bottle", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Bread", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", "PepperShaker", - "Potato", - "Faucet", - "Mirror", + "Pan", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "HousePlant", - "Lettuce", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", "Microwave", - "Cup", - "StoveKnob", + "Lettuce", + "Kettle", + "SinkBasin", "CellPhone", - "Mug", - "Knife", + "Spoon", + "SoapBottle", "Toaster", - "GarbageCan", + "Cabinet", + "Cup", + "Drawer", + "Ladle", + "Mirror", + "Bread", + "Sink", + "Floor", + "HousePlant", + "Potato", + "Mug", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle", - "Ladle" + "Bottle", + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan301-objects.json b/gen/layouts/FloorPlan301-objects.json index bbd5ffa17..055e23fb7 100644 --- a/gen/layouts/FloorPlan301-objects.json +++ b/gen/layouts/FloorPlan301-objects.json @@ -1,35 +1,35 @@ [ - "Book", - "Pillow", - "DeskLamp", - "DogBed", - "Blinds", "BaseballBat", - "Laptop", - "CD", - "Floor", - "Drawer", - "KeyChain", - "Mirror", - "CreditCard", - "Window", - "Watch", - "Chair", - "Shelf", - "Desk", - "TissueBox", - "Bed", - "Statue", - "BasketBall", "AlarmClock", + "BasketBall", + "Blinds", + "Box", + "Boots", + "Pillow", + "Statue", "Pencil", - "CellPhone", + "KeyChain", + "Watch", + "Window", + "Bowl", + "GarbageCan", "Pen", - "Mug", - "Box", + "CreditCard", + "Book", + "CellPhone", "Dresser", - "GarbageCan", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Laptop", + "Mug", + "Bed", + "TissueBox", + "Shelf", + "Chair", + "DogBed", "LightSwitch", - "Bowl", - "Boots" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan301-openable.json b/gen/layouts/FloorPlan301-openable.json index 24d81f909..5acc2707a 100644 --- a/gen/layouts/FloorPlan301-openable.json +++ b/gen/layouts/FloorPlan301-openable.json @@ -54,9 +54,9 @@ 30 ], "Drawer|+02.82|+00.41|-01.18": [ - 2.5, - -0.25, - 90, + 2.0, + -0.5, + 180, 30 ], "Drawer|+02.82|+00.63|-01.18": [ diff --git a/gen/layouts/FloorPlan302-objects.json b/gen/layouts/FloorPlan302-objects.json index fffcbe01c..83f093816 100644 --- a/gen/layouts/FloorPlan302-objects.json +++ b/gen/layouts/FloorPlan302-objects.json @@ -1,31 +1,31 @@ [ - "Book", + "AlarmClock", "Pillow", - "DeskLamp", "Blinds", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "HousePlant", - "Chair", - "Shelf", - "Desk", - "Bed", + "Bowl", + "GarbageCan", + "Pen", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", "Painting", - "GarbageCan", + "Floor", + "HousePlant", "Safe", + "Laptop", + "Bed", + "TennisRacket", + "Shelf", + "Chair", "LightSwitch", - "Bowl", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan303-objects.json b/gen/layouts/FloorPlan303-objects.json index bdf804a5d..50bca7fac 100644 --- a/gen/layouts/FloorPlan303-objects.json +++ b/gen/layouts/FloorPlan303-objects.json @@ -1,35 +1,35 @@ [ - "Book", + "BaseballBat", + "AlarmClock", "Pillow", - "DeskLamp", + "Box", "Blinds", - "BaseballBat", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", - "Window", - "Vase", - "Chair", - "Shelf", - "Desk", - "Bed", "GarbageBag", + "Window", + "GarbageCan", + "Poster", + "Pen", "Cloth", - "AlarmClock", - "Pencil", + "CreditCard", + "Book", "CellPhone", - "Pen", "Dumbbell", - "Poster", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Laptop", + "Vase", "Mug", - "Box", - "GarbageCan", + "Bed", "ShelvingUnit", + "TennisRacket", + "Shelf", + "Chair", "LightSwitch", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan304-objects.json b/gen/layouts/FloorPlan304-objects.json index 466deefa0..3aed39397 100644 --- a/gen/layouts/FloorPlan304-objects.json +++ b/gen/layouts/FloorPlan304-objects.json @@ -1,30 +1,30 @@ [ - "Book", + "AlarmClock", + "LaundryHamper", + "BasketBall", "Pillow", - "DeskLamp", + "Box", + "Statue", "Blinds", - "Laptop", - "CD", - "Floor", - "LaundryHamper", - "Drawer", + "Pencil", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Shelf", - "Desk", - "Statue", - "Bed", - "BasketBall", - "AlarmClock", - "Pencil", - "CellPhone", + "Bowl", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Laptop", "Mug", - "Box", - "GarbageCan", + "Bed", + "Shelf", + "Chair", "LightSwitch", - "Bowl" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan305-objects.json b/gen/layouts/FloorPlan305-objects.json index 649937bfc..31a734502 100644 --- a/gen/layouts/FloorPlan305-objects.json +++ b/gen/layouts/FloorPlan305-objects.json @@ -1,32 +1,32 @@ [ - "Book", + "BaseballBat", + "AlarmClock", + "LaundryHamper", + "BasketBall", "Pillow", - "DeskLamp", + "Box", "Blinds", - "BaseballBat", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "LaundryHamper", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Shelf", - "Desk", - "Bed", - "BasketBall", - "AlarmClock", - "Pencil", - "CellPhone", - "Pen", + "Bowl", + "GarbageCan", "Poster", + "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Laptop", "Mug", - "Box", - "GarbageCan", + "Bed", + "Shelf", + "Chair", "LightSwitch", - "Bowl" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan305-openable.json b/gen/layouts/FloorPlan305-openable.json index 6307164f9..b97586499 100644 --- a/gen/layouts/FloorPlan305-openable.json +++ b/gen/layouts/FloorPlan305-openable.json @@ -29,6 +29,12 @@ 0, 30 ], + "Drawer|-00.10|+00.16|-01.62": [ + -0.75, + -1.25, + 90, + 30 + ], "Drawer|-00.10|+00.46|-01.62": [ -0.75, -1.25, diff --git a/gen/layouts/FloorPlan306-objects.json b/gen/layouts/FloorPlan306-objects.json index 8a72037e1..9f1ef1a79 100644 --- a/gen/layouts/FloorPlan306-objects.json +++ b/gen/layouts/FloorPlan306-objects.json @@ -1,27 +1,27 @@ [ - "Book", + "AlarmClock", + "LaundryHamper", "Pillow", - "DeskLamp", "Blinds", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "LaundryHamper", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Shelf", - "Desk", - "Bed", + "GarbageCan", + "Pen", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", - "GarbageCan", - "LightSwitch" + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Laptop", + "Bed", + "Shelf", + "Chair", + "LightSwitch", + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan307-objects.json b/gen/layouts/FloorPlan307-objects.json index e34e03568..6efac3fb0 100644 --- a/gen/layouts/FloorPlan307-objects.json +++ b/gen/layouts/FloorPlan307-objects.json @@ -1,34 +1,34 @@ [ - "Book", + "AlarmClock", + "LaundryHamper", "Pillow", - "DeskLamp", "Blinds", - "Laptop", "CD", - "Floor", + "Pencil", "SideTable", - "LaundryHamper", - "Drawer", - "RemoteControl", "KeyChain", - "Mirror", - "CreditCard", + "Television", "Window", - "Chair", - "Shelf", - "Desk", - "Bed", + "Bowl", + "GarbageCan", + "Poster", + "Pen", "Cloth", - "AlarmClock", - "Television", - "Pencil", + "CreditCard", + "Book", "CellPhone", - "Pen", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", "Painting", - "Poster", - "GarbageCan", + "Floor", + "Laptop", + "Bed", "ShelvingUnit", + "TennisRacket", + "Shelf", + "Chair", "LightSwitch", - "Bowl", - "TennisRacket" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan308-objects.json b/gen/layouts/FloorPlan308-objects.json index ee1b055ef..02b82276c 100644 --- a/gen/layouts/FloorPlan308-objects.json +++ b/gen/layouts/FloorPlan308-objects.json @@ -1,30 +1,30 @@ [ - "Book", - "Pillow", - "DeskLamp", - "Blinds", "BaseballBat", - "Laptop", - "CD", - "Floor", + "AlarmClock", "LaundryHamper", - "Drawer", - "KeyChain", - "Mirror", - "CreditCard", - "Window", - "Chair", - "Shelf", - "Desk", - "Bed", "BasketBall", - "AlarmClock", + "Pillow", + "Blinds", "Pencil", - "CellPhone", - "Pen", - "Mug", + "KeyChain", + "Window", + "Bowl", "GarbageCan", + "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", "Safe", + "Laptop", + "Mug", + "Bed", + "Shelf", + "Chair", "LightSwitch", - "Bowl" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan309-objects.json b/gen/layouts/FloorPlan309-objects.json index 7d972b856..d7480bbe8 100644 --- a/gen/layouts/FloorPlan309-objects.json +++ b/gen/layouts/FloorPlan309-objects.json @@ -1,33 +1,33 @@ [ - "Book", + "AlarmClock", + "LaundryHamper", "Pillow", - "DeskLamp", "Blinds", - "Laptop", "CD", - "Floor", + "Pencil", "SideTable", - "LaundryHamper", - "Drawer", - "RemoteControl", "KeyChain", - "Mirror", - "CreditCard", + "Television", "Window", - "HousePlant", - "Chair", - "Desk", - "Bed", - "Cabinet", + "GarbageCan", + "Pen", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Television", - "Pencil", "CellPhone", - "Pen", + "Cabinet", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "HousePlant", + "Safe", + "Laptop", "Mug", + "Bed", "ArmChair", - "GarbageCan", - "Safe", - "LightSwitch" + "Chair", + "LightSwitch", + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan310-objects.json b/gen/layouts/FloorPlan310-objects.json index 00bf05214..abcb8f2a2 100644 --- a/gen/layouts/FloorPlan310-objects.json +++ b/gen/layouts/FloorPlan310-objects.json @@ -1,31 +1,31 @@ [ - "Book", + "BaseballBat", + "AlarmClock", + "BasketBall", "Pillow", - "DeskLamp", + "Box", "Blinds", - "BaseballBat", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Shelf", + "GarbageCan", + "Poster", + "Pen", + "CreditCard", + "Book", + "CellPhone", + "Cabinet", + "DeskLamp", + "Drawer", "Desk", + "Mirror", + "Floor", + "Laptop", "Bed", - "Cabinet", - "BasketBall", - "AlarmClock", - "Pencil", - "CellPhone", - "Pen", - "Poster", - "Box", - "GarbageCan", + "TennisRacket", + "Shelf", + "Chair", "LightSwitch", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan311-objects.json b/gen/layouts/FloorPlan311-objects.json index 476eb40a1..2cbdf7ab3 100644 --- a/gen/layouts/FloorPlan311-objects.json +++ b/gen/layouts/FloorPlan311-objects.json @@ -1,32 +1,32 @@ [ - "Book", + "AlarmClock", + "LaundryHamper", "Pillow", - "DeskLamp", "Blinds", - "Laptop", "CD", - "Floor", + "Pencil", "SideTable", - "LaundryHamper", - "Drawer", - "RemoteControl", "KeyChain", - "Mirror", - "CreditCard", - "Window", - "CounterTop", - "Chair", - "Desk", - "Bed", - "AlarmClock", "Television", - "Pencil", - "CellPhone", + "Window", + "Bowl", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", "Painting", + "Floor", + "Laptop", "Mug", + "Bed", + "CounterTop", "ArmChair", - "GarbageCan", + "Chair", "LightSwitch", - "Bowl" + "RemoteControl" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan312-objects.json b/gen/layouts/FloorPlan312-objects.json index a4f45a16f..2bbfd54c0 100644 --- a/gen/layouts/FloorPlan312-objects.json +++ b/gen/layouts/FloorPlan312-objects.json @@ -1,27 +1,27 @@ [ - "Book", + "AlarmClock", + "BasketBall", "Pillow", - "DeskLamp", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", - "Window", - "Chair", - "Shelf", - "Desk", - "Bed", "GarbageBag", - "BasketBall", - "AlarmClock", - "Pencil", - "CellPhone", + "Window", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", "Dumbbell", - "GarbageCan", - "LightSwitch" + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Laptop", + "Bed", + "Shelf", + "Chair", + "LightSwitch", + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan313-objects.json b/gen/layouts/FloorPlan313-objects.json index b5cad81ee..31b0cedac 100644 --- a/gen/layouts/FloorPlan313-objects.json +++ b/gen/layouts/FloorPlan313-objects.json @@ -1,34 +1,34 @@ [ - "Book", + "BaseballBat", + "AlarmClock", "Pillow", - "DeskLamp", + "Box", "Blinds", - "BaseballBat", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "HousePlant", - "Chair", - "Shelf", - "Desk", - "TissueBox", - "Bed", + "GarbageCan", + "Pen", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", "Painting", + "Floor", + "HousePlant", + "Laptop", "Mug", - "Box", - "GarbageCan", + "Bed", "ShelvingUnit", + "TennisRacket", + "TissueBox", + "Shelf", + "Chair", "LightSwitch", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan314-objects.json b/gen/layouts/FloorPlan314-objects.json index 2ce2a9637..bf3ca1c1f 100644 --- a/gen/layouts/FloorPlan314-objects.json +++ b/gen/layouts/FloorPlan314-objects.json @@ -1,27 +1,27 @@ [ - "Book", + "AlarmClock", + "BasketBall", "Pillow", - "DeskLamp", + "Box", "Blinds", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Desk", - "Bed", - "BasketBall", - "AlarmClock", - "Pencil", - "CellPhone", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", "Painting", - "Box", - "GarbageCan", - "LightSwitch" + "Floor", + "Laptop", + "Bed", + "Chair", + "LightSwitch", + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan315-objects.json b/gen/layouts/FloorPlan315-objects.json index 2b3e14ec2..67d605fac 100644 --- a/gen/layouts/FloorPlan315-objects.json +++ b/gen/layouts/FloorPlan315-objects.json @@ -1,28 +1,28 @@ [ - "Book", + "BaseballBat", + "AlarmClock", "Pillow", - "DeskLamp", "Blinds", - "TableTopDecor", - "BaseballBat", - "Laptop", - "CD", - "Floor", - "Drawer", + "Pencil", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Desk", - "Bed", + "GarbageCan", + "Pen", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Laptop", "Mug", + "Bed", + "TableTopDecor", + "CoffeeTable", "Dresser", - "GarbageCan", "LightSwitch", - "CoffeeTable" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan315-openable.json b/gen/layouts/FloorPlan315-openable.json index 65b6eef73..9d1fe11f2 100644 --- a/gen/layouts/FloorPlan315-openable.json +++ b/gen/layouts/FloorPlan315-openable.json @@ -43,12 +43,12 @@ ], "Drawer|-03.61|+00.11|-04.06": [ -2.25, - -3.0, + -3.25, 180, 30 ], "Drawer|-03.61|+00.30|-03.26": [ - -2.5, + -2.75, -4.0, 0, 30 diff --git a/gen/layouts/FloorPlan316-objects.json b/gen/layouts/FloorPlan316-objects.json index de02c74ff..98fd21897 100644 --- a/gen/layouts/FloorPlan316-objects.json +++ b/gen/layouts/FloorPlan316-objects.json @@ -1,30 +1,30 @@ [ - "Book", + "BaseballBat", + "AlarmClock", "Pillow", - "DeskLamp", + "Box", "Blinds", - "BaseballBat", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "HousePlant", - "Chair", - "Shelf", + "Bowl", + "GarbageCan", + "Pen", + "CreditCard", + "Book", + "Desktop", + "CellPhone", + "DeskLamp", + "Drawer", "Desk", + "Mirror", + "Floor", + "HousePlant", + "Laptop", "Bed", - "AlarmClock", - "Pencil", - "CellPhone", - "Pen", - "Box", - "GarbageCan", + "Shelf", + "Chair", "LightSwitch", - "Desktop", - "Bowl" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan317-objects.json b/gen/layouts/FloorPlan317-objects.json index 3b1febea9..0f7129662 100644 --- a/gen/layouts/FloorPlan317-objects.json +++ b/gen/layouts/FloorPlan317-objects.json @@ -1,30 +1,30 @@ [ - "Book", + "AlarmClock", + "LaundryHamper", "Pillow", - "DeskLamp", + "Box", "Blinds", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "LaundryHamper", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Bed", + "Bowl", + "GarbageCan", + "Poster", + "Pen", "Cloth", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", - "Poster", - "Box", - "Dresser", - "GarbageCan", + "DeskLamp", + "Drawer", + "Mirror", + "Floor", "Safe", + "Laptop", + "Bed", + "Dresser", "LightSwitch", - "Bowl" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan318-objects.json b/gen/layouts/FloorPlan318-objects.json index 97fc549fe..8d246757f 100644 --- a/gen/layouts/FloorPlan318-objects.json +++ b/gen/layouts/FloorPlan318-objects.json @@ -1,31 +1,31 @@ [ - "Book", + "AlarmClock", "Pillow", - "DeskLamp", + "Box", "Blinds", - "Laptop", - "CD", - "Floor", - "Drawer", + "Pencil", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Shelf", - "Desk", - "Cabinet", - "Bed", - "AlarmClock", - "Pencil", - "CellPhone", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", + "Cabinet", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", "Painting", + "Floor", + "Laptop", "Mug", - "Box", + "Bed", "ArmChair", + "TennisRacket", + "Shelf", "Dresser", - "GarbageCan", + "Chair", "LightSwitch", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan319-objects.json b/gen/layouts/FloorPlan319-objects.json index 9bcd890c7..843eebf27 100644 --- a/gen/layouts/FloorPlan319-objects.json +++ b/gen/layouts/FloorPlan319-objects.json @@ -1,30 +1,30 @@ [ - "Book", + "Stool", + "AlarmClock", + "BasketBall", "Pillow", - "DeskLamp", + "Box", + "Statue", "Blinds", - "Laptop", - "CD", - "Floor", - "Drawer", + "Pencil", "KeyChain", - "Mirror", - "CreditCard", "Window", - "HousePlant", - "Shelf", - "Bed", - "Statue", - "BasketBall", - "AlarmClock", - "Pencil", - "Stool", - "CellPhone", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Mirror", "Painting", - "Box", - "Dresser", - "GarbageCan", + "Floor", + "HousePlant", + "Laptop", + "Bed", "ShelvingUnit", - "LightSwitch" + "Shelf", + "Dresser", + "LightSwitch", + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan320-objects.json b/gen/layouts/FloorPlan320-objects.json index 4d859fdd4..36b55cead 100644 --- a/gen/layouts/FloorPlan320-objects.json +++ b/gen/layouts/FloorPlan320-objects.json @@ -1,30 +1,30 @@ [ - "Book", - "Pillow", - "DeskLamp", + "AlarmClock", "Curtains", - "Laptop", - "CD", - "Floor", + "BasketBall", + "Pillow", + "Pencil", "SideTable", "KeyChain", - "Mirror", - "CreditCard", - "Window", - "Footstool", - "Chair", - "Shelf", - "Desk", - "Bed", "GarbageBag", - "BasketBall", + "Window", + "GarbageCan", + "Pen", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", "Dumbbell", - "GarbageCan", + "DeskLamp", + "Footstool", + "Desk", + "Mirror", + "Floor", + "Laptop", + "Bed", + "TennisRacket", + "Shelf", + "Chair", "LightSwitch", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan321-objects.json b/gen/layouts/FloorPlan321-objects.json index d8135a163..8749b01dc 100644 --- a/gen/layouts/FloorPlan321-objects.json +++ b/gen/layouts/FloorPlan321-objects.json @@ -1,27 +1,27 @@ [ - "Book", + "AlarmClock", "Pillow", - "DeskLamp", "Blinds", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Desk", - "TissueBox", - "Bed", - "AlarmClock", - "Pencil", - "CellPhone", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", "Painting", + "Floor", + "Laptop", + "Bed", "ArmChair", - "GarbageCan", - "LightSwitch" + "TissueBox", + "Chair", + "LightSwitch", + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan322-objects.json b/gen/layouts/FloorPlan322-objects.json index e0bf50bc6..43380c052 100644 --- a/gen/layouts/FloorPlan322-objects.json +++ b/gen/layouts/FloorPlan322-objects.json @@ -1,30 +1,30 @@ [ - "Book", - "Pillow", - "DeskLamp", - "Curtains", "BaseballBat", - "Laptop", - "CD", - "Floor", + "AlarmClock", + "Curtains", + "Pillow", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Shelf", - "Bed", - "Cabinet", + "GarbageCan", + "Pen", "Cloth", - "AlarmClock", - "Pencil", + "CreditCard", + "Book", "CellPhone", - "Pen", + "Cabinet", + "DeskLamp", + "Drawer", + "Mirror", "Painting", + "Floor", + "Laptop", "Mug", + "Bed", "ArmChair", + "Shelf", "Dresser", - "GarbageCan", - "LightSwitch" + "LightSwitch", + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan323-objects.json b/gen/layouts/FloorPlan323-objects.json index cb8d9e8c6..52144cfd1 100644 --- a/gen/layouts/FloorPlan323-objects.json +++ b/gen/layouts/FloorPlan323-objects.json @@ -1,30 +1,30 @@ [ - "Book", + "AlarmClock", "Pillow", - "DeskLamp", "Blinds", - "Laptop", - "CD", - "Floor", + "Sofa", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Desk", - "Bed", - "Sofa", + "Bowl", + "GarbageCan", + "Pen", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Safe", + "Laptop", "Mug", + "Bed", "Dresser", - "GarbageCan", - "Safe", + "Chair", "LightSwitch", - "Bowl" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan324-objects.json b/gen/layouts/FloorPlan324-objects.json index 391291bd3..00fe94151 100644 --- a/gen/layouts/FloorPlan324-objects.json +++ b/gen/layouts/FloorPlan324-objects.json @@ -1,29 +1,29 @@ [ - "Book", + "BaseballBat", + "AlarmClock", "Pillow", - "DeskLamp", "Blinds", - "BaseballBat", - "VacuumCleaner", - "Laptop", - "CD", - "Floor", - "Drawer", + "Pencil", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Shelf", - "Bed", - "AlarmClock", - "Pencil", - "CellPhone", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "VacuumCleaner", + "CellPhone", + "DeskLamp", + "Drawer", + "Mirror", "Painting", + "Floor", + "Laptop", "Mug", - "Dresser", - "GarbageCan", + "Bed", "ShelvingUnit", + "TennisRacket", + "Shelf", + "Dresser", "LightSwitch", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan325-objects.json b/gen/layouts/FloorPlan325-objects.json index acc75f744..fa2cdc3af 100644 --- a/gen/layouts/FloorPlan325-objects.json +++ b/gen/layouts/FloorPlan325-objects.json @@ -1,28 +1,28 @@ [ - "Book", + "AlarmClock", "Pillow", - "DeskLamp", "Blinds", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Vase", - "Shelf", - "Bed", - "Cabinet", - "AlarmClock", - "Pencil", - "CellPhone", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", + "Cabinet", + "DeskLamp", + "Drawer", + "Mirror", "Painting", - "Dresser", - "GarbageCan", + "Floor", + "Laptop", + "Vase", + "Bed", "ShelvingUnit", - "LightSwitch" + "Shelf", + "Dresser", + "LightSwitch", + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan326-objects.json b/gen/layouts/FloorPlan326-objects.json index 4876d952b..599a45b7b 100644 --- a/gen/layouts/FloorPlan326-objects.json +++ b/gen/layouts/FloorPlan326-objects.json @@ -1,35 +1,35 @@ [ - "Book", + "BaseballBat", + "AlarmClock", + "BasketBall", "Pillow", - "DeskLamp", "Blinds", - "BaseballBat", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", - "Window", "Watch", - "Chair", - "Shelf", - "Desk", - "Bed", + "Window", + "Bowl", + "GarbageCan", + "Poster", + "Pen", "Cloth", - "BasketBall", + "CreditCard", + "Book", + "Desktop", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", - "Poster", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "Laptop", "Mug", - "GarbageCan", + "Bed", + "TennisRacket", + "Shelf", + "Chair", "LightSwitch", - "Desktop", - "Bowl", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan327-objects.json b/gen/layouts/FloorPlan327-objects.json index 5f090b6b6..dc1d0e8f1 100644 --- a/gen/layouts/FloorPlan327-objects.json +++ b/gen/layouts/FloorPlan327-objects.json @@ -1,29 +1,29 @@ [ - "Book", + "BaseballBat", + "AlarmClock", + "BasketBall", "Pillow", - "DeskLamp", + "Boots", "Blinds", - "BaseballBat", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Chair", - "Shelf", + "Bowl", + "GarbageCan", + "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", "Desk", + "Mirror", + "Floor", + "Laptop", "Bed", - "BasketBall", - "AlarmClock", - "Pencil", - "CellPhone", - "Pen", - "GarbageCan", + "Shelf", + "Chair", "LightSwitch", - "Bowl", - "Boots" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan328-objects.json b/gen/layouts/FloorPlan328-objects.json index e6c20885f..1a17b7f1a 100644 --- a/gen/layouts/FloorPlan328-objects.json +++ b/gen/layouts/FloorPlan328-objects.json @@ -1,31 +1,31 @@ [ - "Book", + "AlarmClock", "Pillow", - "DeskLamp", "Blinds", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "HousePlant", - "Chair", - "Shelf", - "Desk", - "TissueBox", - "Bed", + "GarbageCan", + "Pen", + "CreditCard", + "Book", "TeddyBear", - "AlarmClock", - "Pencil", "CellPhone", - "Pen", "Dumbbell", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", + "Floor", + "HousePlant", + "Laptop", "Mug", - "GarbageCan", + "Bed", + "TennisRacket", + "TissueBox", + "Shelf", + "Chair", "LightSwitch", - "TennisRacket" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan329-objects.json b/gen/layouts/FloorPlan329-objects.json index 4540a6431..96fb14e54 100644 --- a/gen/layouts/FloorPlan329-objects.json +++ b/gen/layouts/FloorPlan329-objects.json @@ -1,28 +1,28 @@ [ - "Book", + "BaseballBat", + "AlarmClock", "Pillow", - "DeskLamp", + "Box", "Blinds", - "BaseballBat", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", - "Shelf", - "Desk", - "Bed", - "AlarmClock", - "Pencil", - "CellPhone", + "GarbageCan", "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Desk", + "Mirror", "Painting", + "Floor", + "Laptop", "Mug", - "Box", - "GarbageCan", - "LightSwitch" + "Bed", + "Shelf", + "LightSwitch", + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan330-objects.json b/gen/layouts/FloorPlan330-objects.json index be30949db..cb151de23 100644 --- a/gen/layouts/FloorPlan330-objects.json +++ b/gen/layouts/FloorPlan330-objects.json @@ -1,32 +1,32 @@ [ - "Book", + "AlarmClock", "Pillow", - "DeskLamp", + "Boots", + "Statue", "Blinds", - "Laptop", - "CD", - "Floor", + "Pencil", "SideTable", - "Drawer", "KeyChain", - "Mirror", - "CreditCard", "Window", + "Bowl", + "GarbageCan", + "Pen", + "CreditCard", + "Book", + "CellPhone", + "DeskLamp", + "Drawer", + "Mirror", + "Painting", + "Floor", "HousePlant", + "Laptop", "Vase", - "Shelf", "Bed", - "Statue", - "AlarmClock", - "Pencil", - "CellPhone", - "Pen", - "Painting", "ArmChair", - "Dresser", - "GarbageCan", "ShelvingUnit", + "Shelf", + "Dresser", "LightSwitch", - "Bowl", - "Boots" + "CD" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan330-openable.json b/gen/layouts/FloorPlan330-openable.json index f0af24595..6cb8baa66 100644 --- a/gen/layouts/FloorPlan330-openable.json +++ b/gen/layouts/FloorPlan330-openable.json @@ -85,7 +85,7 @@ ], "Drawer|-01.63|+00.87|+00.24": [ -0.75, - 0.75, + 0.25, 270, 30 ], diff --git a/gen/layouts/FloorPlan4-objects.json b/gen/layouts/FloorPlan4-objects.json index 746e4e8cb..60ee2f021 100644 --- a/gen/layouts/FloorPlan4-objects.json +++ b/gen/layouts/FloorPlan4-objects.json @@ -1,42 +1,42 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "HousePlant", - "Lettuce", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", "Microwave", + "Lettuce", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", + "Drawer", + "Ladle", + "Bread", + "Sink", "DiningTable", + "Floor", + "HousePlant", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Ladle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan401-objects.json b/gen/layouts/FloorPlan401-objects.json index ae5c3fcc9..233e0276d 100644 --- a/gen/layouts/FloorPlan401-objects.json +++ b/gen/layouts/FloorPlan401-objects.json @@ -1,32 +1,32 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", + "PaperTowelRoll", + "Faucet", "Candle", - "Floor", + "Towel", + "HandTowelHolder", "SideTable", - "HandTowel", - "Faucet", "Window", - "Mirror", - "BathtubBasin", - "Shelf", - "HandTowelHolder", - "DishSponge", - "Cloth", - "Sink", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "ToiletPaper", "SprayBottle", - "Plunger", + "Mirror", + "LightSwitch", + "Sink", + "Floor", "SoapBar", - "PaperTowelRoll", + "HandTowel", + "Shelf", "ShowerHead", "Bathtub", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan402-objects.json b/gen/layouts/FloorPlan402-objects.json index 5a777c388..5135a1b2f 100644 --- a/gen/layouts/FloorPlan402-objects.json +++ b/gen/layouts/FloorPlan402-objects.json @@ -1,33 +1,33 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", + "Candle", + "Towel", + "HandTowelHolder", "Window", - "CounterTop", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", "BathtubBasin", - "Shelf", - "TissueBox", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", "Cabinet", - "HandTowelHolder", - "Cloth", + "ToiletPaper", + "SprayBottle", + "Mirror", "Sink", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", + "ShowerGlass", "ShowerDoor", - "SprayBottle", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", - "ShowerGlass", - "GarbageCan", + "HandTowel", + "TissueBox", + "Shelf", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan403-objects.json b/gen/layouts/FloorPlan403-objects.json index c9a00919c..e2eb9a53a 100644 --- a/gen/layouts/FloorPlan403-objects.json +++ b/gen/layouts/FloorPlan403-objects.json @@ -1,34 +1,34 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", + "PaperTowelRoll", "Faucet", + "Candle", + "Towel", + "HandTowelHolder", "Window", - "Mirror", - "CounterTop", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", "BathtubBasin", - "Shelf", + "SinkBasin", + "TowelHolder", + "SoapBottle", + "Toilet", "Cabinet", - "HandTowelHolder", - "DishSponge", - "Cloth", + "ToiletPaper", + "LightSwitch", + "Mirror", + "SprayBottle", "Sink", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", + "ShowerGlass", "ShowerDoor", - "SprayBottle", - "Plunger", "SoapBar", - "PaperTowelRoll", + "CounterTop", + "HandTowel", + "Shelf", "ShowerHead", "Bathtub", - "ShowerGlass", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan404-objects.json b/gen/layouts/FloorPlan404-objects.json index c0a392410..098f91eab 100644 --- a/gen/layouts/FloorPlan404-objects.json +++ b/gen/layouts/FloorPlan404-objects.json @@ -1,29 +1,29 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", - "BathtubBasin", - "Shelf", - "TissueBox", + "Candle", + "Towel", "HandTowelHolder", - "Cloth", - "Sink", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "ToiletPaper", "SprayBottle", - "Plunger", + "Mirror", + "Sink", + "Floor", "SoapBar", "ShowerHead", - "Bathtub", - "GarbageCan", + "HandTowel", + "TissueBox", + "Shelf", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan405-objects.json b/gen/layouts/FloorPlan405-objects.json index a50fa6764..11f04fae9 100644 --- a/gen/layouts/FloorPlan405-objects.json +++ b/gen/layouts/FloorPlan405-objects.json @@ -1,28 +1,28 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", - "CounterTop", - "BathtubBasin", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", - "Cloth", - "Sink", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "SinkBasin", + "TowelHolder", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Plunger", - "Bathtub", - "GarbageCan", + "CounterTop", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan406-objects.json b/gen/layouts/FloorPlan406-objects.json index 3f38e6c50..fee4c2922 100644 --- a/gen/layouts/FloorPlan406-objects.json +++ b/gen/layouts/FloorPlan406-objects.json @@ -1,28 +1,28 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Window", - "Mirror", - "CounterTop", - "BathtubBasin", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", + "Window", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "SinkBasin", + "TowelHolder", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", - "Plunger", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Bathtub", - "GarbageCan", + "CounterTop", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan406-openable.json b/gen/layouts/FloorPlan406-openable.json index 5771e12b4..712dee310 100644 --- a/gen/layouts/FloorPlan406-openable.json +++ b/gen/layouts/FloorPlan406-openable.json @@ -16,5 +16,11 @@ 3.0, 90, 0 + ], + "Toilet|+00.38|+00.00|+04.47": [ + -0.5, + 3.75, + 90, + 30 ] } \ No newline at end of file diff --git a/gen/layouts/FloorPlan407-objects.json b/gen/layouts/FloorPlan407-objects.json index ce1f44300..0cec3c67e 100644 --- a/gen/layouts/FloorPlan407-objects.json +++ b/gen/layouts/FloorPlan407-objects.json @@ -1,32 +1,32 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", + "Candle", + "Towel", + "HandTowelHolder", "Window", - "CounterTop", + "ShowerCurtain", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", "Cabinet", - "HandTowelHolder", - "Cloth", + "ToiletPaper", + "SprayBottle", + "Mirror", "Sink", - "ShowerCurtain", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", + "ShowerGlass", "ShowerDoor", - "SprayBottle", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", - "ShowerGlass", - "GarbageCan", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan408-objects.json b/gen/layouts/FloorPlan408-objects.json index a50fa6764..e855538bd 100644 --- a/gen/layouts/FloorPlan408-objects.json +++ b/gen/layouts/FloorPlan408-objects.json @@ -1,28 +1,28 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", - "CounterTop", - "BathtubBasin", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", - "Cloth", - "Sink", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Plunger", - "Bathtub", - "GarbageCan", + "CounterTop", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan409-objects.json b/gen/layouts/FloorPlan409-objects.json index c0d612c5b..670bad826 100644 --- a/gen/layouts/FloorPlan409-objects.json +++ b/gen/layouts/FloorPlan409-objects.json @@ -1,28 +1,28 @@ [ + "Faucet", + "Candle", + "Towel", + "HandTowelHolder", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", + "TowelHolder", "SinkBasin", "SoapBottle", - "Towel", - "Candle", - "Floor", + "Toilet", "Drawer", - "HandTowel", - "Faucet", + "ToiletPaper", + "SprayBottle", "Mirror", - "CounterTop", - "HandTowelHolder", - "Cloth", "Sink", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", + "ShowerGlass", "ShowerDoor", - "SprayBottle", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "ShowerGlass", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "HandTowel", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan410-objects.json b/gen/layouts/FloorPlan410-objects.json index 3b44a8005..3c3328f62 100644 --- a/gen/layouts/FloorPlan410-objects.json +++ b/gen/layouts/FloorPlan410-objects.json @@ -1,29 +1,29 @@ [ + "Faucet", + "Candle", + "Towel", + "HandTowelHolder", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", "SinkBasin", "SoapBottle", - "Towel", - "Candle", - "Floor", + "Toilet", "Drawer", - "HandTowel", - "Faucet", + "ToiletPaper", + "SprayBottle", "Mirror", - "CounterTop", - "BathtubBasin", - "HandTowelHolder", - "Cloth", "Sink", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", "ShowerDoor", - "SprayBottle", - "Plunger", "SoapBar", + "CounterTop", "ShowerHead", - "Bathtub", - "GarbageCan", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan411-objects.json b/gen/layouts/FloorPlan411-objects.json index 30354884b..f4d477e9d 100644 --- a/gen/layouts/FloorPlan411-objects.json +++ b/gen/layouts/FloorPlan411-objects.json @@ -1,31 +1,31 @@ [ + "Faucet", + "Candle", + "Towel", + "HandTowelHolder", + "Window", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", "SinkBasin", "SoapBottle", - "Towel", - "Candle", - "Floor", + "Toilet", "Drawer", - "HandTowel", - "Faucet", - "Window", + "ToiletPaper", + "SprayBottle", "Mirror", - "CounterTop", - "BathtubBasin", - "HandTowelHolder", - "Cloth", "Sink", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", + "ShowerGlass", "ShowerDoor", - "SprayBottle", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", - "ShowerGlass", - "GarbageCan", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan412-objects.json b/gen/layouts/FloorPlan412-objects.json index 0ed92b9a0..6c7ccae54 100644 --- a/gen/layouts/FloorPlan412-objects.json +++ b/gen/layouts/FloorPlan412-objects.json @@ -1,29 +1,29 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Window", - "Mirror", - "CounterTop", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", + "Window", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", - "ShowerDoor", + "ScrubBrush", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", - "Plunger", + "Mirror", + "Sink", + "Floor", + "ShowerGlass", + "ShowerDoor", "SoapBar", + "CounterTop", "ShowerHead", - "ShowerGlass", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "HandTowel", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan413-objects.json b/gen/layouts/FloorPlan413-objects.json index 7546c79f7..0e607a3e9 100644 --- a/gen/layouts/FloorPlan413-objects.json +++ b/gen/layouts/FloorPlan413-objects.json @@ -1,32 +1,32 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", - "Drawer", "Faucet", - "Mirror", + "Candle", + "Towel", + "HandTowelHolder", "Window", - "CounterTop", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", "Cabinet", - "HandTowelHolder", - "Cloth", + "Drawer", + "ToiletPaper", + "SprayBottle", + "Mirror", "Sink", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", "ShowerDoor", - "SprayBottle", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", + "HandTowel", "Dresser", - "GarbageCan", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan414-objects.json b/gen/layouts/FloorPlan414-objects.json index 1de3b3bdc..a3ee4c72c 100644 --- a/gen/layouts/FloorPlan414-objects.json +++ b/gen/layouts/FloorPlan414-objects.json @@ -1,31 +1,31 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "Drawer", - "HandTowel", + "PaperTowelRoll", "Faucet", - "Mirror", - "Window", - "CounterTop", - "BathtubBasin", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", - "DishSponge", + "Window", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "Drawer", + "ToiletPaper", "SprayBottle", - "Plunger", + "Mirror", + "Sink", + "Floor", "SoapBar", - "PaperTowelRoll", - "Bathtub", - "GarbageCan", + "CounterTop", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub", + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan415-objects.json b/gen/layouts/FloorPlan415-objects.json index 514ab1387..1e083ec30 100644 --- a/gen/layouts/FloorPlan415-objects.json +++ b/gen/layouts/FloorPlan415-objects.json @@ -1,31 +1,31 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", - "Drawer", "Faucet", - "Mirror", - "CounterTop", - "BathtubBasin", - "Shelf", + "Candle", + "Towel", "HandTowelHolder", - "Cloth", - "Sink", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Drawer", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", + "HandTowel", + "Shelf", "Dresser", - "GarbageCan", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan416-objects.json b/gen/layouts/FloorPlan416-objects.json index 2721f04bb..c8adda2c6 100644 --- a/gen/layouts/FloorPlan416-objects.json +++ b/gen/layouts/FloorPlan416-objects.json @@ -1,28 +1,28 @@ [ + "Faucet", + "Candle", + "Towel", + "HandTowelHolder", + "Window", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", + "TowelHolder", "SinkBasin", "SoapBottle", - "Towel", - "Candle", - "Floor", + "Toilet", "Drawer", - "HandTowel", - "Faucet", + "ToiletPaper", + "SprayBottle", "Mirror", - "Window", - "CounterTop", - "HandTowelHolder", - "Cloth", "Sink", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", "ShowerDoor", - "SprayBottle", - "Plunger", "SoapBar", + "CounterTop", "ShowerHead", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "HandTowel", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan417-objects.json b/gen/layouts/FloorPlan417-objects.json index aca8c028a..6c7ccae54 100644 --- a/gen/layouts/FloorPlan417-objects.json +++ b/gen/layouts/FloorPlan417-objects.json @@ -1,29 +1,29 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", - "Window", - "CounterTop", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", + "Window", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", - "ShowerDoor", + "ScrubBrush", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", + "ShowerGlass", + "ShowerDoor", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "ShowerGlass", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "HandTowel", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan418-objects.json b/gen/layouts/FloorPlan418-objects.json index e27c8e6c5..6c7ccae54 100644 --- a/gen/layouts/FloorPlan418-objects.json +++ b/gen/layouts/FloorPlan418-objects.json @@ -1,29 +1,29 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", - "Window", - "CounterTop", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", + "Window", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", - "ShowerDoor", + "ScrubBrush", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", - "Plunger", + "Mirror", + "Sink", + "Floor", + "ShowerGlass", + "ShowerDoor", "SoapBar", + "CounterTop", "ShowerHead", - "ShowerGlass", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "HandTowel", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan419-objects.json b/gen/layouts/FloorPlan419-objects.json index 2fe128e8a..0a56e852a 100644 --- a/gen/layouts/FloorPlan419-objects.json +++ b/gen/layouts/FloorPlan419-objects.json @@ -1,30 +1,30 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "SideTable", - "HandTowel", - "Drawer", "Faucet", - "Mirror", - "BathtubBasin", - "TissueBox", + "Candle", + "Towel", "HandTowelHolder", - "Cloth", - "Sink", + "SideTable", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Drawer", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Plunger", "ShowerHead", - "Bathtub", - "GarbageCan", + "HandTowel", + "TissueBox", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan420-objects.json b/gen/layouts/FloorPlan420-objects.json index 68d254ac6..9c3deeaff 100644 --- a/gen/layouts/FloorPlan420-objects.json +++ b/gen/layouts/FloorPlan420-objects.json @@ -1,29 +1,29 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", + "Faucet", "Candle", - "Floor", + "Towel", + "HandTowelHolder", "SideTable", - "Drawer", - "HandTowel", - "Faucet", - "Mirror", "Window", - "HousePlant", - "HandTowelHolder", - "Cloth", - "Sink", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Drawer", + "ToiletPaper", "SprayBottle", - "Plunger", + "Mirror", + "Sink", + "Floor", + "HousePlant", "SoapBar", - "Bathtub", - "GarbageCan", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan421-objects.json b/gen/layouts/FloorPlan421-objects.json index 4a770f91f..803b5fe6c 100644 --- a/gen/layouts/FloorPlan421-objects.json +++ b/gen/layouts/FloorPlan421-objects.json @@ -1,29 +1,29 @@ [ + "Faucet", + "Candle", + "Towel", + "HandTowelHolder", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", + "TowelHolder", "SinkBasin", "SoapBottle", - "Towel", - "Candle", - "Floor", + "Toilet", "Drawer", - "HandTowel", - "Faucet", + "ToiletPaper", + "SprayBottle", "Mirror", - "CounterTop", - "HandTowelHolder", - "DishSponge", - "Cloth", "Sink", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", + "ShowerGlass", "ShowerDoor", - "SprayBottle", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "ShowerGlass", - "GarbageCan", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan422-objects.json b/gen/layouts/FloorPlan422-objects.json index f8407a659..eed1f5ea6 100644 --- a/gen/layouts/FloorPlan422-objects.json +++ b/gen/layouts/FloorPlan422-objects.json @@ -1,33 +1,33 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "Drawer", - "HandTowel", "Faucet", - "Mirror", - "Window", - "CounterTop", - "BathtubBasin", - "Shelf", - "TissueBox", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", - "Cloth", - "Sink", + "Window", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "Drawer", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", - "GarbageCan", + "HandTowel", + "Shelf", + "TissueBox", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan423-objects.json b/gen/layouts/FloorPlan423-objects.json index 90862dfb1..3045886b8 100644 --- a/gen/layouts/FloorPlan423-objects.json +++ b/gen/layouts/FloorPlan423-objects.json @@ -1,32 +1,32 @@ [ + "Faucet", + "Candle", + "Towel", + "HandTowelHolder", + "Window", + "ShowerCurtain", + "GarbageCan", + "Cloth", + "Plunger", + "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", "SinkBasin", "SoapBottle", - "Towel", - "Candle", - "Floor", + "Toilet", "Drawer", - "HandTowel", - "Faucet", + "ToiletPaper", + "SprayBottle", "Mirror", - "Window", - "CounterTop", - "BathtubBasin", - "HandTowelHolder", - "Cloth", "Sink", - "ShowerCurtain", - "ScrubBrush", - "ToiletPaperHanger", + "Floor", + "ShowerGlass", "ShowerDoor", - "SprayBottle", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", - "ShowerGlass", - "GarbageCan", + "HandTowel", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan424-objects.json b/gen/layouts/FloorPlan424-objects.json index 6722127fc..f3988fd79 100644 --- a/gen/layouts/FloorPlan424-objects.json +++ b/gen/layouts/FloorPlan424-objects.json @@ -1,28 +1,28 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", - "CounterTop", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", - "ShowerDoor", + "ScrubBrush", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", + "ShowerGlass", + "ShowerDoor", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "ShowerGlass", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "HandTowel", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan425-objects.json b/gen/layouts/FloorPlan425-objects.json index d1da37d9b..896f6433e 100644 --- a/gen/layouts/FloorPlan425-objects.json +++ b/gen/layouts/FloorPlan425-objects.json @@ -1,30 +1,30 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", - "Window", - "CounterTop", - "TissueBox", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", + "Window", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", - "ShowerDoor", + "ScrubBrush", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", + "ShowerGlass", + "ShowerDoor", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "ShowerGlass", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "HandTowel", + "TissueBox", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan426-objects.json b/gen/layouts/FloorPlan426-objects.json index 541227bce..f904e7328 100644 --- a/gen/layouts/FloorPlan426-objects.json +++ b/gen/layouts/FloorPlan426-objects.json @@ -1,31 +1,31 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "Drawer", - "HandTowel", "Faucet", - "Mirror", - "Window", - "CounterTop", - "BathtubBasin", - "TissueBox", + "Candle", + "Towel", "HandTowelHolder", - "Cloth", - "Sink", + "Window", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Drawer", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", - "GarbageCan", + "HandTowel", + "TissueBox", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan427-objects.json b/gen/layouts/FloorPlan427-objects.json index ad5064a11..44d2e8f28 100644 --- a/gen/layouts/FloorPlan427-objects.json +++ b/gen/layouts/FloorPlan427-objects.json @@ -1,32 +1,32 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "Drawer", - "HandTowel", + "PaperTowelRoll", "Faucet", - "Mirror", - "CounterTop", - "BathtubBasin", - "TissueBox", + "Candle", + "Towel", "HandTowelHolder", - "DishSponge", - "Cloth", - "Sink", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Drawer", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Plunger", - "PaperTowelRoll", + "CounterTop", "ShowerHead", - "Bathtub", - "GarbageCan", + "HandTowel", + "TissueBox", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub", + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan428-objects.json b/gen/layouts/FloorPlan428-objects.json index 265de0857..beac8efe4 100644 --- a/gen/layouts/FloorPlan428-objects.json +++ b/gen/layouts/FloorPlan428-objects.json @@ -1,28 +1,28 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", - "Candle", - "Floor", - "HandTowel", "Faucet", - "Mirror", - "CounterTop", - "Cabinet", + "Candle", + "Towel", "HandTowelHolder", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", - "ShowerDoor", - "Painting", + "ScrubBrush", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Cabinet", + "ToiletPaper", "SprayBottle", + "Mirror", + "Painting", + "Sink", + "Floor", + "ShowerDoor", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "GarbageCan", - "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "HandTowel", + "LightSwitch" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan429-objects.json b/gen/layouts/FloorPlan429-objects.json index 588f7902c..07f7757be 100644 --- a/gen/layouts/FloorPlan429-objects.json +++ b/gen/layouts/FloorPlan429-objects.json @@ -1,29 +1,29 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", + "Faucet", "Candle", - "Floor", + "Towel", + "HandTowelHolder", "SideTable", - "HandTowel", - "Faucet", - "Mirror", "Window", - "BathtubBasin", - "TissueBox", - "HandTowelHolder", - "Cloth", - "Sink", "ShowerCurtain", - "ScrubBrush", + "GarbageCan", + "Cloth", + "Plunger", "ToiletPaperHanger", + "ScrubBrush", + "BathtubBasin", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", "SoapBar", - "Plunger", - "Bathtub", - "GarbageCan", + "HandTowel", + "TissueBox", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan430-objects.json b/gen/layouts/FloorPlan430-objects.json index becf16ad4..4ad43db6d 100644 --- a/gen/layouts/FloorPlan430-objects.json +++ b/gen/layouts/FloorPlan430-objects.json @@ -1,35 +1,35 @@ [ - "SinkBasin", - "SoapBottle", - "Towel", + "Faucet", "Candle", - "Floor", + "Towel", + "HandTowelHolder", "SideTable", - "Drawer", - "HandTowel", - "Faucet", - "Mirror", "Window", - "CounterTop", - "Footstool", - "Shelf", - "TissueBox", - "HandTowelHolder", - "DishSponge", + "GarbageCan", "Cloth", - "Sink", - "ScrubBrush", + "Plunger", "ToiletPaperHanger", - "ShowerDoor", + "ScrubBrush", + "TowelHolder", + "SinkBasin", + "SoapBottle", + "Toilet", + "Footstool", + "Drawer", + "ToiletPaper", "SprayBottle", + "Mirror", + "Sink", + "Floor", + "ShowerGlass", + "ShowerDoor", "SoapBar", - "Plunger", + "CounterTop", "ShowerHead", - "Bathtub", - "ShowerGlass", - "GarbageCan", + "HandTowel", + "TissueBox", + "Shelf", "LightSwitch", - "Toilet", - "TowelHolder", - "ToiletPaper" + "Bathtub", + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan5-objects.json b/gen/layouts/FloorPlan5-objects.json index 79fff802c..67be1200d 100644 --- a/gen/layouts/FloorPlan5-objects.json +++ b/gen/layouts/FloorPlan5-objects.json @@ -1,47 +1,47 @@ [ + "PaperTowelRoll", + "StoveBurner", + "Faucet", + "Stool", + "Egg", + "Plate", + "StoveKnob", "Fork", - "SinkBasin", + "Statue", + "Pan", + "PepperShaker", + "Apple", + "CoffeeMachine", + "Tomato", + "Bowl", + "GarbageCan", + "Knife", + "ButterKnife", "Pot", - "Spatula", + "SaltShaker", + "Fridge", + "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", "Spoon", - "Tomato", - "Bread", "SoapBottle", - "Fridge", - "CoffeeMachine", - "Floor", - "SaltShaker", - "StoveBurner", - "Egg", + "Toaster", + "Cabinet", + "Cup", "Drawer", - "PepperShaker", - "Faucet", - "Potato", - "CounterTop", + "Ladle", + "Bread", + "Sink", + "Floor", "HousePlant", + "Potato", "Vase", - "Lettuce", - "Shelf", - "ButterKnife", - "Cabinet", - "Statue", - "DishSponge", - "Plate", - "Sink", - "Microwave", - "Cup", - "StoveKnob", - "Stool", - "PaperTowelRoll", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", "ShelvingUnit", + "Spatula", + "Shelf", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle", - "Ladle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan6-objects.json b/gen/layouts/FloorPlan6-objects.json index 5a594ff3f..b584a4738 100644 --- a/gen/layouts/FloorPlan6-objects.json +++ b/gen/layouts/FloorPlan6-objects.json @@ -1,42 +1,42 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "CoffeeMachine", - "Fridge", - "SoapBottle", - "Floor", - "SaltShaker", + "PaperTowelRoll", "StoveBurner", + "Stool", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Lettuce", + "Bowl", + "Knife", + "GarbageCan", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "SaltShaker", + "Pot", + "Fridge", "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", - "Stool", - "PaperTowelRoll", + "Drawer", + "Bread", + "Sink", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan6-openable.json b/gen/layouts/FloorPlan6-openable.json index 4bcb104a9..8337ad36d 100644 --- a/gen/layouts/FloorPlan6-openable.json +++ b/gen/layouts/FloorPlan6-openable.json @@ -84,8 +84,8 @@ 0 ], "Cabinet|-02.45|+02.15|-01.28": [ - -1.5, - -0.5, + -1.25, + -0.75, 270, 0 ], @@ -114,27 +114,27 @@ 30 ], "Drawer|-02.28|+00.79|+00.44": [ - -1.75, - 0.75, - 270, + -1.5, + 0.0, + 0, 30 ], "Drawer|-02.28|+00.79|+00.90": [ - -1.75, + -1.5, 0.5, - 270, + 0, 30 ], "Drawer|-02.28|+00.79|+01.37": [ - -1.75, - 1.0, - 270, + -1.5, + 1.75, + 180, 30 ], "Drawer|-02.28|+00.79|-00.03": [ - -1.75, - 0.5, - 270, + -1.5, + -0.5, + 0, 30 ], "Fridge|-02.48|+00.00|-00.78": [ @@ -145,8 +145,8 @@ ], "GarbageCan|+01.65|00.00|+00.68": [ 1.0, - 1.25, - 180, + 1.0, + 90, 30 ], "Microwave|-02.58|+00.90|+02.44": [ @@ -157,7 +157,7 @@ ], "Sink|+01.38|+00.81|-01.27|SinkBasin": [ 0.75, - -0.75, + -1.0, 180, 30 ] diff --git a/gen/layouts/FloorPlan7-objects.json b/gen/layouts/FloorPlan7-objects.json index 04d365971..02e51c382 100644 --- a/gen/layouts/FloorPlan7-objects.json +++ b/gen/layouts/FloorPlan7-objects.json @@ -1,50 +1,50 @@ [ - "Book", - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "CoffeeMachine", - "Fridge", - "SoapBottle", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", + "Stool", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Statue", "PepperShaker", - "Potato", - "Faucet", + "Pan", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Vase", - "HousePlant", - "Chair", - "Lettuce", - "Shelf", + "Bowl", + "Knife", + "GarbageCan", + "Book", "ButterKnife", - "Cabinet", - "Statue", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", + "WineBottle", "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "WineBottle", - "StoveKnob", - "Stool", + "Drawer", + "Bread", + "Sink", "DiningTable", + "Floor", + "HousePlant", + "Potato", + "Vase", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", "ShelvingUnit", + "Spatula", + "Shelf", + "Chair", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan8-objects.json b/gen/layouts/FloorPlan8-objects.json index 95651ff40..9446cb19e 100644 --- a/gen/layouts/FloorPlan8-objects.json +++ b/gen/layouts/FloorPlan8-objects.json @@ -1,46 +1,46 @@ [ - "Fork", - "Bottle", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Bread", - "Floor", - "SaltShaker", "StoveBurner", + "Stool", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Potato", - "Faucet", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "HousePlant", - "Lettuce", + "Bowl", + "Knife", + "GarbageCan", + "Pen", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "SaltShaker", + "Pot", + "Fridge", "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", - "Stool", - "Pen", + "Drawer", + "Ladle", "SprayBottle", + "Bread", + "Sink", + "Floor", + "HousePlant", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle", - "Ladle" + "Bottle", + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/FloorPlan9-objects.json b/gen/layouts/FloorPlan9-objects.json index cd19db2d8..449288ba7 100644 --- a/gen/layouts/FloorPlan9-objects.json +++ b/gen/layouts/FloorPlan9-objects.json @@ -1,42 +1,42 @@ [ - "Fork", - "SinkBasin", - "Pot", - "Spatula", - "Spoon", - "Tomato", - "Bread", - "SoapBottle", - "CoffeeMachine", - "Fridge", - "Floor", - "SaltShaker", "StoveBurner", + "Faucet", "Egg", - "Drawer", + "Plate", + "StoveKnob", + "Fork", + "Pan", "PepperShaker", - "Faucet", - "Potato", + "Apple", + "CoffeeMachine", + "Tomato", "Window", - "CounterTop", - "Chair", - "Lettuce", + "Bowl", + "GarbageCan", + "Knife", "ButterKnife", - "Cabinet", - "DishSponge", - "Plate", - "Sink", + "Pot", + "SaltShaker", + "Fridge", "Microwave", + "Lettuce", + "Kettle", + "SinkBasin", + "Spoon", + "SoapBottle", + "Toaster", + "Cabinet", "Cup", - "StoveKnob", + "Drawer", + "Bread", + "Sink", "DiningTable", + "Floor", + "Potato", "Mug", - "Knife", - "Toaster", - "GarbageCan", + "CounterTop", + "Spatula", + "Chair", "LightSwitch", - "Apple", - "Pan", - "Bowl", - "Kettle" + "DishSponge" ] \ No newline at end of file diff --git a/gen/layouts/precompute_layout_locations.py b/gen/layouts/precompute_layout_locations.py index a82bad6e7..528eb298f 100644 --- a/gen/layouts/precompute_layout_locations.py +++ b/gen/layouts/precompute_layout_locations.py @@ -3,8 +3,8 @@ import threading import time import sys -sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred')) -sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred', 'gen')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) import cv2 import numpy as np @@ -12,7 +12,7 @@ from utils import game_util from env.thor_env import ThorEnv -N_PROCS = 40 +N_PROCS = 20 lock = threading.Lock() all_scene_numbers = sorted(constants.TRAIN_SCENE_NUMBERS + constants.TEST_SCENE_NUMBERS, reverse=True) @@ -100,7 +100,7 @@ def get_obj(env, open_test_objs, reachable_points, agent_height, scene_name, goo def get_mask_of_obj(env, object_id): instance_detections2D = env.last_event.instance_detections2D instance_seg_frame = np.array(env.last_event.instance_segmentation_frame) - + if object_id in instance_detections2D: color = env.last_event.object_id_to_color[object_id] seg_mask = cv2.inRange(instance_seg_frame, color, color) @@ -114,7 +114,7 @@ def get_mask_of_obj(env, object_id): def run(thread_num): print(all_scene_numbers) # create env and agent - env = ThorEnv(build_path=constants.BUILD_PATH, x_display='0.%d' %(thread_num % 8), quality='Low') + env = ThorEnv(build_path=constants.BUILD_PATH, x_display='0.%d' %(thread_num % 2), quality='Low') while len(all_scene_numbers) > 0: lock.acquire() scene_num = all_scene_numbers.pop() @@ -152,7 +152,7 @@ def run(thread_num): print("scene %d got %d reachable points, now checking" % (scene_num, len(reachable_points))) # Pick up a small object to use in testing whether points are good for openable objects. - open_test_objs = {'ButterKnife', 'CD', 'CellPhone', 'Cloth', 'CreditCard', 'DishSponge', 'Fork', + open_test_objs = {'CD', 'CellPhone', 'Cloth', 'CreditCard', 'DishSponge', 'Fork', 'KeyChain', 'Pen', 'Pencil', 'SoapBar', 'Spoon', 'Watch'} good_obj_point = None good_obj_point = get_obj(env, open_test_objs, reachable_points, agent_height, scene_name, good_obj_point) diff --git a/gen/scripts/generate_trajectories.py b/gen/scripts/generate_trajectories.py index a749cf669..4dec3fa10 100644 --- a/gen/scripts/generate_trajectories.py +++ b/gen/scripts/generate_trajectories.py @@ -1,7 +1,7 @@ import os import sys -sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred')) -sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred', 'gen')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) import time import multiprocessing as mp @@ -434,7 +434,7 @@ def main(args, thread_num=0): print("Loaded %d known failed tuples" % len(fail_traj)) # create env and agent - env = ThorEnv(x_display='0.%d' %(thread_num % 8)) + env = ThorEnv(x_display='0.%d' %(thread_num % 2)) game_state = TaskGameStateFullKnowledge(env) agent = DeterministicPlannerAgent(thread_id=0, game_state=game_state) @@ -458,18 +458,16 @@ def main(args, thread_num=0): n_until_load_successes = args.async_load_every_n_samples print_successes(succ_traj) - # task_sampler = sample_task_params(succ_traj, full_traj, fail_traj, - # goal_candidates, pickup_candidates, movable_candidates, - # receptacle_candidates, scene_candidates) + task_sampler = sample_task_params(succ_traj, full_traj, fail_traj, + goal_candidates, pickup_candidates, movable_candidates, + receptacle_candidates, scene_candidates) # main generation loop # keeps trying out new task tuples as trajectories either fail or suceed while True: - # if True: - # if True: # for _ in range(20): for ii, json_path in enumerate(glob.iglob(os.path.join(alfred_dataset_path, "**", "traj_data.json"), recursive=True)): - if ii % args.num_threads == thread_num: + # if ii % args.num_threads == thread_num: # if ii == 5: sampled_task = json_path.split('/')[-3].split('-') # sampled_task = next(task_sampler) diff --git a/gen/scripts/replay_checks.py b/gen/scripts/replay_checks.py index d97cbc666..b0d31e82d 100644 --- a/gen/scripts/replay_checks.py +++ b/gen/scripts/replay_checks.py @@ -2,8 +2,8 @@ import sys # sys.path.append(os.path.join(os.environ['ALFRED_ROOT'])) # sys.path.append(os.path.join(os.environ['ALFRED_ROOT'], 'gen')) -sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred')) -sys.path.append(os.path.join('/mnt/raid00/jiasen/alfred', 'gen')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred')) +sys.path.append(os.path.join('/home/jiasenl/code/alfred', 'gen')) import argparse import json @@ -206,8 +206,8 @@ def replay_check(args, thread_num=0): parser.add_argument('--reward_config', default='../models/config/rewards.json') parser.add_argument('--num_replays', type=int, default=1) parser.add_argument('--gpu_id', type=int, default=0) - parser.add_argument('--total_gpu', type=int, default=8) - parser.add_argument('--num_threads', type=int, default=8) + parser.add_argument('--total_gpu', type=int, default=2) + parser.add_argument('--num_threads', type=int, default=2) args = parser.parse_args() if args.num_threads > 1: From 0a3dcc6e96d8771fd2ec09d60b16f5e28447db52 Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Tue, 9 Feb 2021 15:07:21 -0800 Subject: [PATCH 12/14] fix reply --- env/thor_env.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/env/thor_env.py b/env/thor_env.py index 09cc0454a..8a55acf05 100644 --- a/env/thor_env.py +++ b/env/thor_env.py @@ -444,8 +444,7 @@ def to_thor_api_exec(self, action, object_id="", smooth_nav=False): elif "PutObject" in action: inventory_object_id = self.last_event.metadata['inventoryObjects'][0]['objectId'] action = dict(action="PutObject", - objectId=inventory_object_id, - receptacleObjectId=object_id, + objectId=object_id, forceAction=True, placeStationary=True) event = self.step(action) From c0fe0bc4d1a43d5a9aa7e06580047dd1f5c1e43d Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Tue, 9 Feb 2021 19:52:42 -0800 Subject: [PATCH 13/14] update floorplan 8 --- gen/layouts/FloorPlan8-objects.json | 70 +++++++++++----------- gen/layouts/precompute_layout_locations.py | 2 +- 2 files changed, 36 insertions(+), 36 deletions(-) diff --git a/gen/layouts/FloorPlan8-objects.json b/gen/layouts/FloorPlan8-objects.json index 9446cb19e..12da9582d 100644 --- a/gen/layouts/FloorPlan8-objects.json +++ b/gen/layouts/FloorPlan8-objects.json @@ -1,46 +1,46 @@ [ - "StoveBurner", - "Stool", - "Faucet", - "Egg", - "Plate", - "StoveKnob", - "Fork", - "Pan", - "PepperShaker", - "Apple", - "CoffeeMachine", - "Tomato", - "Window", - "Bowl", - "Knife", - "GarbageCan", - "Pen", "ButterKnife", + "Drawer", + "Lettuce", + "Toaster", + "StoveKnob", "SaltShaker", "Pot", - "Fridge", "Microwave", - "Lettuce", - "Kettle", - "SinkBasin", - "Spoon", - "SoapBottle", - "Toaster", + "Stool", + "HousePlant", + "Floor", + "Apple", + "Fork", "Cabinet", - "Cup", - "Drawer", - "Ladle", + "StoveBurner", + "LightSwitch", + "CoffeeMachine", "SprayBottle", - "Bread", - "Sink", - "Floor", - "HousePlant", - "Potato", + "SinkBasin", + "Knife", + "Fridge", + "Spatula", "Mug", + "Faucet", + "Ladle", + "SoapBottle", + "Sink", "CounterTop", - "Spatula", - "LightSwitch", + "Kettle", + "Tomato", + "Cup", + "Egg", + "GarbageCan", + "Bowl", + "Bread", + "DishSponge", + "PepperShaker", + "Pen", "Bottle", - "DishSponge" + "Plate", + "Window", + "Pan", + "Spoon", + "Potato" ] \ No newline at end of file diff --git a/gen/layouts/precompute_layout_locations.py b/gen/layouts/precompute_layout_locations.py index 528eb298f..d283654e4 100644 --- a/gen/layouts/precompute_layout_locations.py +++ b/gen/layouts/precompute_layout_locations.py @@ -12,7 +12,7 @@ from utils import game_util from env.thor_env import ThorEnv -N_PROCS = 20 +N_PROCS = 1 lock = threading.Lock() all_scene_numbers = sorted(constants.TRAIN_SCENE_NUMBERS + constants.TEST_SCENE_NUMBERS, reverse=True) From 32a288fd072df3d6b9ce80a16c1efbbd6a7280f7 Mon Sep 17 00:00:00 2001 From: Jiasen Lu Date: Fri, 26 Feb 2021 10:26:23 -0800 Subject: [PATCH 14/14] make objects visible --- env/thor_env.py | 6 +----- gen/game_states/game_state_base.py | 2 +- 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/env/thor_env.py b/env/thor_env.py index 8a55acf05..c40d583a1 100644 --- a/env/thor_env.py +++ b/env/thor_env.py @@ -32,8 +32,7 @@ def __init__(self, x_display=constants.X_DISPLAY, super().__init__(quality=quality, x_display=x_display, height=player_screen_height, - width=player_screen_width, - depth_format=ai2thor.server.DepthFormat.Normalized) + width=player_screen_width) # internal states self.cleaned_objects = set() @@ -64,7 +63,6 @@ def reset(self, scene_name_or_num, event = super().step(dict( action='Initialize', gridSize=grid_size, - cameraY=camera_y, renderImage=render_image, renderDepthImage=render_depth_image, renderClassImage=render_class_image, @@ -97,7 +95,6 @@ def restore_scene(self, object_poses, object_toggles, dirty_and_empty): super().step(dict( action='Initialize', gridSize=constants.AGENT_STEP_SIZE / constants.RECORD_SMOOTHING_FACTOR, - cameraY=constants.CAMERA_HEIGHT_OFFSET, renderImage=constants.RENDER_IMAGE, renderDepthImage=constants.RENDER_DEPTH_IMAGE, renderClassImage=constants.RENDER_CLASS_IMAGE, @@ -116,7 +113,6 @@ def restore_scene(self, object_poses, object_toggles, dirty_and_empty): if dirty_and_empty: # TODO: problem here: the API also change on these two attributes. - for o in object_poses: super().step(dict(action='SetObjectStates', SetObjectStates={'objectType': o['objectName'].split('_')[0], 'stateChange': 'dirtyable', 'isDirty': True})) diff --git a/gen/game_states/game_state_base.py b/gen/game_states/game_state_base.py index d7a45e934..5ba991993 100644 --- a/gen/game_states/game_state_base.py +++ b/gen/game_states/game_state_base.py @@ -139,7 +139,7 @@ def reset(self, scene_num=None, use_gt=True, seed=None, max_num_repeats=constant if 'empty' in objs: for o, c in objs['empty']: free_per_receptacle.append({'objectType': o, 'count': c}) - self.env.step(dict(action='InitialRandomSpawn', randomSeed=seed, forceVisible=False, + self.env.step(dict(action='InitialRandomSpawn', randomSeed=seed, forceVisible=True, numDuplicatesOfType=[{'objectType': o, 'count': c} for o, c in objs['repeat']] if objs is not None and 'repeat' in objs else None,